WorldWideScience

Sample records for enigmatic bipes canaliculatus

  1. Eosinophilic meningitis risk associated with raw Ampullarium canaliculatus snails consumption

    Directory of Open Access Journals (Sweden)

    Jiun-Jye Wang

    2011-05-01

    Full Text Available In Taiwan, Angiostrongylus cantonensis infection has been reported in foreign laborers who had consumed raw Ampullarium canaliculatus snails. This study analyzed three foreign laborers who had contracted enzyme-linked immunosorbent assay-confirmed A cantonensis infection while working in Taiwan. All three workers had consumed either roasted snails or raw snails flavored with seasoning while drinking wine. This study investigated possible risk factors for A cantonensis, including naturally occurring A cantonensis in A canaliculatus snails, viability of third-stage A cantonensis larvae in raw seasoned snails and in roasted snails, infectivity of larvae, and effects of alcohol while consuming snails. Positive infection rates in snails from five different irrigation canals in south Taiwan ranged from 12.3% to 29.4% and the average number of motile larvae per infected snail ranged from 36 to 65. The number of motile and coiled larvae in snail meat after 120 minutes seasoning was 93 (27.7% and 233 (69.3%, respectively. After 20 minutes of roasting, most larvae in the snail meat were dead. The infectivities of motile and coiled larvae from snail meat after 60 minutes seasoning were 53.2% and 33.2%, respectively, and those from snail meat after 5 minutes roasting were 33.2% and 7.0%, respectively. Eating Taiwan A canaliculatus snails raw is extremely risky given their high infection rates and infection intensities. Even after 120 minutes seasoning or after 20 minutes roasting, snail meat should be considered unsafe for human consumption. Finally, experimental rodent studies indicated that consuming alcohol while ingesting larvae does not significantly reduced infectivity.

  2. Self-improving biped locomotion

    Science.gov (United States)

    Teixeira, C.; Costa, L.; Santos, C.

    2013-10-01

    An approach addressing biped locomotion is here introduced. Central Pattern Generators (CPGs) and Dynamic Movement Primitives (DMPs) were combined to easily produce complex trajectories for the joints of a simulated DARwIn-OP. Policy Learning by Weighting Exploration with the Returns (PoWER) was implemented to improve the robot's locomotion through variation of the DMP's parameters. Maximization of the DARwIn-OP's frontal velocity was addressed and results show a velocity improvement of 213%. The results are very promising and demonstrate the approach's flexibility at generating new trajectories for locomotion.

  3. The Enigmatic Moon

    Indian Academy of Sciences (India)

    Home; Journals; Resonance – Journal of Science Education; Volume 13; Issue 12. The Enigmatic Moon. Biman Nath. Book Review Volume 13 Issue 12 December 2008 pp 1173-1175. Fulltext. Click here to view fulltext PDF. Permanent link: http://www.ias.ac.in/article/fulltext/reso/013/12/1173-1175. Author Affiliations.

  4. Numerical simulation of human biped locomotion

    International Nuclear Information System (INIS)

    Ishiguro, Misako; Fujisaki, Masahide

    1988-04-01

    This report describes the numerical simulation of the motion of human-like robot which is one of the research theme of human acts simulation program (HASP) begun at the Computing Center of JAERI in 1987. The purpose of the theme is to model the human motion using robotics kinematic/kinetic equations and to get the joint angles as the solution. As the first trial, we treat the biped locomotion (walking) which is the most fundamental human motion. We implemented a computer program on FACOM M-780 computer, where the program is originated from the book of M. Vukobratovic in Yugoslavia, and made a graphic program to draw a walking shot sequence. Mainly described here are the mathematical model of the biped locomotion, implementation method of the computer program, input data for basic walking pattern, computed results and its validation, and graphic representation of human walking image. Literature survey on robotics equation and biped locomotion is also included. (author)

  5. Preference of the herbivorous marine teleost Siganus canaliculatus for different macroalgae

    Science.gov (United States)

    You, Cuihong; Zeng, Fangui; Wang, Shuqi; Li, Yuanyou

    2014-06-01

    The decomposition of a large amount of unexploited macroalgal resource along the coast of China often results in heavy environmental pollution. In order to pave a way of using macroalgae as the dietary ingredient of rabbitfish Siganus canaliculatus, one of a few farmed herbivorous marine teleosts in China, its preference (feeding selectivity) for different macroalgae was determined in this study. Seven seaweed species abundantly inhabiting the coast of east Guangdong Province were exposed simultaneously to rabbitfish juveniles in laboratory (multiple-choice feeding) with their content and absolute intake assayed. It was found that the most preferred algae were Ulva prolifera, Gracilaria lemaneiformis and Chaetomorpha linum, less preferred algae were U. pertusa and Porphyra haitanensis, and least preferred ones were Sargassum fusiforme and Corallina sessilis. Such an order did not change when one to four relatively preferred seaweeds were removed. The preferred seaweeds were richer in protein and soluble sugar thus higher in energy than the least preferred. In addition, this fish was found to favor filamentous and flat algae rather than calcified ones. Accordingly, the richness of nutrients and morphological characteristics determined the preference of S. canaliculatus for tested macroalgae.

  6. A redescription of Penaeus (Melicertus) Canaliculatus (Olivier, 1811), a wide-ranging Indo-West Pacific Shrimp (Crustacea, Decapoda, Penaeidae)

    NARCIS (Netherlands)

    Pérez Farfante, I.

    1976-01-01

    In the original description of Palaemon canaliculatus, from "mer des Indes", Olivier (1811) presented the following observations among other more general ones: carapace with median sulcus extending from near posterior margin to base of rostrum, and two lateral ones beginning at same level as median

  7. Body Trajectory Planning of Biped Robot Based on ZMP

    Science.gov (United States)

    Sato, Tomoya; Suzuki, Tomoyuki; Shibuya, Maki; Ohnishi, Kouhei

    In this paper, a body trajectory planning method of a biped robot based on ZMP (zero-moment point) is proposed. In the proposed method, the body of the biped robot is maintained at a constant height during walking. By this body trajectory, the biped robot walks stably without moving up and down the body height. Higher energy efficiency can be achieved by the proposed method than the conventional method that maintains a constant COG (center of gravity) height, since the biped robot walks with a higher body position and with less torque of joints. Additionally, the validity of the proposed method was confirmed by experiments of walking.

  8. Static standing and dynamic walking of a practical biped robot

    Energy Technology Data Exchange (ETDEWEB)

    Zheng, Yuan F.; Rao, M.

    1987-01-01

    The study of static standing and dynamic walking of a practical biped robot is presented in this research report. A systematic method for describing the kinematic behavior of a biped robot is first developed. The development is based on the well-known Denavit-Hartenburg convention. As a result, the method is basically the same as the one used for robot manipulators, except for some considerations given to the unique functions and structure of a biped robot. The static standing of a biped robot is then studied. It is argued that static standing capability is very important if a biped robot is to be employed in an industrial environment. In order to measure the performance of the biped in static standing in terms of its stability, two parameters, stable margin and stable index, are introduced. Based on these parameters, optimal stability of the biped robot with one-foot and two-foot standing cases are discussed. For dynamic walking, a mathematical treatment is first described. Conclusion is reached that by proper positioning of the landing, stable dynamic walking can be realized. A practical biped robot is introduced in the final part of the report. Experimental results of static standing and dynamic walking of the biped robot are presented, to verify the theoretical results. 28 refs., 9 figs., 1 tab.

  9. Walking biped humanoids that perform manual labour.

    Science.gov (United States)

    Hirukawa, Hirohisa

    2007-01-15

    The Humanoid Robotics Project of the Ministry of Economy, Trade and Industry of Japan realized that biped humanoid robots can perform manual labour. The project developed humanoid robot platforms, consisting of humanoid robot hardware and a package of fundamental software, and explored applications of humanoid robots on them. The applications include maintenance tasks of industrial plants, teleoperation of industrial vehicles, cooperative tasks with a human, guarding the home and office and the care of patients in beds.

  10. Effects of dietary supplementation of Ulva pertusa and non-starch polysaccharide enzymes on gut microbiota of Siganus canaliculatus

    Science.gov (United States)

    Zhang, Xinxu; Wu, Huijuan; Li, Zhongzhen; Li, Yuanyou; Wang, Shuqi; Zhu, Dashi; Wen, Xiaobo; Li, Shengkang

    2017-05-01

    Fishes represent the highest diversity of vertebrates; however, our understanding of the compositions and functions of their gut microbiota is limited. In this study, we provided the first insight into the gut microbiota of the herbivorous fish Siganus canaliculatus (S. canaliculatus) by using three molecular ecology techniques based on the 16S rRNA genes (denaturing gradient gel electrophoresis, clone library construction, and high-throughput Illumina sequencing), and the Illumina sequencing technique is suggested here due to its higher overall coverage of the total 16S rRNA genes. A core gut microbiota of 29 bacterial groups, covering >99.9% of the total bacterial community, was found to be dominated by Proteobacteria and Firmicutes in fish fed three different diets with/without the supplementation of Ulva pertusa (U. pertusa) and non-starch polysaccharide (NSP) enzymes (cellulase, xylanase, and β-glucanase). Diverse potential NSP-degrading bacteria and probiotics (e.g., Ruminococcus, Clostridium and Lachnospiraceae) were detected in the intestine of the fish fed U. pertusa, suggesting that these microorganisms likely participated in the degradation of NSPs derived from U. pertusa. This study supports our previous conclusion that U. pertusa-based diets are suitable for the production of S. canaliculatus with lower costs without compromising quality.

  11. A survey report for the turning of biped locomotion robot

    Energy Technology Data Exchange (ETDEWEB)

    Kato, Ichiro; Takanishi, Atsuo [Waseda Univ., Tokyo (Japan); Kume, Etsuo

    1992-12-01

    A mechanical design study of biped locomotion robots is going on at JAERI within the scope of the Human Acts Simulation Program (HASP). The design study at JAERI is of an arbitrarily mobile robot for inspection of nuclear facilities. A survey has been performed for collecting useful information from already existing biped locomotion robots. This is a survey report for the turning of biped locomotion robot: the WL-10R designed and developed at Waseda University. This report includes the control method of turning, machine model and control system. (author).

  12. Online Biped Walking Pattern Generation with Contact Consistency

    Directory of Open Access Journals (Sweden)

    Wenqi Hou

    2015-03-01

    Full Text Available In this paper, a novel online biped walking gait pattern generating method with contact consistency is proposed. Generally, it’s desirable that there is no foot-ground slipping during biped walking. By treating the hip of the biped robot as a linear inverted pendulum (LIP, a foot placement controller that takes the contact consistency into account is proposed to tracking the desired orbit energy. By selecting the hip’s horizontal locomotion as the parameter, the trajectories in task space for walking are planned. A task space controller without calculating the inversion of inertial matrix is presented. Simulation experiments are implemented on a virtual 5-link point foot biped robot. The results show the effectiveness of the walking pattern generating method which can realize a stable periodic gait cycle without slipping and falling even suffering a sudden disturbance.

  13. Forward and Inverse Dynamics of the Biped PASIBOT

    Directory of Open Access Journals (Sweden)

    Eduardo Corral

    2014-07-01

    Full Text Available This article addresses the supporting foot slippage of the biped robot PASIBOT and develops its forward and inverse dynamics for simple and double support phases. To address the slippage phenomenon, we consider an additional degree of freedom at the supporting foot and also distinguish between static and kinetic friction conditions. The inverse and forward dynamics, accounting for support foot slippage, are encoded in MATLAB. The algorithm predicts the motion of the biped from the torque function given by the biped's sole motor. Thus, the algorithm becomes an indispensable tool for studying transient states of the biped (for example, the torques required for starting and braking, as well as defining the conditions that prevent or control slippage. Since the developed code is parametric, its output can greatly assist in the design, optimization and control of PASIBOT and similar biped robots. The topology, kinematics and inverse dynamics of the one-degree-of-freedom biped PASIBOT have been previously described, but without regard to slippage between the supporting foot and the ground.

  14. Analysis of double support phase of biped robot and multi-objective ...

    Indian Academy of Sciences (India)

    of the authors' knowledge, it is the first attempt to solve multi-objective optimization problem in double support phase of a biped robot. Keywords. Optimal gait planning; genetic algorithm; particle swarm optimization. 1. Introduction. Biped robots are extensively studied by researchers. A biped robot should be able to walk on.

  15. Tendon Based Full Size Biped Humanoid Robot Walking Platform Design

    Science.gov (United States)

    Kuo, Chung-Hsien; Chiou, Kuo-Wei

    Actuators and gear trains of most biped humanoid robots are divergently allocated on the links of two legs. Disadvantages of such a mechanical design are complicated wiring of power cord and sensing/ control signal bundles and imprecise kinetics models of mixed link-and-actuator structures. Based on these drawbacks, this paper proposes a tendon-driven mechanism to develop a lower body structure of a full-size biped humanoid robot. The actuators are compacted as an actuator module, and they are placed at a distal site. A 12 degree-of-freedom mechanical structure is proposed with 100 cm in height and 45 kg in weight. The gait planning module is simulated and evaluated using the Matlab software. At the same time, an ARM7 based controller is developed to automatically generate walking patterns as well as to control the motors. Finally, a tendon-driven biped humanoid robot prototype is realized for practical waling control in the future.

  16. A Global Step Planning Method for Biped Robot Considering Obstacles

    Science.gov (United States)

    Tsuji, Toshiaki; Ohnishi, Kouhei

    This paper discusses about step planning of a biped robot in an environment with obstacles. Biped robot has a mechanical advantage to work in human surroundings. This is accomplished by its capability to select the discrete contact point with the ground. Though its foot placement should be discussed to step over obstacles, it is difficult because dynamic biped locomotion is a complex interaction system between upper body motion and stepping point. Applying the idea of virtual supporting point, this complex interaction is solved. The collision detection is easily achieved through modeling the obstacles to an off-limits on the horizontal plane. A stamp area is set in order to avoid the extreme stride alteration. Through these methods, the robot can prepare for the obstacle beforehand and select a series of footsteps that provides stable locomotion. Experimental results are shown to confirm the validity of the proposed methods.

  17. Design and control of a pneumatic musculoskeletal biped robot.

    Science.gov (United States)

    Zang, Xizhe; Liu, Yixiang; Liu, Xinyu; Zhao, Jie

    2016-04-29

    Pneumatic artificial muscles are quite promising actuators for humanoid robots owing to their similar characteristics with human muscles. Moreover, biologically inspired musculoskeletal systems are particularly important for humanoid robots to perform versatile dynamic tasks. This study aims to develop a pneumatic musculoskeletal biped robot, and its controller, to realize human-like walking. According to the simplified musculoskeletal structure of human lower limbs, each leg of the biped robot is driven by nine muscles, including three pairs of monoarticular muscles which are arranged in the flexor-extensor form, as well as three biarticular muscles which span two joints. To lower cost, high-speed on/off solenoid valves rather than proportional valves are used to control the muscles. The joint trajectory tracking controller based on PID control method is designed to achieve the desired motion. Considering the complex characteristics of pneumatic artificial muscles, the control model is obtained through parameter identification experiments. Preliminary experimental results demonstrate that the biped robot is able to walk with this control strategy. The proposed musculoskeletal structure and control strategy are effective for the biped robot to achieve human-like walking.

  18. Study on biped bike. Analysis and control of sagittal plane motion; Biped bike ni kansuru kenkyu. Yajomen undo no kaiseki to seigyo

    Energy Technology Data Exchange (ETDEWEB)

    Minakata, H. [Chiba Institute of Technology, Chiba (Japan); Hori, Y. [The University of Tokyo, Tokyo (Japan)

    1997-08-20

    We propose a biped locomotion system that its gait is changeable in real-time. Our targets are; artificial leg, slave machine, remote-brain home-robot, etc. Our dream is to develop new transportation tool that rider can control its gait. We call this imagination as `Biped Bike.` In this paper, we discuss the way of real-time gait control of biped locomotion. We propose Virtual Inverted Pendulum (VIP) Method for controlling the walking speed. This method considers the continuity of biped walking especially on transient status such as acceleration and deceleration. The actual biped system is made and real-time gait control is realized using VIP method. 8 refs., 14 figs., 1 tab.

  19. A Study on the Motion Energy of Biped Robot Walking on Different Postures

    Science.gov (United States)

    Tu, Kuo-Yang; Liu, Mi-Shin

    It is interested for a bipedal robot manipulated by different Degree of Freedoms (DoFs) to spend how much motion energy. In this paper, the motion energy of a biped robot influenced by the manipulation of different DoFs is studied. For calculating the motion energy, the forward and inverse kinematics of the designed biped robot are first derived. The 4-3-4 trajectory for planning the movement of robot joints in smoothing is designed for the walking finished by the biped joint movement. Once the joint trajectories of the biped robot are solved, the motion energy including kinetic and potential energy can be calculated. The walking of the biped robot manipulated by 2, 4 and 6 DoFs, respectively, is also included. The study provides the mechanical design of biped robots in the future.

  20. A Control Method Based on Modal Transformation for Biped Robots to Climb Unknown Steps

    Science.gov (United States)

    Shimmyo, Shuhei; Nakazato, Miki; Mikami, Kei; Sato, Tomoya; Sakaino, Sho; Ohnishi, Kouhei

    This paper proposes a control method based on modal transformation for biped robots to climb unknown steps. This method is able to control the foot position of the biped robot and the ground reaction force acting in vertical direction when the biped robot climbs unknown steps in a double-support phase. The effectiveness of the proposed method is confirmed by simulation and experimental results.

  1. Adaptive Gait Pattern Generation of Biped Robot based on Human's Gait Pattern Analysis

    OpenAIRE

    Seungsuk Ha; Youngjoon Han; Hernsoo Hahn

    2007-01-01

    This paper proposes a method of adaptively generating a gait pattern of biped robot. The gait synthesis is based on human's gait pattern analysis. The proposed method can easily be applied to generate the natural and stable gait pattern of any biped robot. To analyze the human's gait pattern, sequential images of the human's gait on the sagittal plane are acquired from which the gait control values are extracted. The gait pattern of biped robot on the sagittal plane is adaptively generated by...

  2. A Control of Biped Robot which Applies Inverted Pendulum Mode with Virtual Supporting Point

    OpenAIRE

    辻, 俊明; 大西, 公平; TSUJI, Toshiaki; OHNISHI, Kouhei

    2002-01-01

    We applied the inverted pendulum mode to the control of a biped robot in order to plan a trajectory in real time. Though the inverted pendulum mode is useful to plan a trajectory, the stability margin of a biped robot is very narrow because of its structural limit. Virtual supporting point (VSP), a new indicator of biped robot control, is suggested with a view to broaden the stability margin of biped robot. Walking parameters could be adjusted by setting VSP without changing other parameters....

  3. Using a Gyro as a Tool for Continuously Variable Lateral Stabilisation of Dynamic Bipeds

    Directory of Open Access Journals (Sweden)

    N. M. Mayer

    2006-01-01

    Full Text Available We present simulations of different types of biped walking machines that are stabilized in the lateral direction by adding a gyro. The simulations show that, in principle, it is indeed possible to stabilise biped walking machines. Examples presented in this work include a three-dimensional version of the simplest walking model, which is based on earlier investigations, and an actuated biped robot. Here, the gyro is used as a reaction wheel. Finally, a rotor–brake combination is outlined that was used in an artistic biped robot at the Aichi World Exhibition.

  4. Establishment of a hepatocyte line for studying biosynthesis of long-chain polyunsaturated fatty acids from a marine teleost, the white-spotted spinefoot Siganus canaliculatus.

    Science.gov (United States)

    Liu, Y; Zhang, Q H; Dong, Y W; You, C H; Wang, S Q; Li, Y Q; Li, Y Y

    2017-08-01

    A hepatocyte line was established from the liver of white-spotted spinefoot Siganus canaliculatus to study the biosynthesis of long-chain polyunsaturated fatty acids (LC-PUFA). The cells from the line, designated S. canaliculatus hepatocyte line (SCHL), grew and multiplied well in Dulbecco's modified Eagle's medium (DMEM)-F12 medium supplemented with 20 mM 4-(2-hydroxyethyl) piperazine-1-ethanesulphonic acid (HEPES), 10% foetal bovine serum (FBS) and 0·5% rainbow trout Oncorhychus mykiss serum at 28° C, showing an epithelial-like morphology and the normal chromosome number of 48 (2n) and have been subcultured for over 60 passages. The identity of the hepatocytes was confirmed by periodic acid Schiff (PAS) staining. The mRNA expression of all genes encoding the key enzymes for LC-PUFA biosynthesis including two desaturases (Δ4 Fad and Δ6-Δ5 Fad) and two elongases (Elovl4 and Elovl5), were detected in all cells from passages 5 to 60 and their expression levels became stable after passage 35 and showed responses to various PUFA incubation. This is similar to the situation determined in the liver of S. canaliculatus that were fed diets containing different fatty acids. These results indicated that SCHL was successfully established and can provide an in vitro tool to investigate lipid metabolism and regulatory mechanisms of LC-PUFA biosynthesis in teleosts, especially marine species. © 2017 The Fisheries Society of the British Isles.

  5. Design of a biped robot actuated by pneumatic artificial muscles.

    Science.gov (United States)

    Liu, Yixiang; Zang, Xizhe; Liu, Xinyu; Wang, Lin

    2015-01-01

    High compliant legs are essential for the efficient versatile locomotion and shock absorbency of humans. This study proposes a biped robot actuated by pneumatic artificial muscles to mimic human locomotion. On the basis of the musculoskeletal architecture of human lower limbs, each leg of the biped robot is modeled as a system of three segments, namely, hip joint, knee joint, and ankle joint, and eleven muscles, including both monoarticular and biarticular muscles. Each rotational joint is driven by a pair of antagonistic muscles, enabling joint compliance to be tuned by operating the pressure inside the muscles. Biarticular muscles play an important role in transferring power between joints. Walking simulations verify that biarticular muscles contribute to joint compliance and can absorb impact energy when the robot makes an impact upon ground contact.

  6. Design of biped hip simulator using SolidWorks

    Science.gov (United States)

    Zainudin, M. R.; Yahya, A.; Fazli, M. I. M.; Syahrom, A.; Harun, F. K. C.; Nazarudin, M. S.

    2017-10-01

    The increasing number of people who underwent both hip implant surgery based on World Health Organization (WHO) has received massive attention from researchers lately to develop various types of hip simulators in order to test the hip implant. Various number of hip simulator have been developed with different functions and capabilities. This paper presents the design development of biped hip simulator using SolidWorks software by taking into consideration some improvement and modifications. The finite element method is used to test the design whether it is safe to be used or not. The biped hip simulator has been successfully designed and ready to be fabricated as the endurance testing shown a positive results. The von Mises stress induced in the material is an alloy steel which is 2,975,862.3 N/m2 lower than the yield strength. Thus, the design is safe to be used as it obey the safety criterion.

  7. Alternative Motion Control for Educational Biped BRAT Robots

    Directory of Open Access Journals (Sweden)

    Levente Barabas

    2015-12-01

    Full Text Available In this paper an alternative control solution will be proposed for an educational biped BRAT robot by replacing its SSC-32 servomotor controller with an Arduino R3 development board. Also we will be approaching the problem of adapting the existing electronic circuit to the new requirements and proposing a new application by adding an ultrasonic distance sensor in order to increase the versatility of the robot and make it capable to interact with its environment.

  8. Stability Index for Biped Robot Moving on Rough Terrain

    Science.gov (United States)

    Sato, Tomoya; Sakaino, Sho; Ohnishi, Kouhei

    In this paper, a stability index based on the ZMP (zero-moment point) for biped robots moving on rough terrain is proposed. The proposed method projects a support polygon on to a virtual plane and sets a virtual ZMP on it. In rough terrain, using the proposed method, stability check and trajectory planning are able to be treated as the case of flat terrain. The validity of the proposed method was confirmed by some simulations and experiments.

  9. Arbitrary Symmetric Running Gait Generation for an Underactuated Biped Model.

    Directory of Open Access Journals (Sweden)

    Behnam Dadashzadeh

    Full Text Available This paper investigates generating symmetric trajectories for an underactuated biped during the stance phase of running. We use a point mass biped (PMB model for gait analysis that consists of a prismatic force actuator on a massless leg. The significance of this model is its ability to generate more general and versatile running gaits than the spring-loaded inverted pendulum (SLIP model, making it more suitable as a template for real robots. The algorithm plans the necessary leg actuator force to cause the robot center of mass to undergo arbitrary trajectories in stance with any arbitrary attack angle and velocity angle. The necessary actuator forces follow from the inverse kinematics and dynamics. Then these calculated forces become the control input to the dynamic model. We compare various center-of-mass trajectories, including a circular arc and polynomials of the degrees 2, 4 and 6. The cost of transport and maximum leg force are calculated for various attack angles and velocity angles. The results show that choosing the velocity angle as small as possible is beneficial, but the angle of attack has an optimum value. We also find a new result: there exist biped running gaits with double-hump ground reaction force profiles which result in less maximum leg force than single-hump profiles.

  10. Input torque sensitivity to uncertain parameters in biped robot

    Science.gov (United States)

    Ding, Chang-Tao; Yang, Shi-Xi; Gan, Chun-Biao

    2013-06-01

    Input torque is themain power to maintain bipedal walking of robot, and can be calculated from trajectory planning and dynamic modeling on biped robot. During bipedal walking, the input torque is usually required to be adjusted due to some uncertain parameters arising from objective or subjective factors in the dynamical model to maintain the pre-planned stable trajectory. Here, a planar 5-link biped robot is used as an illustrating example to investigate the effects of uncertain parameters on the input torques. Kinematic equations of the biped robot are firstly established by the third-order spline curves based on the trajectory planning method, and the dynamic modeling is accomplished by taking both the certain and uncertain parameters into account. Next, several evaluation indices on input torques are introduced to perform sensitivity analysis of the input torque with respect to the uncertain parameters. Finally, based on the Monte Carlo simulation, the values of evaluation indices on input torques are presented, from which all the robot parameters are classified into three categories, i.e., strongly sensitive, sensitive and almost insensitive parameters.

  11. Control method for biped locomotion robots based on ZMP information

    Energy Technology Data Exchange (ETDEWEB)

    Kume, Etsuo [Japan Atomic Energy Research Inst., Tokai, Ibaraki (Japan). Tokai Research Establishment

    1994-01-01

    The Human Acts Simulation Program (HASP) started as a ten year program of Computing and Information Systems Center (CISC) at Japan Atomic Energy Research Institute (JAERI) in 1987. A mechanical design study of biped locomotion robots for patrol and inspection in nuclear facilities is being performed as an item of the research scope. One of the goals of our research is to design a biped locomotion robot for practical use in nuclear facilities. So far, we have been studying for several dynamic walking patterns. In conventional control methods for biped locomotion robots, the program control is used based on preset walking patterns, so it dose not have the robustness such as a dynamic change of walking pattern. Therefore, a real-time control method based on dynamic information of the robot states is necessary for the high performance of walking. In this study a new control method based on Zero Moment Point (ZMP) information is proposed as one of real-time control methods. The proposed method is discussed and validated based on the numerical simulation. (author).

  12. Arbitrary Symmetric Running Gait Generation for an Underactuated Biped Model.

    Science.gov (United States)

    Dadashzadeh, Behnam; Esmaeili, Mohammad; Macnab, Chris

    2017-01-01

    This paper investigates generating symmetric trajectories for an underactuated biped during the stance phase of running. We use a point mass biped (PMB) model for gait analysis that consists of a prismatic force actuator on a massless leg. The significance of this model is its ability to generate more general and versatile running gaits than the spring-loaded inverted pendulum (SLIP) model, making it more suitable as a template for real robots. The algorithm plans the necessary leg actuator force to cause the robot center of mass to undergo arbitrary trajectories in stance with any arbitrary attack angle and velocity angle. The necessary actuator forces follow from the inverse kinematics and dynamics. Then these calculated forces become the control input to the dynamic model. We compare various center-of-mass trajectories, including a circular arc and polynomials of the degrees 2, 4 and 6. The cost of transport and maximum leg force are calculated for various attack angles and velocity angles. The results show that choosing the velocity angle as small as possible is beneficial, but the angle of attack has an optimum value. We also find a new result: there exist biped running gaits with double-hump ground reaction force profiles which result in less maximum leg force than single-hump profiles.

  13. Analysis of double support phase of biped robot and multi-objective ...

    Indian Academy of Sciences (India)

    Analysis and optimization of double support phase of biped robot. 551 they proposed the existence of virtual ZMP for dynamic stable walking and the same was proved by solving numerical examples related to walking on some staircases. A few studies dealt with intelligent control of biped robots also, some of those studies ...

  14. Constrained Quadratic Programming and Neurodynamics-Based Solver for Energy Optimization of Biped Walking Robots

    Directory of Open Access Journals (Sweden)

    Liyang Wang

    2017-01-01

    Full Text Available The application of biped robots is always trapped by their high energy consumption. This paper makes a contribution by optimizing the joint torques to decrease the energy consumption without changing the biped gaits. In this work, a constrained quadratic programming (QP problem for energy optimization is formulated. A neurodynamics-based solver is presented to solve the QP problem. Differing from the existing literatures, the proposed neurodynamics-based energy optimization (NEO strategy minimizes the energy consumption and guarantees the following three important constraints simultaneously: (i the force-moment equilibrium equation of biped robots, (ii frictions applied by each leg on the ground to hold the biped robot without slippage and tipping over, and (iii physical limits of the motors. Simulations demonstrate that the proposed strategy is effective for energy-efficient biped walking.

  15. A reflexive neural network for dynamic biped walking control.

    Science.gov (United States)

    Geng, Tao; Porr, Bernd; Wörgötter, Florentin

    2006-05-01

    Biped walking remains a difficult problem, and robot models can greatly facilitate our understanding of the underlying biomechanical principles as well as their neuronal control. The goal of this study is to specifically demonstrate that stable biped walking can be achieved by combining the physical properties of the walking robot with a small, reflex-based neuronal network governed mainly by local sensor signals. Building on earlier work (Taga, 1995; Cruse, Kindermann, Schumm, Dean, & Schmitz, 1998), this study shows that human-like gaits emerge without specific position or trajectory control and that the walker is able to compensate small disturbances through its own dynamical properties. The reflexive controller used here has the following characteristics, which are different from earlier approaches: (1) Control is mainly local. Hence, it uses only two signals (anterior extreme angle and ground contact), which operate at the interjoint level. All other signals operate only at single joints. (2) Neither position control nor trajectory tracking control is used. Instead, the approximate nature of the local reflexes on each joint allows the robot mechanics itself (e.g., its passive dynamics) to contribute substantially to the overall gait trajectory computation. (3) The motor control scheme used in the local reflexes of our robot is more straightforward and has more biological plausibility than that of other robots, because the outputs of the motor neurons in our reflexive controller are directly driving the motors of the joints rather than working as references for position or velocity control. As a consequence, the neural controller and the robot mechanics are closely coupled as a neuromechanical system, and this study emphasizes that dynamically stable biped walking gaits emerge from the coupling between neural computation and physical computation. This is demonstrated by different walking experiments using a real robot as well as by a Poincaré map analysis

  16. Episodic reinforcement learning control approach for biped walking

    Directory of Open Access Journals (Sweden)

    Katić Duško

    2012-01-01

    Full Text Available This paper presents a hybrid dynamic control approach to the realization of humanoid biped robotic walk, focusing on the policy gradient episodic reinforcement learning with fuzzy evaluative feedback. The proposed structure of controller involves two feedback loops: a conventional computed torque controller and an episodic reinforcement learning controller. The reinforcement learning part includes fuzzy information about Zero-Moment- Point errors. Simulation tests using a medium-size 36-DOF humanoid robot MEXONE were performed to demonstrate the effectiveness of our method.

  17. An asymptotic solution to a passive biped walker model

    Science.gov (United States)

    Yudaev, Sergey A.; Rachinskii, Dmitrii; Sobolev, Vladimir A.

    2017-02-01

    We consider a simple model of a passive dynamic biped robot walker with point feet and legs without knee. The model is a switched system, which includes an inverted double pendulum. Robot’s gait and its stability depend on parameters such as the slope of the ramp, the length of robot’s legs, and the mass distribution along the legs. We present an asymptotic solution of the model. The first correction to the zero order approximation is shown to agree with the numerical solution for a limited parameter range.

  18. Biped walking robot based on a 2-UPU+2-UU parallel mechanism

    Science.gov (United States)

    Miao, Zhihuai; Yao, Yan'an; Kong, Xianwen

    2014-03-01

    Existing biped robots mainly fall into two categories: robots with left and right feet and robots with upper and lower feet. The load carrying capability of a biped robot is quite limited since the two feet of a walking robot supports the robot alternatively during walking. To improve the load carrying capability, a novel biped walking robot is proposed based on a 2-UPU+2-UU parallel mechanism. The biped walking robot is composed of two identical platforms(feet) and four limbs, including two UPU(universal-prismatic-universal serial chain) limbs and two UU limbs. To enhance its terrain adaptability like articulated vehicles, the two feet of the biped walking robot are designed as two vehicles in detail. The conditions that the geometric parameters of the feet must satisfy are discussed. The degrees-of-freedom of the mechanism is analyzed by using screw theory. Gait analysis, kinematic analysis and stability analysis of the mechanism are carried out to verify the structural design parameters. The simulation results validate the feasibility of walking on rugged terrain. Experiments with a physical prototype show that the novel biped walking robot can walk stably on smooth terrain. Due to its unique feet design and high stiffness, the biped walking robot may adapt to rugged terrain and is suitable for load-carrying.

  19. A survey report for the design of biped locomotion robot: the WL-12 (Waseda Leg-12)

    Energy Technology Data Exchange (ETDEWEB)

    Takanishi, Atsuo; Kato, Ichiro [Waseda Univ., Tokyo (Japan); Kume, Etsuo

    1991-11-01

    A mechanical design study of biped locomotion robots is going on at JAERI within the scope of the Human Acts Simulation Program (HASP). The design study at JAERI is of an arbitrarily mobile robot for inspection of nuclear facilities. A survey has been performed for collecting useful information from already existing biped locomotion robots. This is a survey report of the biped locomotion robot: the WL-12 designed and developed at Waseda University. This report includes the mechanical model and control system designs. (author).

  20. Real-Time Step Length Control Method for a Biped Robot

    Science.gov (United States)

    Aiko, Takahiro; Ohnishi, Kouhei

    In this paper, the real-time step length control method for a biped robot is proposed. In human environment, it is necessary for a biped robot to change its gait on real-time since it is required to walk according to situations. By use of the proposed method, the center-of-gravity trajectory and swing leg trajectory were generated on real-time with that its command value is the step length. For generating the center-of-gravity trajectory, we develop Linear Inverted Pendulum Mode and additionally consider walking stability by ZMP. In order to demonstrate the proposed method, the simulation and experiment of a biped walk is performed.

  1. Motion synthesis and force distribution analysis for a biped robot.

    Science.gov (United States)

    Trojnacki, Maciej T; Zielińska, Teresa

    2011-01-01

    In this paper, the method of generating biped robot motion using recorded human gait is presented. The recorded data were modified taking into account the velocity available for robot drives. Data includes only selected joint angles, therefore the missing values were obtained considering the dynamic postural stability of the robot, which means obtaining an adequate motion trajectory of the so-called Zero Moment Point (ZMT). Also, the method of determining the ground reaction forces' distribution during the biped robot's dynamic stable walk is described. The method was developed by the authors. Following the description of equations characterizing the dynamics of robot's motion, the values of the components of ground reaction forces were symbolically determined as well as the coordinates of the points of robot's feet contact with the ground. The theoretical considerations have been supported by computer simulation and animation of the robot's motion. This was done using Matlab/Simulink package and Simulink 3D Animation Toolbox, and it has proved the proposed method.

  2. Navigation Strategy by Contact Sensing Interaction for a Biped Humanoid Robot

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    Hanafiah Yussof

    2008-06-01

    Full Text Available This report presents a basic contact interaction-based navigation strategy for a biped humanoid robot to support current visual-based navigation. The robot's arms were equipped with force sensors to detect physical contact with objects. We proposed a motion algorithm consisting of searching tasks, self-localization tasks, correction of locomotion direction tasks and obstacle avoidance tasks. Priority was given to right-side direction to navigate the robot locomotion. Analysis of trajectory generation, biped gait pattern, and biped walking characteristics was performed to define an efficient navigation strategy in a biped walking humanoid robot. The proposed algorithm is evaluated in an experiment with a 21-dofs humanoid robot operating in a room with walls and obstacles. The experimental results reveal good robot performance when recognizing objects by touching, grasping, and continuously generating suitable trajectories to correct direction and avoid collisions.

  3. Navigation Strategy by Contact Sensing Interaction for a Biped Humanoid Robot

    Directory of Open Access Journals (Sweden)

    Hanafiah Yussof

    2008-11-01

    Full Text Available This report presents a basic contact interaction-based navigation strategy for a biped humanoid robot to support current visual-based navigation. The robot's arms were equipped with force sensors to detect physical contact with objects. We proposed a motion algorithm consisting of searching tasks, self-localization tasks, correction of locomotion direction tasks and obstacle avoidance tasks. Priority was given to right-side direction to navigate the robot locomotion. Analysis of trajectory generation, biped gait pattern, and biped walking characteristics was performed to define an efficient navigation strategy in a biped walking humanoid robot. The proposed algorithm is evaluated in an experiment with a 21-dofs humanoid robot operating in a room with walls and obstacles. The experimental results reveal good robot performance when recognizing objects by touching, grasping, and continuously generating suitable trajectories to correct direction and avoid collisions.

  4. Development of Lifting and Propulsion Mechanism for Biped Robot Inspired by Basilisk Lizards

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    Linsen Xu

    2013-01-01

    Full Text Available The lifting and propulsion mechanism of a novel biped robot inspired by the basilisk lizard's water-walking function has been developed. The movement trajectories of the Watt-I planar linkage are brought out by combining the movement equations of the four-bar mechanism and the coordinate transformation equations, which are used to simulate the foot trajectories of the basilisk lizard, and the lifting and propulsion mechanism of the biped robot walking on water is carried out. The links' parameters are optimized by taking the trajectories overlap ratio as the objective function. The prototype of the biped robot walking on water is manufactured by the results of the kinematic analysis on the robot. And the lifting and propulsion force curve on the robot from water is measured. The experiment results show that the lifting and propulsion system can satisfy the function requirement of the biped robot walking on water.

  5. Design of a biped locomotion controller based on adaptive neuro-fuzzy inference systems

    Energy Technology Data Exchange (ETDEWEB)

    Shieh, M-Y; Chang, K-H [Department of E. E., Southern Taiwan University, 1 Nantai St., YungKang City, Tainan County 71005, Taiwan (China); Lia, Y-S [Executive Director Office, ITRI, Southern Taiwan Innovation Park, Tainan County, Taiwan (China)], E-mail: myshieh@mail.stut.edu.tw

    2008-02-15

    This paper proposes a method for the design of a biped locomotion controller based on the ANFIS (Adaptive Neuro-Fuzzy Inference System) inverse learning model. In the model developed here, an integrated ANFIS structure is trained to function as the system identifier for the modeling of the inverse dynamics of a biped robot. The parameters resulting from the modeling process are duplicated and integrated as those of the biped locomotion controller to provide favorable control action. As the simulation results show, the proposed controller is able to generate a stable walking cycle for a biped robot. Moreover, the experimental results demonstrate that the performance of the proposed controller is satisfactory under conditions when the robot stands in different postures or moves on a rugged surface.

  6. Design of a biped locomotion controller based on adaptive neuro-fuzzy inference systems

    Science.gov (United States)

    Shieh, M.-Y.; Chang, K.-H.; Lia, Y.-S.

    2008-02-01

    This paper proposes a method for the design of a biped locomotion controller based on the ANFIS (Adaptive Neuro-Fuzzy Inference System) inverse learning model. In the model developed here, an integrated ANFIS structure is trained to function as the system identifier for the modeling of the inverse dynamics of a biped robot. The parameters resulting from the modeling process are duplicated and integrated as those of the biped locomotion controller to provide favorable control action. As the simulation results show, the proposed controller is able to generate a stable walking cycle for a biped robot. Moreover, the experimental results demonstrate that the performance of the proposed controller is satisfactory under conditions when the robot stands in different postures or moves on a rugged surface.

  7. A discrete mechanics approach to gait generation for the compass-type biped robot

    Science.gov (United States)

    Kai, Tatsuya; Shintani, Takeshi

    In this paper, we develop a new approach based on discrete mechanics to a gait generation problem for the compass-type biped robot. First, both continuous-time and discrete-time models of the compass-type biped robot are derived. We next formulate a discrete gait generation problem for the discrete compass-type biped robot as a finite dimensional nonlinear optimal control problem and show an algorithm to solve the problem based on the sequential quadratic programming. Then, we propose a transformation method that converts a discrete-time control input into a continuous-time zero-order hold one and apply it to gait generation for the continuous compass-type biped robot. Some simulations are also shown in order to verify the effectiveness of our new approach.

  8. Gait Generation for a Small Biped Robot using Approximated Optimization Method

    Science.gov (United States)

    Nguyen, Tinh; Tao, Linh; Hasegawa, Hiroshi

    2016-11-01

    This paper proposes a novel approach for gait pattern generation of a small biped robot to enhance its walking behavior. This is to aim to make the robot gait more natural and more stable in the walking process. In this study, we mention the approximated optimization method which applied the Differential Evolution algorithm (DE) to objective function approximated by Artificial Neural Network (ANN). In addition, we also present a new humanlike foot structure with toes for the biped robot in this paper. To evaluate this method achievement, the robot was simulated by multi-body dynamics simulation software, Adams (MSC software, USA). As a result, we confirmed that the biped robot with the proposed foot structure can walk naturally. The approximated optimization method based on DE algorithm and ANN is an effective approach to generate a gait pattern for the locomotion of the biped robot. This method is simpler than the conventional methods using Zero Moment Point (ZMP) criterion.

  9. Design of variable-damping control for prosthetic knee based on a simulated biped.

    Science.gov (United States)

    Zhao, Jie; Berns, Karsten; de Souza Baptista, Roberto; Bo, Antonio Padilha L

    2013-06-01

    This paper presents the development of a variable-damping controller for a prosthetic knee using a simulated biped in a virtual environment before real tests are conducted on humans. The simulated biped incorporates several features of human walking, such as functional morphology, exploitation of inherent dynamics, hierarchical control network, combination of feed-forward and feedback controllers and phase-dependent modulation. Based on this virtual model of human walking, we have studied biomechanical aspects of the knee joint during walking. Observing the damping profile developed by the simulated biped throughout a gait cycle, we designed a controller for the knee joint. This controller has been evaluated on a modified version of the simulated biped, in which the model of a real prosthetic leg was incorporated. Results of such experiments for walking on flat and rough terrains have provided satisfactory outputs, including improved robustness.

  10. Knee Stretch Walking Method for Biped Robot: Using Toe and Heel Joints to Increase Walking Strides

    Science.gov (United States)

    Sato, Takahiko; Shimmyo, Shuhei; Nakazato, Miki; Mikami, Kei; Sato, Tomoya; Sakaino, Sho; Ohnishi, Kouhei

    This paper proposes a knee stretch walking method for biped robots; the method involves the use of the toes and heel joints to increase walking strides. A knee can be stretched by switching control variables. By a knee stretch walking with heel contacts to the ground and toe takeoffs from the ground, biped robots can increase their walking stride and speed. The validity of the proposed method is confirmed by simulation and experimental results.

  11. The Development of a Hybrid Underwater Micro Biped Robot

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    S. Guo

    2006-01-01

    Full Text Available There has been a great demand, in the medical field and in industrial applications, for a novel micro biped robot with multiple degrees of freedom that can swim smoothly in water or in aqueous medium. The fish-like micro-robot studied is a type of miniature device that is installed with sensing and actuating elements. This article describes the new structure and motion mechanism of a hybrid type of underwater micro-robot using an ion-conducting polymer film (ICPF actuator, and discusses the swimming and floating characteristics of the micro-robot in water, measured by changing the voltage frequency and the amplitude of the input voltage. Results indicate that the swimming speed of the proposed underwater micro-robot can be controlled by changing the frequency of the input voltage, and the direction (upward or downward can be manipulated by changing the frequency of the electric current applied and the amplitude of the voltage.

  12. Walking Stabilization Control Using Virtual Plane Method for Biped Robots

    Science.gov (United States)

    Sato, Tomoya; Sakaino, Sho; Ohnishi, Kouhei

    In this paper, a method for walking stabilization control using a virtual plane method for up-down motion of biped robots is proposed. In the case of the up-down motion in whitch the height of the center of gravity (COG) is not constant, the Zero-Moment Point (ZMP) equation that shows the relation between the ZMP and the COG becomes linear time-variant. Using the proposed method, the ZMP equation is transformed into linear time-invariant. Therefore, the frequency analysis and parameter design of the walking stabilization control can be implemented easily even in the up-down motion. The validity of the proposed method was confirmed by some simulations and experiments.

  13. Dynamic control of biped locomotion robot using optimal regulator

    Energy Technology Data Exchange (ETDEWEB)

    Sano, Akihito; Furusho, Junji

    1988-08-01

    For moving in indoor space, it is generally recognized that biped locomotion is suitable. This paper proposes a hierarchical control strategy for the lower level where the position control or the force control at each joint is implemented. In the upper level control, the robot motion is divided into a sagittal plane and a lateral plane. We applied the optimal control algorithm to the motion control in the lateral plane in order to improve the robustness of the control system. The effects of these control schemes are shown by the experiments using the new walking robot BLR-G 1 and the parallel calculation system. BLR-G 1 has 9 degrees of freedom and equips the foot-pressure-sensors and a rate gyroscope. Complete dynamic walking is realized, in which the cycle for each step is about 1.0 second.

  14. Online Joint Trajectory Generation of Human-like Biped Walking

    Directory of Open Access Journals (Sweden)

    Jong-Wook Kim

    2014-02-01

    Full Text Available Biped walking has long been studied in the area of gait analysis and robotic locomotion. The goal of this paper is to establish a systematic methodology for human-like natural walking by fusing the measured human joint data and optimal pattern generation techniques based on a full-body humanoid model. To this end, this paper proposes an adaptive two-stage gait pattern by which the step length and walking velocity can be changed with two scaling factors. In addition, to cope with the situations involving passing over a small obstacle, the joint trajectories of the swing foot can be adjusted with a novel concept of differential angle trajectory using a reliable optimization method, viz. particle swarm optimization. The feasibility of the proposed walking scheme is validated by walking experiments with the robot platform DARwIn-OP.

  15. Generation of an Optimal Gait Trajectory for Biped Robots Using a Genetic Algorithm

    Science.gov (United States)

    Park, Jong Hyeon; Choi, Moosung

    This paper proposes a method that minimizes the energy consumption in the locomotion of a biped robot. A real-coded genetic algorithm is employed in order to search for the optimal locomotion pattern, and at the same time the optimal locations of the mass centers of the links that compose the biped robot. Since many of the essential characteristics of the human walking motion can be captured with a seven-link planar biped walking in the saggital plane, a 6-DOF biped robot that consists of seven links is used as the model used in the work. For trajectories of the robot in a single stride, fourth-order polynomials are used as their basis functions to approximate the locomotion gait. The coefficients of the polynomials are defined as design variables. For the optimal locations of the mass centers of the links, three variables are added to the design variables under the assumption that the left and right legs are identical. Simulations were performed to compare locomotion trajectories obtained with the genetic algorithm and the one obtained with the gravity-compensated inverted pendulum mode (GCIPM). They show that the proposed trajectory with the optimized mass centers significantly reduces the energy consumption, indicating that the proposed optimized method is a valuable tool in the design of biped robots.

  16. A central pattern generator approach to footstep transition for biped navigation

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    Zeyang Xia

    2017-02-01

    Full Text Available Existing sampling-based footstep planning method for biped navigation used an intermediate static posture for footstep transition. However, when adopting this approach, the robot is sensitive to modeling error and external environments, and also the transition between different gait patterns is unnatural. This article presents a central pattern generator approach to footstep transition for biped navigation. First, this approach decomposes the biped walking motion into five motion types and designs central pattern generator network for all joints of legs accordingly. Then, the central pattern generator parameters are simplified and the relationship between these parameters and footstep transition is formulated. By modifying the central pattern generator parameters, different walking gaits can be obtained. With sensing feedbacks, self-adaption walking on irregular terrains, such as walking on unknown sloped terrains and flat floor with tiny obstacles, is realized. Experiments were conducted both in simulator and on a physical biped robot. Results have shown that the proposed approach is able to generate gesture transition trajectory for biped robot navigation and realize a self-adaption walking for irregular terrains.

  17. A Computational Mechatronics Approach for the Analysis, Synthesis and Design of a Simple Active Biped Robot: Theory and Experiments

    Directory of Open Access Journals (Sweden)

    L.-I. Lugo-Villeda

    2006-01-01

    Full Text Available Biped walking is a quite complex process that has been mastered only by human beings. Transferring this skill to a robot requires implementing advanced techniques in every aspect. To this end, a computational mechatronics platform was integrated to run the scheme for the analysis, synthesis and design to achieve planar biped walking. The result is an advanced computational tool that integrates advanced modeling and control as well as path planning techniques along with hardware-in-the-loop for perhaps the simplest biped robot. An experimental underactuated three-degree-of-freedom (two active and one passive active biped robot yields encouraging results; that is, achieving biped walking with this simple device requires adding a telescopic support leg. Considering a more complete dynamic model to take into account frictional and contact forces.

  18. A Modular Approach for Trajectory Generation in Biped Robots

    Science.gov (United States)

    Pinto, Carla M. A.; Rocha, Diana; Santos, Cristina P.; Matos, Vítor

    2011-09-01

    Robot locomotion has been a major research issue in the last decades. In particular, humanoid robotics has had a major breakthrough. The motivation for this study is that bipedal locomotion is superior to wheeled approaches on real terrain and situations where robots accompany or replace humans. Some examples are, on the development of human assisting device, such as prosthetics, orthotics, and devices for rehabilitation, rescue of wounded troops, help at the office, help as maidens, accompany and assist elderly people, amongst others. Generating trajectories online for these robots is a hard process, that includes different types of movements, i.e., distinct motor primitives. In this paper, we consider two motor primitives: rhythmic and discrete. We study the effect on a bipeds robots' gaits of inserting the discrete part as an offset of the rhythmic primitive, in synaptic and diffusive couplings. Numerical results show that amplitude and frequency of the periodic solution, corresponding to the gait run are almost constant in all cases studied here.

  19. Sensor-based control of a nine-link biped

    Energy Technology Data Exchange (ETDEWEB)

    Furusho, J.; Sano, A. (Gifu Univ. (Japan))

    1990-04-01

    The authors aimed to realize smooth 3D biped walking in a robot through control based on information obtained from various sensors. They employed a method to control walking by dividing it into motions in the sagittal plane and in the lateral plane. They treated motion in the lateral plane as a regulator problem with two equilibrium states. They also used relatively low gain feedback coefficients obtained from the optimal regulator theory. For motion in the sagittal plane, they put the body speed close to the smooth speed function given in advance by controlling the ankle torque. The effectiveness of the proposed control method was examined by computer simulation and proved by experiments with out BLR-G2 walking robot. The BLR-G2 is equipped with foot pressure and ankle torque sensors to provide information about the condition of contact with the floor. The sole and ankle driving actuators undergo force/torque feedback control based on the sensor information. These contributed toward realizing smooth walking with the sole firmly gripping the floor.

  20. Dynamic stability and phase resetting during biped gait

    Science.gov (United States)

    Nomura, Taishin; Kawa, Kazuyoshi; Suzuki, Yasuyuki; Nakanishi, Masao; Yamasaki, Taiga

    2009-06-01

    Dynamic stability during periodic biped gait in humans and in a humanoid robot is considered. Here gait systems of human neuromusculoskeletal system and a humanoid are simply modeled while keeping their mechanical properties plausible. We prescribe periodic gait trajectories in terms of joint angles of the models as a function of time. The equations of motion of the models are then constrained by one of the prescribed gait trajectories to obtain types of periodically forced nonlinear dynamical systems. Simulated gait of the models may or may not fall down during gait, since the constraints are made only for joint angles of limbs but not for the motion of the body trunk. The equations of motion can exhibit a limit cycle solution (or an oscillatory solution that can be considered as a limit cycle practically) for each selected gait trajectory, if an initial condition is set appropriately. We analyze the stability of the limit cycle in terms of Poincaré maps and the basin of attraction of the limit cycle in order to examine how the stability depends on the prescribed trajectory. Moreover, the phase resetting of gait rhythm in response to external force perturbation is modeled. Since we always prescribe a gait trajectory in this study, reacting gait trajectories during the phase resetting are also prescribed. We show that an optimally prescribed reacting gait trajectory with an appropriate amount of the phase resetting can increase the gait stability. Neural mechanisms for generation and modulation of the gait trajectories are discussed.

  1. The Effect of Foot Structure on Locomotion of a Small Biped Robot

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    Nguyen Tinh

    2017-01-01

    Full Text Available This paper is a presentation of a work that consists of considering a novel foot structure for biped robot inspired by human foot. The specific objective is to develop a foot mechanism with human-like toes for a small biped robot. The chosen architecture to present the biped includes ten degrees of freedom (DoF on ten articulations between eleven links. Our study considers the effect of varying foot structure on a walking process of the robot in simulation by ADAMS (MSC software, USA through gait generation method. In toe mechanism, aiming to reduce the energy consumption, the passive joint was selected as the toe joint. The center of gravity (CoG point trajectories of the robot with varying toe is compared with each other in normal motion on flat terrain to determine the most consistent toe mechanism. The result shows that the selected foot structure enables the robot to walk stably and naturally.

  2. Biped 4R2C six-bar mechanism with inner and outer feet

    Science.gov (United States)

    Liu, Chao; Wang, Hao; Yao, Yan-an

    2016-01-01

    Most current biped robots are equipped with two feet arranged in the right and left which inspired by the human body system. Different from the existing configurations, a novel biped robot with inner and outer feet based on a spatial six-bar 4R2C(R and C denote revolute and cylindric joints, respectively) mechanism is proposed. It can move along a line or a curve by three walking modes that are dwell adjustment mode, limit position adjustment mode and any position adjustment mode. Kinematic, gait planning and stability analyses are performed respectively, and a prototype is developed. Lastly, a potential application is considered and two manipulating modes(sphere and cylinder manipulating modes) are carried out. This interesting mechanism feathering its single closed-chain structure and unique work performance is expected to motivate the configuration creation of biped robots.

  3. Foot Placement Indicator for Balance of Planar Bipeds with Point Feet

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    Pieter van Zutven

    2013-05-01

    Full Text Available Abstract If humanoid robots are to be used in society, they should be able to maintain their balance. Knowing where to step is crucially important. In this paper we contribute an algorithm that can compute the foot step location such that bipedal balance is maintained for planar bipeds with point feet and an arbitrary number of non-massless links on a horizontal and flat ground. The algorithm is called the foot placement indicator (FPI and it extends the foot placement estimator (FPE. The FPE uses an inverted pendulum model to capture the dynamics of a humanoid robot, whereas the FPI deals with multi-body models with distributed masses. This paper analyses equilibrium sets and the stability of planar bipeds with point feet. The algorithm uses conservation of energy throughout the step, taking into account the instantaneous impact dynamics at foot strike. A simulation case study on a five-link planar biped shows the effectiveness of the FPI.

  4. Control of a Biped Robot by Total Rate of Angular Momentum Using the Task Function Approach

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    J. A. Rojas-Estrada

    2005-01-01

    Full Text Available In this work we address the control problem of biped robots by using the task function approach. A problem arrives when one of the feet is in contact with the ground, which presents imperfections. There is then the possibility that the biped robot undergoes a fall. It is difficult to track any trajectory due to the presence of unevenness on the ground. What we propose is to use the task function approach combined with the application of the total rate of angular momentum to obtain a control law for the ankle. By this technique, the tracking becomes more smooth and the balance is assured. The control law proposed allows the upper part of the robot to be controlled independently since only the ankle actuators are concerned. We enounce the formal problem and present some simulations with real parameters of a 21 degrees of freedom biped robot.

  5. Gait Control for Redundant Legged Biped Robot at Constant Velocity and Constant Height of the Waist

    Science.gov (United States)

    Shima, Ryoichi; Haishi, Masahiko; Shibata, Masaaki

    In this paper, we propose a gait control method for redundant legged biped robot based on leg center of mass (COM) position control at constant velocity and constant height of the waist. The developed biped robot has redundant legs, which have 4 degree-of-freedoms (DOFs) on each in the saggital plane. The redundant DOF enables to move its leg tip position and its leg COM position independently. Therefore proposed robot has structural capability to control the leg COM position for keeping the projection of the total COM inside the support polygon without upper body motion. Such capability enables the stable static walk in the arbitrarily desired velocity and height of the waist motion. The validity of the proposed method for the static walk at constant velocity and constant height of the waist in the leg COM position control for redundant legged biped robot is confirmed by several results of simulation and experiment.

  6. Realization of a Biped Robot Lower Limb Walking without Double Support Phase on Uneven Terrain

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    Hai-yan Wang

    2013-01-01

    Full Text Available Zero moment point (ZMP is widely used in dynamical walking control of the biped robot, but it is hard to obtain the ZMP exactly. The paper describes a simple walking control method without using ZMP information directly. Firstly, the paper introduced a biped robot lower-limb prototype which is driven by linear hydraulic servocylinder. Then the paper simplifies the walking control in the lateral plane with a simple walking pattern generation method named “dynamic equilibrium method,” which is fit for active and underactuated biped robots. In the following section the paper provides the balance control methods without using ZMP information directly. Finally, simulation experiments with MD.DAMS and experiments in physical prototype are given. The experimental results confirm the effectiveness of the proposed control methods.

  7. Stepping Forward Action for Biped Robot Based on Acceleration Control of the Center of Mass

    Science.gov (United States)

    Suzuki, Kazuki; Tasaki, Go; Shibata, Masaaki

    In this paper, we propose a novel approach for stepping forward action of biped robot with minimum kicking force. In walking or starting to walk, the general biped robot kicks the ground with its own hind leg as well as human being does. The condition of the ground often restricts the gait because of stiffness, slipperiness and so on. In order to surmount the difficulty on stepping forward action, we introduce the redundant legged biped robot, which has 4 degree-of-freedoms on each leg. Our robot enables to move its tip position and its center of mass (COM) position independently. Controlling COM acceleration without moving its tip position realizes the stepping forward action with little kicking force. The physical experimental results show the significant validity of the proposed approach.

  8. The motion control of a statically stable biped robot on an uneven floor.

    Science.gov (United States)

    Shih, C L; Chiou, C J

    1998-01-01

    This work studies the motion control of a statically stable biped robot having seven degrees of freedom. Statically stable walking of the biped robot is realized by maintaining the center-of-gravity inside the convex region of the supporting foot and/or feet during both single-support and double-support phases. The main points of this work are framing the stability in an easy and correct way, the design of a bipedal statically stable walker, and walking on sloping surfaces and stairs.

  9. Referential ZMP Trajectory for Minimizing Variation of COG Velocity in Single Support Phase of Biped Robot

    Science.gov (United States)

    Sato, Tomoya; Ohnishi, Kouhei

    The referential ZMP (Zero-Moment Point) trajectory that minimizes the variation of COG (Center of Gravity) velocity in the single support phase of a biped robot is shown. Two advantages of using this ZMP trajectory are discussed. The first advantage is that the variation of COG velocity is gradual. The second advantage is that the biped robot enables the heel-contact motion and the toe-off motion in the single support phase. The trajectory planning based on this ZMP trajectory is proposed. In simulation and experiment, the validity of the proposed method was confirmed.

  10. Innovization procedure applied to a multi-objective optimization of a biped robot locomotion

    Science.gov (United States)

    Oliveira, Miguel; Santos, Cristina P.; Costa, Lino

    2013-10-01

    This paper proposes an Innovization procedure approach for a bio-inspired biped gait locomotion controller. We combine a multi-objective evolutionary algorithm and a bio-inspired Central Patterns Generator locomotion controller to generates the necessary limb movements to perform the walking gait of a biped robot. The search for the best set of CPG parameters is optimized by considering multiple objectives along a staged evolution. An innovation analysis is issued to verify relationships between the parameters and the objectives and between objectives themselves in order to find relevant motor behaviors characteristics. The simulation results show the effectiveness of the proposed approach.

  11. Analysis of double support phase of biped robot and multi-objective ...

    Indian Academy of Sciences (India)

    Thus, dynamic balance margin of the biped robot during its double support phase is obtained by using a virtual zero-moment point of the system. Moreover, a smooth transition from single to double support phases in a cycle is to be maintained for the walking robots. Two contrasting objectives, namely power consumption ...

  12. Single-step collision-free trajectory planning of biped climbing robots in spatial trusses.

    Science.gov (United States)

    Zhu, Haifei; Guan, Yisheng; Chen, Shengjun; Su, Manjia; Zhang, Hong

    For a biped climbing robot with dual grippers to climb poles, trusses or trees, feasible collision-free climbing motion is inevitable and essential. In this paper, we utilize the sampling-based algorithm, Bi-RRT, to plan single-step collision-free motion for biped climbing robots in spatial trusses. To deal with the orientation limit of a 5-DoF biped climbing robot, a new state representation along with corresponding operations including sampling, metric calculation and interpolation is presented. A simple but effective model of a biped climbing robot in trusses is proposed, through which the motion planning of one climbing cycle is transformed to that of a manipulator. In addition, the pre- and post-processes are introduced to expedite the convergence of the Bi-RRT algorithm and to ensure the safe motion of the climbing robot near poles as well. The piecewise linear paths are smoothed by utilizing cubic B-spline curve fitting. The effectiveness and efficiency of the presented Bi-RRT algorithm for climbing motion planning are verified by simulations.

  13. SVR versus neural-fuzzy network controllers for the sagittal balance of a biped robot.

    Science.gov (United States)

    Ferreira, João P; Crisóstomo, Manuel M; Coimbra, A Paulo

    2009-12-01

    The real-time balance control of an eight-link biped robot using a zero moment point (ZMP) dynamic model is difficult due to the processing time of the corresponding equations. To overcome this limitation, two alternative intelligent computing control techniques were compared: one based on support vector regression (SVR) and another based on a first-order Takagi-Sugeno-Kang (TSK)-type neural-fuzzy (NF) network. Both methods use the ZMP error and its variation as inputs and the output is the correction of the robot's torso necessary for its sagittal balance. The SVR and the NF were trained based on simulation data and their performance was verified with a real biped robot. Two performance indexes are proposed to evaluate and compare the online performance of the two control methods. The ZMP is calculated by reading four force sensors placed under each robot's foot. The gait implemented in this biped is similar to a human gait that was acquired and adapted to the robot's size. Some experiments are presented and the results show that the implemented gait combined either with the SVR controller or with the TSK NF network controller can be used to control this biped robot. The SVR and the NF controllers exhibit similar stability, but the SVR controller runs about 50 times faster.

  14. Design Method of ZMP Disturbance Observer for Walking Stabilization of Biped Robot

    Science.gov (United States)

    Sato, Tomoya; Sakaino, Sho; Ohnishi, Kouhei

    This paper proposes a design method of zero-moment point (ZMP) disturbance observer for walking stabilization of biped robots. A parameter design method for the filter required in the ZMP disturbance observer is proposed for performance improvement, and a variable compliance controller is introduced for impact reduction during landing. The validity of the proposed method was confirmed by simulations and experiments.

  15. Robust disturbance rejection control of a biped robotic system using high-order extended state observer.

    Science.gov (United States)

    Martínez-Fonseca, Nadhynee; Castañeda, Luis Ángel; Uranga, Agustín; Luviano-Juárez, Alberto; Chairez, Isaac

    2016-05-01

    This study addressed the problem of robust control of a biped robot based on disturbance estimation. Active disturbance rejection control was the paradigm used for controlling the biped robot by direct active estimation. A robust controller was developed to implement disturbance cancelation based on a linear extended state observer of high gain class. A robust high-gain scheme was proposed for developing a state estimator of the biped robot despite poor knowledge of the plant and the presence of uncertainties. The estimated states provided by the state estimator were used to implement a feedback controller that was effective in actively rejecting the perturbations as well as forcing the trajectory tracking error to within a small vicinity of the origin. The theoretical convergence of the tracking error was proven using the Lyapunov theory. The controller was implemented by numerical simulations that showed the convergence of the tracking error. A comparison with a high-order sliding-mode-observer-based controller confirmed the superior performance of the controller using the robust observer introduced in this study. Finally, the proposed controller was implemented on an actual biped robot using an embedded hardware-in-the-loop strategy. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  16. Position and Attitude Tracking Control for Toe Support Phase of Biped Walking Robot

    Science.gov (United States)

    Takahashi, Taro; Kawamura, Atsuo

    No paper has been published on the active use of the foot toe of the biped walking robots. In other words, the sole of the supporting leg is usually assumed to be completely contacted to the floor. To maintain this condition, the robot walking has a restriction such as the maximum walking speed limitation. If the point contact of the toe to the floor through walking is available, the variety of the walking can be realized. In this paper, a new control method for biped robots, in which the contact of the sole to the floor becomes a point contact, is proposed. The COM (Center of Mass) and swing leg can track the desired path and each heel joint angle can be controlled by the proposed controller while a biped walking robot is following a forward falling. Therefore the motion of the body has not to be limited to the quiet motion. The proposed method is verified by the simulation and experimental results with 6 joints DOF biped robot“Ken”.

  17. A survey report for the biped locomotion robot compensating three-axis moment

    Energy Technology Data Exchange (ETDEWEB)

    Kato, Ichiro; Takanishi, Atsuo [Waseda Univ., Tokyo (Japan); Kume, Etsuo

    1994-10-01

    A dynamic walking simulation of biped locomotion robots based on the Zero Moment Point (ZMP) criterion is being conducted at JAERI. The ZMP criterion to obtain the stable walking patterns is that respective sums of moments around pitch-axis and roll-axis which act on the robot are equal to zero. So far, as for the rest moment around yaw-axis, the moment is balanced to frictional force, assuming that the frictional force between robot`s sole and floor is sufficiently large in our study. According to a recent paper, however, slipping around yaw-axis between robot`s sole and floor has occurred as the walking speed becomes faster, and the slipping has made the walking unstable. So influence of this moment can not be ignored for the fast walking. A survey has been performed for collecting relevant information from already existing biped locomotion robots. This is a survey report for the biped locomotion robot compensating three-axis moment by a trunk motion: the WL-12RV designed and developed at Waseda University. The WL-12RV has been realized 1.5 times as fast as dynamic walking compared with a biped locomotion robot compensating two-axis moment (e.g. WL-12RIV). This report includes the machine model, control method and results of walking experiments of the WL-12RV. (author).

  18. New species and records of Stenus (Nestus of the canaliculatus group, with the erection of a new species group (Insecta: Coleoptera: Staphylinidae: Steninae

    Directory of Open Access Journals (Sweden)

    Alexandr B. Ryvkin

    2012-05-01

    Full Text Available The canaliculatus species group of Stenus (Nestus is redefined. Four new Palaearctic species of the group are described and illustrated: S. (N. alopex sp. nov. from the Putorana Highland and Taymyr Peninsula, Russia; S. (N. canalis sp. nov. from SE Siberia and the Russian Far East; S. (N. canosus sp. nov. from the Narat Mt Ridge, Chinese Tien Shan; S. (N. delitor sp. nov. from C & SE Siberia. New distributional data as well as brief analyses of old records for fourteen species described earlier are provided from both Palaearctic and Nearctic material. S. (N. milleporus Casey, 1884 ​(= sectilifer Casey, 1884 is revalidated as a species propria. S. (N. sphaerops Casey, 1884 is redescribed; its aedeagus is figured for the first time; the aedeagus of S. (N. caseyi Puthz, 1972 as well as aedeagi of eight previously described Palaearctic species are illustrated anew. A key for the identification of all the known Palaearctic species of the group is given. A morphology and ecology based analysis of the main evolutionary trends within the group is provided. A lectotype is designated for S. (N. melanopus Marsham, 1802; its Siberian and NE European records are supposed to be erroneous; the monotypic melanopus species group is erected.

  19. Walking control of a biped robot by impedance control; Impedance seigyo ni yoru nisoku hoko robot no hoko seigyo

    Energy Technology Data Exchange (ETDEWEB)

    Sorao, K.; Murakami, T.; Onishi, K. [Keio Univ., Tokyo (Japan)

    1997-09-20

    In this paper, a robust impedance control scheme is used to control a biped locomotion in saggital plane. In particular, the torque observer is introduced and external-force feedback is achieved without force sensor. By the reaction force feedback, the stability of the biped robot increase at the contact of the swing leg and the arbitral impedance control is realized without force sensor. The walking trajectory reference is created from the virtual inverse pendulum model. Simulation and experimental results also show that the effect of the collision between biped leg and the ground is eased and by the proposed control method, the biped robot recover more quickly than the traditional robust position control. 10 refs., 15 figs., 1 tab.

  20. Biped Robot Gait Planning Based on 3D Linear Inverted Pendulum Model

    Science.gov (United States)

    Yu, Guochen; Zhang, Jiapeng; Bo, Wu

    2018-01-01

    In order to optimize the biped robot’s gait, the biped robot’s walking motion is simplify to the 3D linear inverted pendulum motion mode. The Center of Mass (CoM) locus is determined from the relationship between CoM and the Zero Moment Point (ZMP) locus. The ZMP locus is planned in advance. Then, the forward gait and lateral gait are simplified as connecting rod structure. Swing leg trajectory using B-spline interpolation. And the stability of the walking process is discussed in conjunction with the ZMP equation. Finally the system simulation is carried out under the given conditions to verify the validity of the proposed planning method.

  1. Operation analysis of a Chebyshev-Pantograph leg mechanism for a single DOF biped robot

    Science.gov (United States)

    Liang, Conghui; Ceccarelli, Marco; Takeda, Yukio

    2012-12-01

    In this paper, operation analysis of a Chebyshev-Pantograph leg mechanism is presented for a single degree of freedom (DOF) biped robot. The proposed leg mechanism is composed of a Chebyshev four-bar linkage and a pantograph mechanism. In contrast to general fully actuated anthropomorphic leg mechanisms, the proposed leg mechanism has peculiar features like compactness, low-cost, and easy-operation. Kinematic equations of the proposed leg mechanism are formulated for a computer oriented simulation. Simulation results show the operation performance of the proposed leg mechanism with suitable characteristics. A parametric study has been carried out to evaluate the operation performance as function of design parameters. A prototype of a single DOF biped robot equipped with two proposed leg mechanisms has been built at LARM (Laboratory of Robotics and Mechatronics). Experimental test shows practical feasible walking ability of the prototype, as well as drawbacks are discussed for the mechanical design.

  2. Revisiting the stability of 2D passive biped walking: Local behavior

    Science.gov (United States)

    Norris, James A.; Marsh, Anthony P.; Granata, Kevin P.; Ross, Shane D.

    2008-12-01

    Models of biped walking have demonstrated that stable walking motions are possible without active control. Stability of these motions has typically been quantified by studying the stability of an associated Poincaré map (orbital stability). However, additional insight may be obtained by examining how perturbations evolve over the short-term (local stability). For example, there may be regions where small perturbations actually diverge from the unperturbed trajectory, even if over the entire cycle small (but perhaps not large) perturbations are dissipated. We present techniques to calculate local stability, and demonstrate the utility of these techniques by examining the local stability of the 2D compass biped. These techniques are relevant to the design of controllers to maintain stability in robots, and in understanding how the neuromuscular system maintains stability in humans.

  3. Reinforcement learning for a biped robot based on a CPG-actor-critic method.

    Science.gov (United States)

    Nakamura, Yutaka; Mori, Takeshi; Sato, Masa-aki; Ishii, Shin

    2007-08-01

    Animals' rhythmic movements, such as locomotion, are considered to be controlled by neural circuits called central pattern generators (CPGs), which generate oscillatory signals. Motivated by this biological mechanism, studies have been conducted on the rhythmic movements controlled by CPG. As an autonomous learning framework for a CPG controller, we propose in this article a reinforcement learning method we call the "CPG-actor-critic" method. This method introduces a new architecture to the actor, and its training is roughly based on a stochastic policy gradient algorithm presented recently. We apply this method to an automatic acquisition problem of control for a biped robot. Computer simulations show that training of the CPG can be successfully performed by our method, thus allowing the biped robot to not only walk stably but also adapt to environmental changes.

  4. ZMP Reference Trajectory Generation for Biped Robot with Inverted Pendulum Model by Using Virtual Supporting Point

    Science.gov (United States)

    Suzuki, Tomoyuki; Tsuji, Toshiaki; Shibuya, Maki; Ohnishi, Kouhei

    Motion planning of a biped robot based on ZMP is quite popular in recent years. In this method, ZMP reference trajectory is planned at first so that ZMP stays inside of the support polygon. Then, walking pattern is generated based on the trajectory. Conventional methods based on ZMP reference trajectory did not take the dynamics of bipedal locomotion into account. Therefore, the basis of the motion planning was ambiguous and the biped robot did not get human-like walking. This paper proposes ZMP reference trajectory generation with inverted pendulum model by using VSP (Virtual Supporting Point). With this, smooth ZMP reference trajectory based on the dynamics of the inverted pendulum is generated uniquely according to the desired stride and walking cycle.

  5. New Joint Design to Create a More Natural and Efficient Biped

    Directory of Open Access Journals (Sweden)

    Giuseppina Gini

    2009-01-01

    Full Text Available This paper presents a human-oriented approach to design the mechanical architecture and the joint controller for a biped robot. Starting from the analysis of the human lower limbs, we figured out which features of the human legs are fundamental for a correct walking motion, and can be adopted in the mechanical design of a humanoid robot. We focus here on the knee, designed as a compliant human-like knee instead of a classical pin-joint, and on the foot, characterised by the mobility and lightness of the human foot. We implemented an elastic actuator, with a simple position control paradigm that sets the joint stiffness in real time, and developed the basic controller. Results in simulation are discussed. In our approach the robot gains in adaptability and energetic efficiency, which are the most challenging issues for a biped robot.

  6. Design and Real-Time Control of a 4-DOF Biped Robot

    Directory of Open Access Journals (Sweden)

    Jose Alejandro Vázquez

    2013-08-01

    Full Text Available This work is focused on the design, construction and model based control of a biped robot during the walking cycle on the sagittal plane. For the analysis, the single support phase is considered to be the dominating dynamics, by assuming an instantaneous double support phase which is only described by the impact phenomenon. The joint tracking problem is analyzed by means of a model based control strategy, which incorporates a reformulation of the Coriolis matrix that allows the cancellation of non antisymmetric terms in order to formally proof the asymptotic stability of the coordinate error system representation in a local sense. Some experiments are carried out for a pre-defined reference trajectory for the walking cycle of a 4-DOF biped robot.

  7. Kinematics and Dynamics of a New 16 DOF Humanoid Biped Robot with Active Toe Joint

    Directory of Open Access Journals (Sweden)

    C. Hernández-Santos

    2012-11-01

    Full Text Available Humanoid biped robots are typically complex in design, having numerous Degrees-of-Freedom (DOF due to the ambitious goal of mimicking the human gait. The paper proposes a new architecture for a biped robot with seven DOF per each leg and one DOF corresponding to the toe joint. Furthermore, this work presents close equations for the forward and inverse kinematics by dividing the walking gait into the Sagittal and Frontal planes. This paper explains the mathematical model of the dynamics equations for the legs into the Sagittal and Frontal planes by further applying the principle of Lagrangian dynamics. Finally, a control approach using a PD control law with gravity compensation was recurred in order to control the desired trajectories and finding the required torque by the joints. The paper contains several simulations and numerical examples to prove the analytical results, using SimMechanics of MATLAB toolbox and SolidWorks to verify the analytical results.

  8. Real-time Walking Pattern Generation for a Biped Robot with Hybrid CPG-ZMP Algorithm

    Directory of Open Access Journals (Sweden)

    Bin He

    2014-10-01

    Full Text Available Biped robots have better mobility than conventional wheeled robots. The bio-inspired method based on a central pattern generator (CPG can be used to control biped robot walking in a manner like human beings. However, to achieve stable locomotion, it is difficult to modulate the parameters for the neural networks to coordinate every degree of freedom of the walking robot. The zero moment point (ZMP method is very popular for the stability control of biped robot walking. However, the reference trajectories have low energy efficiency, lack naturalness and need significant offline calculation. This paper presents a new method for biped real-time walking generation using a hybrid CPG-ZMP control algorithm. The method can realize a stable walking pattern by combining the ZMP criterion with rhythmic motion control. The CPG component is designed to generate the desired motion for each robot joint, which is modulated by phase resetting according to foot contact information. By introducing the ZMP location, the activity of the CPG output signal is adjusted to coordinate the limbs’ motion and allow the robot to maintain balance during the process of locomotion. The numerical simulation results show that, compared with the CPG method, the new hybrid CPG-ZMP algorithm can enhance the robustness of the CPG parameters and improve the stability of the robot. In addition, the proposed algorithm is more energy efficient than the ZMP method. The results also demonstrate that the control system can generate an adaptive walking pattern through interactions between the robot, the CPG and the environment.

  9. Proper Posture of Redundant Legged Biped Robot for Impact Force Suppression

    Science.gov (United States)

    Tasaki, Go; Shibata, Masaaki

    The paper describes proper initial posture of the swinging leg of a redundant legged biped robot for impact force suppression in landing onto the ground. The proposed robot has structural advantage for absorbing the impact because of its own redundancy of posture, and then, the proper posture of the landing leg contributes the further suppression. The validity of the proposed approach is confirmed in physical experimental results.

  10. Hydrolysis of methyl benzoate from Piper arboreum by Naupactus bipes beetle

    Energy Technology Data Exchange (ETDEWEB)

    Ramos, Clecio S.; Kato, Massuo J. [Universidade de Sao Paulo (USP), SP (Brazil). Inst. de Quimica]. E-mail: majokato@iq.usp.br

    2009-07-01

    A new natural product was isolated from Piper arboreum (Piperaceae) leaves, the methyl 3-geranyl-4-hydroxybenzoate (1). The metabolism of P. arboreum leaves by Naupactus bipes beetle (Germar, 1824 - Coleoptera: Curculionidae) led to the hydrolysis of 1 to 3-geranyl-4-hydroxybenzoic acid (2). The structures of both compounds were determined based on spectroscopic analysis ({sup 1}H and {sup 13}C NMR, MS, and IR). (author)

  11. Cloning and expression characterization of peroxisome proliferator-activated receptors (PPARs) with their agonists, dietary lipids, and ambient salinity in rabbitfish Siganus canaliculatus.

    Science.gov (United States)

    You, Cuihong; Jiang, Danli; Zhang, Qinghao; Xie, Dizhi; Wang, Shuqi; Dong, Yewei; Li, Yuanyou

    2017-04-01

    Rabbitfish Siganus canaliculatus is the first marine teleost reported to have the ability of biosynthesizing C 20-22 long-chain polyunsaturated fatty acids (LC-PUFA) from C 18 precursors, and thus provides a model for studying the regulatory mechanisms of LC-PUFA biosynthesis in teleosts. To investigate the possible roles of peroxisome proliferator-activated receptors (PPARs), critical transcription factors involved in the regulation of lipid metabolism, in the regulation of LC-PUFA biosynthesis in rabbitfish, the PPAR genes were cloned and their expression characterization with PPAR agonists, dietary lipid resource, and ambient salinity were examined. Three cDNA sequences respectively encoding 477, 516 and 519 amino acids of PPARα, PPARβ, and PPARγ isoforms were obtained. PPARα exhibited a wide tissue expression with its highest levels in the heart and brain; PPARβ was predominantly expressed in the gills, while PPARγ was highly expressed in the intestine and gills. In rabbitfish primary hepatocytes, both the PPAR agonists 2-bromopalmitate (2-Bro) and fenofibrate (FF) increased the expression of PPARγ, SREBP1c and Elovl5, whereas FF depressed the expression of Δ6/Δ5 Fad. Moreover, a higher hepatic PPARβ expression was observed in fish fed diets with vegetable oils (VO) than that with fish oil (FO), in the former the expression of PPARα, PPARβ, and PPARγ were increased at the low ambient salinity (10ppt), where an increasing expression of Δ5/Δ6 Fad, Δ4 Fad and Elovl5 genes was previously reported. These results suggest that PPARs might be involved in the upregulation of LC-PUFA biosynthesis with dietary VO and low ambient salinity in rabbitfish. Copyright © 2017 Elsevier Inc. All rights reserved.

  12. Another Look at an Enigmatic New World

    Science.gov (United States)

    2005-02-01

    centred at 2 microns. On the right is the NACO/SDI image of the same location showing Titan's surface through the 1.6 micron methane window. A spherical projection with coordinates on Titan is overplotted. ESO PR Photo 04b/05 is a map of Titan taken with NACO at 1.28 micron (a methane window allowing it to probe down to the surface). On the leading side of Titan, the bright equatorial feature ("Xanadu") is dominating. On the trailing side, the landing site of the Huygens probe is indicated. ESO PR Photo 04c/05 ESO PR Photo 04c/05 Titan, the Enigmatic Moon, and Huygens Landing Site (NACO-SDI/VLT and Cassini/ISS) [Preview - JPEG: 400 x 589 pix - 40k] [Normal - JPEG: 800 x 1178 pix - 290k] Caption: ESO PR Photo 04c/05 is a comparison between the NACO/SDI image and an image taken by Cassini/ISS while approaching Titan. The Cassini image shows the Huygens landing site map wrapped around Titan, rotated to the same position as the January NACO SDI observations. The yellow "X" marks the landing site of the ESA Huygens probe. The Cassini/ISS image is courtesy of NASA, JPL, Space Science Institute (see http://sci.esa.int/science-e/www/object/index.cfm?fobjectid=36222). The coloured lines delineate the regions that were imaged by Cassini at differing resolutions. The lower-resolution imaging sequences are outlined in blue. Other areas have been specifically targeted for moderate and high resolution mosaicking of surface features. These include the site where the European Space Agency's Huygens probe has touched down in mid-January (marked with the yellow X), part of the bright region named Xanadu (easternmost extent of the area covered), and a boundary between dark and bright regions. ESO PR Photo 04d/05 ESO PR Photo 04d/05 Evolution of the Atmosphere of Titan (NACO/VLT) [Preview - JPEG: 400 x 902 pix - 40k] [Normal - JPEG: 800 x 1804 pix - 320k] Caption: ESO PR Photo 04d/05 is an image of Titan's atmosphere at 2.12 microns as observed with NACO on the VLT at three different epochs

  13. Transition Analysis and Its Application to Global Path Determination for a Biped Climbing Robot

    Directory of Open Access Journals (Sweden)

    Haifei Zhu

    2018-01-01

    Full Text Available Biped climbing robots are considered good assistants and (or substitutes for human workers carrying out high-rise truss-associated routine tasks. Flexible locomotion on three-dimensional complex trusses is a fundamental skill for these robots. In particular, the capability to transit from one structural member to another is paramount for switching objects to be climbed upon. In this paper, we study member-to-member transition and its utility in global path searching for biped climbing robots. To compute operational regions for transition, hierarchical inspection of safety, reachability, and accessibility of grips is taken into account. A novel global path rapid determination approach is subsequently proposed based on the transition analysis. This scheme is efficient for finding feasible routes with respect to the overall structural environment, which also benefits the subsequent grip and motion planning. Simulations are conducted with Climbot, our self-developed biped climbing robot, to verify the efficiency of the presented method. Results show that our proposed method is able to accurately determine the operational region for transition within tens of milliseconds and can obtain global paths within seconds in general.

  14. Impact Force Suppression for Redundant Legged Biped Robot Based on Unified Decoupling Control Method

    Science.gov (United States)

    Shibata, Masaaki; Tasaki, Go; Natori, Takeshi

    A swinging leg of a biped robot landing, impact force usually occurs between the sole and the ground, and then it causes instability of the gait. The paper describes the advantages of adopting redundant legs to the robot in order to conquer the difficulty, and proposes a novel way of the motion control for the redundant legged biped robot. In general, each leg of a conventional biped robot consists of 3 joints, namely, hip, knee and ankle in the sagittal plane. On the other hand, the proposed robot has been added extra joints, and thereby has redundancy in terms of degrees-of-freedom. Since the redundant leg can select its arbitrary posture, regardless of the tip position, the structure enables to move the position of the center of mass (COM) of the leg independently. The impact force is suppressed by controlling the COM acceleration of the landing leg. In order to achieve the decoupled motions between the tip and the COM, the unified decoupling controller is introduced. The controller includes three types of the disturbance observers together, and both desired motions are realized consequently. The validity of the proposed approach is confirmed in physical experimental results.

  15. Development of artificial muscle actuator using ionic polymer with its application to biped walking robots

    Science.gov (United States)

    Yamakita, Masaki; Kamamichi, Norihiko; Kaneda, Yasuaki; Asaka, Kinji; Luo, Zhi-Wei

    2003-07-01

    We are developing an artificial muscle linear actuator using ionic polymer-metal composites (IPMC) which is an electro-active polymer that bends in response to electric stimuli and the goal of our study is to apply the actuator to robotic applications especially to a biped walking robot. In this paper, we will describe the structure of the actuator and an empirical model of the actuator which has two inputs and one output, and whose parameters are identified from input-output data. Based on the empirical model, we demonstrate walking simulations of a small-sized biped walking robot. In the numerical simulation we assume that the developed actuators are connected both in series and in parallel to a joint of the walking robot so that the actuators supply enough torque to the robot and that they are stretched and compressed enough. It is shown throughout the simulation that the biped walking robot with the actuators can walk on a level ground with a period synchronized with a period of input signal.

  16. An Address Event Representation-Based Processing System for a Biped Robot

    Directory of Open Access Journals (Sweden)

    Uziel Jaramillo-Avila

    2016-02-01

    Full Text Available In recent years, several important advances have been made in the fields of both biologically inspired sensorial processing and locomotion systems, such as Address Event Representation-based cameras (or Dynamic Vision Sensors and in human-like robot locomotion, e.g., the walking of a biped robot. However, making these fields merge properly is not an easy task. In this regard, Neuromorphic Engineering is a fast-growing research field, the main goal of which is the biologically inspired design of hybrid hardware systems in order to mimic neural architectures and to process information in the manner of the brain. However, few robotic applications exist to illustrate them. The main goal of this work is to demonstrate, by creating a closed-loop system using only bio-inspired techniques, how such applications can work properly. We present an algorithm using Spiking Neural Networks (SNN for a biped robot equipped with a Dynamic Vision Sensor, which is designed to follow a line drawn on the floor. This is a commonly used method for demonstrating control techniques. Most of them are fairly simple to implement without very sophisticated components; however, it can still serve as a good test in more elaborate circumstances. In addition, the locomotion system proposed is able to coordinately control the six DOFs of a biped robot in switching between basic forms of movement. The latter has been implemented as a FPGA-based neuromorphic system. Numerical tests and hardware validation are presented.

  17. Robust fault-tolerant control for a biped robot using a recurrent cerebellar model articulation controller.

    Science.gov (United States)

    Lin, Chih-Min; Chen, Chiu-Hsiung

    2007-02-01

    A design technique of a recurrent cerebellar model articulation controller (RCMAC)-based fault-tolerant control (FTC) system is investigated to rectify the nonlinear faults of a biped robot. The proposed RCMAC-based FTC (RCFTC) scheme contains two components: 1) an online fault estimation module based on an RCMAC is used to provide approximation information for any nonnominal behavior due to the system failure and modeling error of the biped robot; and 2) a controller module consisting of a computed torque controller and a robust FTC is utilized to achieve FTC. In the controller module, the computed torque controller reveals a basic stabilizing controller to stabilize the system, and the robust FTC is utilized to compensate for the effects of the system failure so as to achieve fault accommodation. The adaptive laws of the RCFTC system are rigorously established based on the Lyapunov function, so that the stability of the system can be guaranteed. Finally, two simulation cases of a biped robot are presented to illustrate the effectiveness of the proposed design method. Simulation results show that the RCFTC system can effectively recover the control performance for the system in the presence of the nonlinear faults and modeling uncertainties.

  18. A survey report for the biped locomotion model under external force

    Energy Technology Data Exchange (ETDEWEB)

    Kato, Ichiro; Takanishi, Atsuo [Waseda Univ., Tokyo (Japan); Kume, Etsuo

    1993-10-01

    A mechanical design study of biped locomotion robots is being performed at JAERI within the scope of the Human Acts Simulation Program (HASP). The design study at JAERI is of an arbitrarily mobile robot for inspection of nuclear facilities. We have developed the simulation software which has capability of obtaining several types of stable motions for straight walking in terms of design tools. In addition, we are studying more complex walking patterns such as turning. However, in order to realize the robustness of walking, it is also necessary for the robot to have a capability of walking under external force as a disturbance which is caused by touching an object and so on. A survey has been performed for collecting useful information from already existing biped locomotion robots. This is a survey report for the biped locomotion model under external force: the WL-12RIII/IV designed and developed at Waseda University. This report includes the machine model, control system, control method and results of walking experiments. (author).

  19. Fuzzy Logic Velocity Control of a Biped Robot Locomotion and Simulation

    Directory of Open Access Journals (Sweden)

    Arif Ankarali

    2012-10-01

    Full Text Available In this paper, fuzzy logic velocity control of a biped robot to generate gait is studied. The system considered in this study has six degrees of freedom with hip, knee and ankle joints. The joint angular positions are determined utilizing the Cartesian coordinate information of the joints obtained by using camera captured data of the motion. The first derivatives of the calculated joint angular positions are applied as the reference angular velocity input to the fuzzy controllers of the joint servomotors to generate a gait motion. The assumed motion for the biped robot is horizontal walking on a flat surface. The actuated joints are hip, knee and ankle joints which are driven by DC servomotors. The calculated angular velocities of the joints from camera captured motion data are utilized to get the driving velocity functions of the model as sine functions. These functions are applied to the fuzzy controller as the reference angular velocity inputs. The control signals produced by the fuzzy controllers are applied to the servomotors and then the response of the servomotor block is introduced as an input to the SimMechanics model of the biped robot. The simulation results are provided which evaluate the effectiveness of the fuzzy logic controller on joint velocities to generate gait motion.

  20. Dynamical analysis and performance evaluation of a biped robot under multi-source random disturbances

    Science.gov (United States)

    Gan, Chun-Biao; Ding, Chang-Tao; Yang, Shi-Xi

    2014-12-01

    During bipedal walking, it is critical to detect and adjust the robot postures by feedback control to maintain its normal state amidst multi-source random disturbances arising from some unavoidable uncertain factors. The radical basis function (RBF) neural network model of a five-link biped robot is established, and two certain disturbances and a randomly uncertain disturbance are then mixed with the optimal torques in the network model to study the performance of the biped robot by several evaluation indices and a specific Poincaré map. In contrast with the simulations, the response varies as desired under optimal inputting while the output is fluctuating in the situation of disturbance driving. Simulation results from noise inputting also show that the dynamics of the robot is less sensitive to the disturbance of knee joint input of the swing leg than those of the other three joints, the response errors of the biped will be increasing with higher disturbance levels, and especially there are larger output fluctuations in the knee and hip joints of the swing leg.

  1. Species of Tetrancistrum Goto & Kikuchi, 1917 (Monogenea: Dactylogyridae) from the gills of the whitespotted rabbitfish, Siganus canaliculatus (Park) (Perciformes: Siganidae) off Omani coasts, with a description of Tetrancistrum labyrinthus n. sp.

    Science.gov (United States)

    Al Jufaili, Sarah H; Palm, Harry W

    2017-09-01

    Tetrancistrum labyrinthus n. sp. is described from the gills of the marine herbivorous fish Siganus canaliculatus (Park) found in the Western Indian Ocean (Sea of Oman and Arabian Sea). Comparative morphological analyses of all previously described species of Tetrancistrum Goto & Kikuchi, 1917 confirmed the distinct status of T. labyrinthus n. sp. The new species closely resembles T. suezicum Paperna, 1972 and T. oraminii Young, 1967 in the morphology of the male copulatory organ. However, it can be distinguished by possessing a thin handle-like anterior basal flange and a compound accessory piece that is composed of a tapering rod-shaped anterior part and a large cylindrical, elongated posterior part. The new species can be further distinguished from other Tetrancistrum species by its highly sclerotised and complex disc-shaped vaginal vestibule. This is the first record of Tetrancistrum from the Sea of Oman and Arabian Sea, and the fourth of nominal species of Tetrancistrum known to parasitise Siganus canaliculatus (Park). In addition, T. indicum Paperna, 1972 is re-described here with an updated locality record.

  2. The Functions of Mao Zedong’s Enigmatic Language

    Directory of Open Access Journals (Sweden)

    Ping Sun

    2015-06-01

    Full Text Available Mao Zedong was a voracious reader in various fields and an expert in philosophy and history, and he knew the ancient Chinese history stories so well that he became highly skilled in applying those strategies and deceptions used by the ancient rulers in his own administration. Whenever he was dealing with some tough issues, he would make the past serve the present, using the characters in the ancient Chinese history stories to allude to some people or using the ideas in the philosophical books to explicate something. This special speech style adopted by Mao Zedong is called “enigmatic language”, an indirect language which is quite close to present “riddle”. Its real implied meaning changes with the specific referents and the concrete situations. This paper studies the functions of one of his commonly used enigmatic language styles, that is, his recommendation of the proper books to the people working close to him. Results show that by recommending the different books to those surrounding him he intended to inspire, to warn, to criticize and even to satirize his subordinates or his colleagues, insinuating his real political intentions as well as his purposes of gauging their genuine political loyalty. However, we also find that his enigmatic language depressed most of people surrounding him, who could not interpret his words properly to understand his implied intentions.

  3. Human-Like Walking with Heel Off and Toe Support for Biped Robot

    Directory of Open Access Journals (Sweden)

    Yixiang Liu

    2017-05-01

    Full Text Available The under-actuated foot rotation that the heel of the stance leg lifts off the ground and the body rotates around the stance toe is an important feature in human walking. However, it is absent in the realized walking gait for the majority of biped robots because of the difficulty and complexity in the control it brings about. In this paper, a hybrid control approach aiming to integrate the main characteristics of human walking into a simulated seven-link biped robot is presented and then verified with simulations. The bipedal robotic gait includes a fully actuated single support phase with the stance heel supporting the body, an under-actuated single support phase, with the stance toe supporting the body, and an instantaneous double support phase when the two legs exchange their roles. The walking controller combines virtual force control and foot placement control, which are applied to the stance leg and the swing leg, respectively. The virtual force control assumes that there is a virtual force which can generate the desired torso motion on the center of mass of the torso link, and then the virtual force is applied through the real torques on each actuated joint of the stance leg to create the same effect that the virtual force would have created. The foot placement control uses a path tracking controller to follow the predefined trajectory of the swing foot when walking forward. The trajectories of the torso and the swing foot are generated based on the cart-cable model. Co-simulations in Adams and MATLAB show that the desired gait is achieved with a biped robot under the action of the proposed method.

  4. APPROACHES FOR STABILIZING OF BIPED ROBOTS IN A STANDING POSITION ON MOVABLE SUPPORT

    Directory of Open Access Journals (Sweden)

    D. N. Bazylev

    2015-05-01

    Full Text Available Subject of research. The problem of stabilization for biped walking robots on the surface is considered. The angle and angular velocity of the movable surface varies randomly in a limited range. Methods. Two approaches of stabilization of biped robots are proposed. The first approach requires the construction of kinematic and dynamic models of the robot. Dynamic equations were obtained using the Euler-Lagrange method. The control algorithm is based on the method of inverse dynamics, in which the original nonlinear dynamic model is linearized by a feedback. The second stabilization algorithm uses only the kinematic model of the robot. A hybrid controller is developed for this approach. In the case of low angular velocities of the movable support the robot stabilization is performed by PD controller on the basis of the angle error of deflection of the servo shaft. In the case of relatively high angular velocities of the support the controller also uses the gyroscope readings mounted in the robot torso. Maintenance of the robot’s gravity center over the center of bearing area for providing a stable position was chosen as a goal of control in both approaches. Main results. Efficiency and effectiveness of the proposed approaches for stabilization of biped robots on the moving surface are demonstrated by the numerical simulation. Both methods provide stability of the balancing robots on changing the angle of inclination and angular velocity of the moving surface in the ranges (50; 50 and (40 / sec; 40 / sec , respectively. Comparative analysis of these approaches under identical requirements for quality indicators of transients is also provided: transient time 0.2 sec п t  and overshoot   0%. The conditions under which each of the control methods will be more effective in practice are identified.

  5. Walking motion generation, synthesis, and control for biped robot by using PGRL, LPI, and fuzzy logic.

    Science.gov (United States)

    Li, Tzuu-Hseng S; Su, Yu-Te; Lai, Shao-Wei; Hu, Jhen-Jia

    2011-06-01

    This paper proposes the implementation of fuzzy motion control based on reinforcement learning (RL) and Lagrange polynomial interpolation (LPI) for gait synthesis of biped robots. First, the procedure of a walking gait is redefined into three states, and the parameters of this designed walking gait are determined. Then, the machine learning approach applied to adjusting the walking parameters is policy gradient RL (PGRL), which can execute real-time performance and directly modify the policy without calculating the dynamic function. Given a parameterized walking motion designed for biped robots, the PGRL algorithm automatically searches the set of possible parameters and finds the fastest possible walking motion. The reward function mainly considered is first the walking speed, which can be estimated from the vision system. However, the experiment illustrates that there are some stability problems in this kind of learning process. To solve these problems, the desired zero moment point trajectory is added to the reward function. The results show that the robot not only has more stable walking but also increases its walking speed after learning. This is more effective and attractive than manual trial-and-error tuning. LPI, moreover, is employed to transform the existing motions to the motion which has a revised angle determined by the fuzzy motion controller. Then, the biped robot can continuously walk in any desired direction through this fuzzy motion control. Finally, the fuzzy-based gait synthesis control is demonstrated by tasks and point- and line-target tracking. The experiments show the feasibility and effectiveness of gait learning with PGRL and the practicability of the proposed fuzzy motion control scheme.

  6. Generation of initial stepping pattern of a biped robot with modular dynamic encoding algorithm for searches

    Science.gov (United States)

    Kim, Taegyu; Kim, Jong-Wook

    2007-12-01

    In this paper, a modified version of dynamic encoding algorithm for searches (DEAS) is proposed and applied to generate walking patterns of a biped humanoid robot. For the controller of each joint motor to generate optimal trajectories, mDEAS is developed from the previous versions of exhaustive DEAS (eDEAS) and univariate DEAS (uDEAS). Modular DEAS (mDEAS) searches optimal coefficients of polynomials whose trajectories are assigned to joint motors. Since the number of the coefficients amounts up to 16, sharing search space and optimizing independently is expected to search efficiently. For validation of mDEAS, a simulation result about initial stepping is provided.

  7. Introducing Pre-evaluation into the Embodied-Evolution Framework for a Biped Robot

    Science.gov (United States)

    Nakai, Junichi; Arita, Takaya

    ``Embodied Evolution (EE)'' is a methodology in evolutionary robotics, in which, without simulations on a host computer, real robots evolve based on the interactions with actual environment. However, we had to accept robot behavior with low fitness especially in the early generations when adopting the EE framework. We introduced pre-evaluation into the EE framework so as to restrain robot behavior whose fitness is predicted to be low. This paper reports on the introduction of pre-evaluation into the Embodied-Evolution framework for a biped robot in order to reduce the risk of falling.

  8. A ZMP-Compensation Method Based on Pole-Zero Cancellation for Biped Robots

    Science.gov (United States)

    Shimmyo, Shuhei; Ohnishi, Kouhei

    This paper proposes a ZMP-compensation method based on pole-zero cancellation for biped robots. Conventionally, walking stabilization controls is achieved by using the feedback of ZMP error. In these systems, several feedback gains need to be determined, and this is done by using the optimal control theory or the pole-placement method. In the proposed method, only one feedback gain needs to be determined. Therefore, the proposed method makes it easy to design a walking stabilization controller. The effectiveness of the proposed method is confirmed from the results of simulations and experiments.

  9. Motion Stabilization by Using Laser Distance Sensor for Biped Walking Robot with Flexible Ankle Joints

    Science.gov (United States)

    Ito, Masanori; Oda, Naoki

    This paper describes an approach to motion stabilization by using laser distance sensors for biped robots with flexible ankle joints. To avoid the vibrated zero moment point (ZMP) behavior caused by mechanical resonance, a vibration control method is proposed in the paper. In our approach, the deformation of the ankle joint is measured by using laser distance sensors, and the detected deformation is translated into the equivalent reaction force at the center of gravity. The feedback of the reaction force enables the stabilization of the walking motion in a manner similar to resonance ratio control. The validity of the proposed method is evaluated by several experimental results.

  10. Comparison of kinematic and dynamic leg trajectory optimization techniques for biped robot locomotion

    Science.gov (United States)

    Khusainov, R.; Klimchik, A.; Magid, E.

    2017-01-01

    The paper presents comparison analysis of two approaches in defining leg trajectories for biped locomotion. The first one operates only with kinematic limitations of leg joints and finds the maximum possible locomotion speed for given limits. The second approach defines leg trajectories from the dynamic stability point of view and utilizes ZMP criteria. We show that two methods give different trajectories and demonstrate that trajectories based on pure dynamic optimization cannot be realized due to joint limits. Kinematic optimization provides unstable solution which can be balanced by upper body movement.

  11. Note: Reconfigurable pelvis mechanism for efficient multi-locomotion: Biped and quadruped walking

    Science.gov (United States)

    Yoon, Byungho; Kim, Soohyun

    2017-12-01

    A reconfigurable pelvis mechanism that can change its length for multi-locomotion robot is introduced. From the characteristics of animals that walk in a bipedal or quadrupedal manner, we found that the length of the pelvis for each type of locomotion is related to the efficiency and stability of walking. We demonstrated the effectiveness of this mechanism in biped and quadruped walking through comparison of accumulated power of consumption. We also examined the changes of the supporting polygon according to the length of the pelvis during quadruped walking in terms of stability.

  12. Method for Adapting to Rough Terrain Based on Environmental Modes for Biped Robots

    Science.gov (United States)

    Ohashi, Eijiro; Sato, Tomoya; Ohnishi, Kouhei

    This paper describes a method for adapting to rough terrain for biped robots. The robots obtain information of reaction force from the ground by sensors located at each corner of rectangular soles. From the sensor information, environmental modes are extracted. The environmental modes consist of four modes: heaving, rolling, pitching, and twisting, which represent contact states between the ground and the soles. On the basis of the twisting mode, the robot detects the unevenness of the ground, makes contact with the uneven ground stably with three corners of the sole, and modifies the trajectory to continue stable walking. The validity of the proposed method is confirmed by experimental results.

  13. Foot Placement Modification for a Biped Humanoid Robot with Narrow Feet

    Directory of Open Access Journals (Sweden)

    Kenji Hashimoto

    2014-01-01

    Full Text Available This paper describes a walking stabilization control for a biped humanoid robot with narrow feet. Most humanoid robots have larger feet than human beings to maintain their stability during walking. If robot’s feet are as narrow as humans, it is difficult to realize a stable walk by using conventional stabilization controls. The proposed control modifies a foot placement according to the robot's attitude angle. If a robot tends to fall down, a foot angle is modified about the roll axis so that a swing foot contacts the ground horizontally. And a foot-landing point is also changed laterally to inhibit the robot from falling to the outside. To reduce a foot-landing impact, a virtual compliance control is applied to the vertical axis and the roll and pitch axes of the foot. Verification of the proposed method is conducted through experiments with a biped humanoid robot WABIAN-2R. WABIAN-2R realized a knee-bended walking with 30 mm breadth feet. Moreover, WABIAN-2R mounted on a human-like foot mechanism mimicking a human's foot arch structure realized a stable walking with the knee-stretched, heel-contact, and toe-off motion.

  14. 3-D Biped Robot Walking along Slope with Dual Length Linear Inverted Pendulum Method (DLLIPM

    Directory of Open Access Journals (Sweden)

    Fariz Ali

    2013-11-01

    Full Text Available A new design method to obtain walking parameters for a three-dimensional (3D biped walking along a slope is proposed in this paper. Most research is focused on the walking directions when climbing up or down a slope only. This paper investigates a strategy to realize biped walking along a slope. In conventional methods, the centre of mass (CoM is moved up or down during walking in this situation. This is because the height of the pendulum is kept at the same length on the left and right legs. Thus, extra effort is required in order to bring the CoM up to higher ground. In the proposed method, a different height of pendulum is applied on the left and right legs, which is called a dual length linear inverted pendulum method (DLLIPM. When a different height of pendulum is applied, it is quite difficult to obtain symmetrical and smooth pendulum motions. Furthermore, synchronization between sagittal and lateral planes is not confirmed. Therefore, DLLIPM with a Newton Raphson algorithm is proposed to solve these problems. The walking pattern for both planes is designed systematically and synchronization between them is ensured. As a result, the maximum force fluctuation is reduced with the proposed method.

  15. Foot and body control of biped robots to walk on irregularly protruded uneven surfaces.

    Science.gov (United States)

    Park, Jong Hyeon; Kim, Eung Seo

    2009-02-01

    This correspondence proposes a control method for biped robots walking on a geometrically uneven surface with irregular protrusions. The focus is to maintain robot stability in leg and foot motions in order to adapt the foot to uneven terrains. Under the assumption that contact sensors are evenly installed at the foot soles, the geometric information under the landing foot is represented by a terrain matrix, whose elements represent the height of protruded cones. The control strategy of a landing phase (LP) is to form a large polygon with the contact points between the foot and the ground, based on the current zero-moment point (ZMP) and the locations of contact points during the transition from the LP to the stable double-support phase. The center of the polygon formed by the contact points at the end of the LP is to be used as the ZMP when the trajectory for the next step is generated. The gravity-compensated inverted-pendulum-mode-based trajectory is modified based on the newly located ZMP position and is interpolated to remove any trajectory discontinuity and to ensure a smooth transition. A series of computer simulations of a 28-degree-of-freedom (DOF) biped robot with a six-DOF environment model using SimMechanics shows that a stable compliant locomotion on uneven surfaces is successfully achieved with the proposed method.

  16. Foot placement modification for a biped humanoid robot with narrow feet.

    Science.gov (United States)

    Hashimoto, Kenji; Hattori, Kentaro; Otani, Takuya; Lim, Hun-Ok; Takanishi, Atsuo

    2014-01-01

    This paper describes a walking stabilization control for a biped humanoid robot with narrow feet. Most humanoid robots have larger feet than human beings to maintain their stability during walking. If robot's feet are as narrow as humans, it is difficult to realize a stable walk by using conventional stabilization controls. The proposed control modifies a foot placement according to the robot's attitude angle. If a robot tends to fall down, a foot angle is modified about the roll axis so that a swing foot contacts the ground horizontally. And a foot-landing point is also changed laterally to inhibit the robot from falling to the outside. To reduce a foot-landing impact, a virtual compliance control is applied to the vertical axis and the roll and pitch axes of the foot. Verification of the proposed method is conducted through experiments with a biped humanoid robot WABIAN-2R. WABIAN-2R realized a knee-bended walking with 30 mm breadth feet. Moreover, WABIAN-2R mounted on a human-like foot mechanism mimicking a human's foot arch structure realized a stable walking with the knee-stretched, heel-contact, and toe-off motion.

  17. Postural stability of biped robots and the foot-rotation indicator (FRI) point

    Energy Technology Data Exchange (ETDEWEB)

    Goswami, A. [Univ. of Pennsylvania, Philadelphia, PA (United States). Dept. of Computer and Information Science

    1999-06-01

    The focus of this paper is the problem of foot rotation in biped robots during the single-support phase. Foot rotation is an indication of postural instability, which should be carefully treated in a dynamically stable walk and avoided altogether in a statically stable walk. The author introduces the foot-rotation indicator (FRI) point, which is a point on the foot/ground-contact surface where the net ground-reaction force would have to act to keep the foot stationary. To ensure no foot rotation, the FRI point must remain within the convex hull of the foot-support area. In contrast with the ground projection of the center of mass (GCoM), which is a static criterion, the FRI point incorporates robot dynamics. As opposed to the center of pressure (CoP) -- better known as the zero-moment point (ZMP) in the robotics literature -- which may not leave the support area, the FRI point may leave the area. In fact, the position of the FRI point outside the footprint indicates the direction of the impending rotation and the magnitude of rotational moment acting on the foot. Owing to these important properties, the FRI point helps not only to monitor the state of postural stability of a biped robot during the entire gait cycle, but indicates the severity of instability of the gait as well. In response to a recent need, the paper also resolves the misconceptions surrounding the CoP/ZMP equivalence.

  18. Generation of the Human Biped Stance by a Neural Controller Able to Compensate Neurological Time Delay

    Science.gov (United States)

    Jiang, Ping; Chiba, Ryosuke; Takakusaki, Kaoru; Ota, Jun

    2016-01-01

    The development of a physiologically plausible computational model of a neural controller that can realize a human-like biped stance is important for a large number of potential applications, such as assisting device development and designing robotic control systems. In this paper, we develop a computational model of a neural controller that can maintain a musculoskeletal model in a standing position, while incorporating a 120-ms neurological time delay. Unlike previous studies that have used an inverted pendulum model, a musculoskeletal model with seven joints and 70 muscular-tendon actuators is adopted to represent the human anatomy. Our proposed neural controller is composed of both feed-forward and feedback controls. The feed-forward control corresponds to the constant activation input necessary for the musculoskeletal model to maintain a standing posture. This compensates for gravity and regulates stiffness. The developed neural controller model can replicate two salient features of the human biped stance: (1) physiologically plausible muscle activations for quiet standing; and (2) selection of a low active stiffness for low energy consumption. PMID:27655271

  19. A Novel Biped Pattern Generator Based on Extended ZMP and Extended Cart-Table Model

    Directory of Open Access Journals (Sweden)

    Guangbin Sun

    2015-07-01

    Full Text Available This paper focuses on planning patterns for biped walking on complex terrains. Two problems are solved: ZMP (zero moment point cannot be used on uneven terrain, and the conventional cart-table model does not allow vertical CM (centre of mass motion. For the ZMP definition problem, we propose the extended ZMP (EZMP concept as an extension of ZMP to uneven terrains. It can be used to judge dynamic balance on universal terrains. We achieve a deeper insight into the connection and difference between ZMP and EZMP by adding different constraints. For the model problem, we extend the cart-table model by using a dynamic constraint instead of constant height constraint, which results in a mathematically symmetric set of three equations. In this way, the vertical motion is enabled and the resultant equations are still linear. Based on the extended ZMP concept and extended cart-table model, a biped pattern generator using triple preview controllers is constructed and implemented simultaneously to three dimensions. Using the proposed pattern generator, the Atlas robot is simulated. The simulation results show the robot can walk stably on rather complex terrains by accurately tracking extended ZMP.

  20. Optimal three-dimensional biped walking pattern generation based on geodesics

    Directory of Open Access Journals (Sweden)

    Liandong Zhang

    2017-03-01

    Full Text Available The innovative three-dimensional humanoid biped gait planning method using geodesics is introduced in this article. In order to control three-dimensional walking, the three-dimensional linear inverted pendulum model is studied in our energy-optimal gait planning based on geodesics. The kinetic energy of the three-dimensional linear inverted pendulum model is calculated at first. Based on this kinetic energy model, the Riemannian metric is defined and the Riemannian surface is further determined by this Riemannian metric. The geodesic is the shortest line between two points on the Riemannian surface. This geodesic is the optimal kinetic energy gait for the center of gravity because the kinetic energy along the geodesic is invariant according to the geometric property of geodesics and the walking is energy-saving. Finally, a simulation experiment using a 12-degree-of-freedom biped robot model is implemented. The gait sequences of the simulated RoboErectus humanoid robot are obtained in the ROS (Robot Operating System Gazebo environment. The proposed geodesics approach is compared with the traditional sinusoidal interpolation method by analyzing the torque feedback of each joint of both legs, and our geodesics optimization gait planning method for three-dimensional linear inverted pendulum model walking control is verified by the assessment results.

  1. Design and Experimental Development of a Pneumatic Stiffness Adjustable Foot System for Biped Robots Adaptable to Bumps on the Ground

    Directory of Open Access Journals (Sweden)

    Xizhe Zang

    2017-09-01

    Full Text Available Walking on rough terrains still remains a challenge that needs to be addressed for biped robots because the unevenness on the ground can easily disrupt the walking stability. This paper proposes a novel foot system with passively adjustable stiffness for biped robots which is adaptable to small-sized bumps on the ground. The robotic foot is developed by attaching eight pneumatic variable stiffness units to the sole separately and symmetrically. Each variable stiffness unit mainly consists of a pneumatic bladder and a mechanical reversing valve. When walking on rough ground, the pneumatic bladders in contact with bumps are compressed, and the corresponding reversing valves are triggered to expel out the air, enabling the pneumatic bladders to adapt to the bumps with low stiffness; while the other pneumatic bladders remain rigid and maintain stable contact with the ground, providing support to the biped robot. The performances of the proposed foot system, including the variable stiffness mechanism, the adaptability on the bumps of different heights, and the application on a biped robot prototype are demonstrated by various experiments.

  2. Fifteen observations on the structure of energy-minimizing gaits in many simple biped models.

    Science.gov (United States)

    Srinivasan, Manoj

    2011-01-06

    A popular hypothesis regarding legged locomotion is that humans and other large animals walk and run in a manner that minimizes the metabolic energy expenditure for locomotion. Here, using numerical optimization and supporting analytical arguments, I obtain the energy-minimizing gaits of many different simple biped models. I consider bipeds with point-mass bodies and massless legs, with or without a knee, with or without a springy tendon in series with the leg muscle and minimizing one of many different 'metabolic cost' models-correlated with muscle work, muscle force raised to some power, the Minetti-Alexander quasi-steady approximation to empirical muscle metabolic rate (from heat and ATPase activity), a new cost function called the 'generalized work cost' C(g) having some positivity and convexity properties (and includes the Minetti-Alexander cost and the work cost as special cases), and generalizations thereof. For many of these models, walking-like gaits are optimal at low speeds and running-like gaits at higher speeds, so a gait transition is optimal. Minimizing the generalized work cost C(g) appears mostly indistinguishable from minimizing muscle work for all the models. Inverted pendulum walking and impulsive running gaits minimize the work cost, generalized work costs C(g) and a few other costs for the springless bipeds; in particular, a knee-torque-squared cost, appropriate as a simplified model for electric motor power for a kneed robot biped. Many optimal gaits had symmetry properties; for instance, the left stance phase was identical to the right stance phases. Muscle force-velocity relations and legs with masses have predictable qualitative effects, if any, on the optima. For bipeds with compliant tendons, the muscle work-minimizing strategies have close to zero muscle work (isometric muscles), with the springs performing all the leg work. These zero work gaits also minimize the generalized work costs C(g) with substantial additive force or force rate

  3. Interstitial Cystitis: Characterization and Management of an Enigmatic Urologic Syndrome

    Science.gov (United States)

    Nickel, J. Curtis

    2002-01-01

    The enigmatic urologic condition known as interstitial cystitis has an estimated prevalence of 0.01% to 0.50% of the female population. Its etiology is unknown but may involve microbiologic, immunologic, mucosal, neurogenic, and/or other, as yet undefined, agents. There is no gold standard for the diagnosis of interstitial cystitis; rather, it is a diagnosis of exclusion. It is impossible to provide a purely evidence-based treatment strategy, but review of available evidence suggests that conservative supportive therapy (including diet modification); oral treatment with pentosan polysulfate, amitriptyline, hydroxyzine, or cimetidine; and intravesical treatments with heparinoids, dimethyl sulfoxide, alkalized lidocaine, or bacille Calmette-Guérin may be effective in some patients. PMID:16985667

  4. A measured-ZMP(Zero-Moment-Point)-referenced control of biped locomotion robots

    International Nuclear Information System (INIS)

    Kume, Etsuo; Akimoto, Masayuki

    1994-01-01

    For the control of biped locomotion, the model-referenced-control or programmed control method is widely used. In this method, the instantaneous torque of actuator equipped at each joint is controlled so as to equalize measured angle to input joint angle based on the prescribed motion. The drawback is that this method can not deal with the dynamic change of walking such as that due to unknown external force. To resolve such the drawback, we propose a new control method as follows: given a prescribed motion as a set of gait, namely gait of starting walk, cyclic walk, and stopping walk including a standard trajectory of the Zero-Moment-Point (ZMP), the trunk motion to compensate the legs' motion is generated in real time using the current ZMP measured by sensing device. The proposed method will be validated through some numerical simulations. (author)

  5. Gravity Compensation and Feedback of Ground Reaction Forces for Biped Balance Control.

    Science.gov (United States)

    Ito, Satoshi; Nishio, Shingo; Fukumoto, Yuuki; Matsushita, Kojiro; Sasaki, Minoru

    2017-01-01

    This paper considers the balance control of a biped robot under a constant external force or on a sloped ground. We have proposed a control method with feedback of the ground reaction forces and have realized adaptive posture changes that ensure the stability of the robot. However, fast responses have not been obtained because effective control is achieved by an integral feedback that accompanies a time delay necessary for error accumulation. To improve this response, here, we introduce gravity compensation in a feedforward manner. The stationary state and its stability are analyzed based on dynamic equations, and the robustness as well as the response is evaluated using computer simulations. Finally, the adaptive behaviors of the robot are confirmed by standing experiments on the slope.

  6. Generating Gaits for Biped Robots Using Multiple Dynamic Passivization of Joint Control

    Science.gov (United States)

    Ishida, Minoru; Kato, Shohei; Kanoh, Masayoshi; Itoh, Hidenori

    In the research field of bipedal locomotion, a central pattern generator (CPG) and passive dynamic walking (PDW) have attracted much attention. In this paper, we describe a motion control system for biped robots based on dynamic joint passivization. Our motion control system is based on a mixture of the CPG and PDW, that is, the multiple dynamic passivization of joint control (MDPJC). Our intention is to make the joint control of the swing leg temporarily passive in the swing leg phase. The important part is the passive phase time and the switch timings of the joint control. We optimize the switch timing parameters using simulated annealing with advanced adaptive neighborhood (SA/AAN). Experiments using the motion control system based on multiple dynamic passivization of joint control successfully generated energy efficient walking and enabled superior gaits.

  7. Walking Planning Based on Artificial Vector Field with Prediction Simulation for Biped Robot

    Science.gov (United States)

    Yamaguchi, Takashi; Shibata, Masaaki

    This paper proposes a way of gait trajectory generation with artificial vector field for stable walking of a biped robot. The tip of the robot on walking can often deviate from the desired trajectory by the disturbances forced by unexpected outside factors. In our approach, though no prepared trajectory is specified a priori, the tip follows the artificial vectors designed in the workspace. Moreover, the prediction simulation is performed on-line. The simulator judges the stability under comparison with the present state and the prediction results, and then the gait parameters are adaptively improved in feedforward for the stable walk. The numerical and physical experimental results show the validity of the proposed method in the continuous walk.

  8. Gravity Compensation and Feedback of Ground Reaction Forces for Biped Balance Control

    Directory of Open Access Journals (Sweden)

    Satoshi Ito

    2017-01-01

    Full Text Available This paper considers the balance control of a biped robot under a constant external force or on a sloped ground. We have proposed a control method with feedback of the ground reaction forces and have realized adaptive posture changes that ensure the stability of the robot. However, fast responses have not been obtained because effective control is achieved by an integral feedback that accompanies a time delay necessary for error accumulation. To improve this response, here, we introduce gravity compensation in a feedforward manner. The stationary state and its stability are analyzed based on dynamic equations, and the robustness as well as the response is evaluated using computer simulations. Finally, the adaptive behaviors of the robot are confirmed by standing experiments on the slope.

  9. Optimal Trajectory Planning Method Using Inequality State Constraint for a Biped Walking Robot with Upper Body Mass

    Science.gov (United States)

    Huang, Qingjiu; Hase, Takamasa; Ono, Kyosuke

    For studies of biped walking robots, energy-efficiency is an important issue. We have proposed an optimal-trajectory planning method based on a function approximation method, and applied it to a 2D biped walking model. With this method, we obtained the solution of minimal square integration value of the input torque. Previously in the literature, this method included only an equality state constraint. However, in this paper, we include an inequality state constraint to restrict the joint-angle range. In addition, walking experiments were performed to verify the effectiveness of this method. Results showed that stable walking of a 0.6 s period and 0.3 m/s speed was realized. Finally, we evaluated the robot's energy-efficiency using Specific Cost analysis.

  10. Fuzzy neural network quadratic stabilization output feedback control for biped robots via H/sub /spl infin// approach.

    Science.gov (United States)

    Liu, Zhi; Li, Chunwen

    2003-01-01

    A novel fuzzy neural network (FNN) quadratic stabilization output feedback control scheme is proposed for the trajectory tracking problems of biped robots with an FNN nonlinear observer. First, a robust quadratic stabilization FNN nonlinear observer is presented to estimate the joint velocities of a biped robot, in which an H/sub /spl infin// approach and variable structure control (VSC) are embedded to attenuate the effect of external disturbances and parametric uncertainties. After the construction of the FNN nonlinear observer, a quadratic stabilization FNN controller is developed with a robust hybrid control scheme. As the employment of a quadratic stability approach, not only does it afford the possibility of trading off the design between FNN, H/sub /spl infin// optimal control, and VSC, but conservative estimation of the FNN reconstruction error bound is also avoided by considering the system matrix uncertainty separately. It is shown that all signals in the closed-loop control system are bounded.

  11. Numerical Simulations of Level-Ground Walking Based on Passive Walk for Planar Biped Robots with Torso by Hip Actuators

    Science.gov (United States)

    Narukawa, Terumasa; Takahashi, Masaki; Yoshida, Kazuo

    This study aims at a design technique of energy-efficient biped walking robots on level ground with simple mechanisms. To do this, we focus on the passive dynamic walkers which can walk stably down a shallow slope without actuators and controllers. On level ground, active walking should be studied because the mechanical energy is mainly lost through the swing-leg impacts with the ground. In this paper, numerical simulations show that planar biped robots with torso can walk efficiently on level ground over a wide range of speed by only using hip actuators. The hip actuators are used for a torso and swing-leg control based on passive-dynamic walking. The torso is used to generate active power replacing gravity used in the case of the passive walk. The swing-leg control is introduced to walk stably over a wide range of speed.

  12. Dynamics Analysis of Fluid-Structure Interaction for a Biologically-Inspired Biped Robot Running on Water

    Directory of Open Access Journals (Sweden)

    Linsen Xu

    2013-10-01

    Full Text Available A kinematics analysis of a biologically-inspired biped robot is carried out, and the trajectory of the robot foot is understood. For calculating the pressure distribution across a robot foot before touching the surface of water, the compression flow of air and the depression motion of the water surface are considered. The pressure model after touching the water surface has been built according to the theory of rigid body planar motion. The multi-material ALE algorithm is applied to emulate the course of the foot slapping water. The simulation results indicate that the model of the bionic robot can satisfy the water-running function. The real prototype of the robot is manufactured to test its function of running on water. When the biped robot is running on water, the average force generated by the propulsion mechanism is about 1.3N. The experimental results show that the propulsion system can satisfy the requirement of biped robot running on water.

  13. Revisiting the enigmatic cortical calretinin-expressing interneurons

    Directory of Open Access Journals (Sweden)

    Bruno eCauli

    2014-06-01

    Full Text Available Cortical calretinin (CR-expressing interneurons represent a heterogeneous subpopulation of about 10-30% of GABAergic interneurons, which altogether total ca. 12-20% of all cortical neurons. In the rodent neocortex, CR cells display different somatodendritic morphologies ranging from bipolar to multipolar but the bipolar cells and their variations dominate. They are also diverse at the molecular level as they were shown to express numerous neuropeptides in different combinations including vasoactive intestinal polypeptide (VIP, cholecystokinin (CCK, neurokinin B (NKB corticotrophin releasing factor (CRF, enkephalin (Enk but also neuropeptide Y (NPY and somatostatin (SOM to a lesser extent. CR-expressing interneurons exhibit different firing behaviors such as adapting, bursting or irregular. They mainly originate from the caudal ganglionic eminence (CGE but a subpopulation also derives from the dorsal part of the medial ganglionic eminence (MGE. Cortical GABAergic CR-expressing interneurons can be divided in two main populations: VIP-bipolar interneurons deriving from the CGE and SOM-Martinotti-like interneurons originating in the dorsal MGE. Although bipolar cells account for the majority of CR-expressing interneurons, the roles they play in cortical neuronal circuits and in the more general metabolic physiology of the brain remain elusive and enigmatic. The aim of this review is, firstly, to provide a comprehensive view of the morphological, molecular and electrophysiological features defining this cell type. We will, secondly, also summarize what is known about their place in the cortical circuit, their modulation by subcortical afferents and the functional roles they might play in neuronal processing and energy metabolism.

  14. Functionally enigmatic genes: a case study of the brain ignorome.

    Directory of Open Access Journals (Sweden)

    Ashutosh K Pandey

    Full Text Available What proportion of genes with intense and selective expression in specific tissues, cells, or systems are still almost completely uncharacterized with respect to biological function? In what ways do these functionally enigmatic genes differ from well-studied genes? To address these two questions, we devised a computational approach that defines so-called ignoromes. As proof of principle, we extracted and analyzed a large subset of genes with intense and selective expression in brain. We find that publications associated with this set are highly skewed--the top 5% of genes absorb 70% of the relevant literature. In contrast, approximately 20% of genes have essentially no neuroscience literature. Analysis of the ignorome over the past decade demonstrates that it is stubbornly persistent, and the rapid expansion of the neuroscience literature has not had the expected effect on numbers of these genes. Surprisingly, ignorome genes do not differ from well-studied genes in terms of connectivity in coexpression networks. Nor do they differ with respect to numbers of orthologs, paralogs, or protein domains. The major distinguishing characteristic between these sets of genes is date of discovery, early discovery being associated with greater research momentum--a genomic bandwagon effect. Finally we ask to what extent massive genomic, imaging, and phenotype data sets can be used to provide high-throughput functional annotation for an entire ignorome. In a majority of cases we have been able to extract and add significant information for these neglected genes. In several cases--ELMOD1, TMEM88B, and DZANK1--we have exploited sequence polymorphisms, large phenome data sets, and reverse genetic methods to evaluate the function of ignorome genes.

  15. Functionally Enigmatic Genes: A Case Study of the Brain Ignorome

    Science.gov (United States)

    Pandey, Ashutosh K.; Lu, Lu; Wang, Xusheng; Homayouni, Ramin; Williams, Robert W.

    2014-01-01

    What proportion of genes with intense and selective expression in specific tissues, cells, or systems are still almost completely uncharacterized with respect to biological function? In what ways do these functionally enigmatic genes differ from well-studied genes? To address these two questions, we devised a computational approach that defines so-called ignoromes. As proof of principle, we extracted and analyzed a large subset of genes with intense and selective expression in brain. We find that publications associated with this set are highly skewed—the top 5% of genes absorb 70% of the relevant literature. In contrast, approximately 20% of genes have essentially no neuroscience literature. Analysis of the ignorome over the past decade demonstrates that it is stubbornly persistent, and the rapid expansion of the neuroscience literature has not had the expected effect on numbers of these genes. Surprisingly, ignorome genes do not differ from well-studied genes in terms of connectivity in coexpression networks. Nor do they differ with respect to numbers of orthologs, paralogs, or protein domains. The major distinguishing characteristic between these sets of genes is date of discovery, early discovery being associated with greater research momentum—a genomic bandwagon effect. Finally we ask to what extent massive genomic, imaging, and phenotype data sets can be used to provide high-throughput functional annotation for an entire ignorome. In a majority of cases we have been able to extract and add significant information for these neglected genes. In several cases—ELMOD1, TMEM88B, and DZANK1—we have exploited sequence polymorphisms, large phenome data sets, and reverse genetic methods to evaluate the function of ignorome genes. PMID:24523945

  16. Muscle emulation with DC motor and neural networks for biped robots.

    Science.gov (United States)

    Serhan, Hayssam; Nasr, Chaiban G; Henaff, Patrick

    2010-08-01

    This paper shows how to use a DC motor and its PID controller, to behave analogously to a muscle. A model of the muscle that has been learned by a NNARX (Neural Network Auto Regressive eXogenous) structure is used. The PID parameters are tuned by an MLP Network with a special indirect online learning algorithm. The calculation of the learning algorithm is performed based on a mathematical equation of the DC motor or with a Neural Network identification of the motor. For each of the two algorithms, the output of the muscle model is used as a reference for the DC motor control loop. The results show that we succeeded in forcing the physical system to behave in the same way as the muscle model with acceptable margin of error. An implementation in the knees of a simulated biped robot is realized. Simulation compares articular trajectories with and without the muscle emulator and shows that with muscle emulator, articular trajectories become closer to the human being ones and that total power consumption is reduced.

  17. Treadmill walking of the pneumatic biped Lucy: Walking at different speeds and step-lengths

    Science.gov (United States)

    Vanderborght, B.; Verrelst, B.; Van Ham, R.; Van Damme, M.; Versluys, R.; Lefeber, D.

    2008-07-01

    Actuators with adaptable compliance are gaining interest in the field of legged robotics due to their capability to store motion energy and to exploit the natural dynamics of the system to reduce energy consumption while walking and running. To perform research on compliant actuators we have built the planar biped Lucy. The robot has six actuated joints, the ankle, knee and hip of both legs with each joint powered by two pleated pneumatic artificial muscles in an antagonistic setup. This makes it possible to control both the torque and the stiffness of the joint. Such compliant actuators are used in passive walkers to overcome friction when walking over level ground and to improve stability. Typically, this kind of robots is only designed to walk with a constant walking speed and step-length, determined by the mechanical design of the mechanism and the properties of the ground. In this paper, we show that by an appropriate control, the robot Lucy is able to walk at different speeds and step-lengths and that adding and releasing weights does not affect the stability of the robot. To perform these experiments, an automated treadmill was built

  18. A study of the passive gait of a compass-like biped robot: Symmetry and chaos

    International Nuclear Information System (INIS)

    Goswami, A.; Espiau, B.; Thuilot, B.

    1998-01-01

    The focus of this work is a systematic study of the passive gait of a compass-like planar, biped robot on inclined slopes. The robot is kinematically equivalent to a double pendulum, possessing two kneeless legs with point masses and a third point mass at the hip joint. Three parameters, namely, the ground-slope angle and the normalized mass and length of the robot describe its gait. The authors show that in response to a continuous change in any one of its parameters, the symmetric and steady stable gait of the unpowered robot gradually evolves through a regime of bifurcations characterized by progressively complicated asymmetric gaits, eventually arriving at an apparently chaotic gait where not two steps are identical. The robot can maintain this gait indefinitely. A necessary (but not sufficient) condition for the stability of such gaits is the contraction of the phase-fluid volume. For this frictionless robot, the volume contraction, which the authors compute, is caused by the dissipative effects of the ground-impact model. In the chaotic regime, the fractal dimension of the robot's strange attractor (2.07) compared to its state-space dimension (4) also reveals strong contraction. The authors present a novel graphical technique based on the first return map that compactly captures the entire evolution of the gait, from symmetry to chaos. Additional passive dissipative elements in the robot joint results in a significant improvement in the stability and the versatility of the gait, and provide a rich repertoire for simple controls laws

  19. Design, Modeling and Control of a Biped Line-Walking Robot

    Directory of Open Access Journals (Sweden)

    Ludan Wang

    2010-12-01

    Full Text Available The subject of this paper is the design and analysis of a biped line walking robot for inspection of power transmission lines. With a novel mechanism the centroid of the robot can be concentrated on the axis of hip joint to minimize the drive torque of the hip joint. The mechanical structure of the robot is discussed, as well as forward kinematics. Dynamic model is established in this paper to analyze the inverse kinematics for motion planning. The line-walking cycle of the line-walking robot is composed of a single-support phase and a double-support phase. Locomotion of the line-walking robot is discussed in details and the obstacle-navigation process is planed according to the structure of power transmission line. To fulfill the demands of line-walking, a control system and trajectories generation method are designed for the prototype of the line-walking robot. The feasibility of this concept is then confirmed by performing experiments with a simulated line environment.

  20. Minimal feedback to a rhythm generator improves the robustness to slope variations of a compass biped.

    Science.gov (United States)

    Spitz, Jonathan; Evstrachin, Alexandrina; Zacksenhouse, Miriam

    2015-08-20

    In recent years there has been a growing interest in the field of dynamic walking and bio-inspired robots. However, while walking and running on a flat surface have been studied extensively, walking dynamically over terrains with varying slope remains a challenge. Previously we developed an open loop controller based on a central pattern generator (CPG). The controller applied predefined torque patterns to a compass-gait biped, and achieved stable gaits over a limited range of slopes. In this work, this range is greatly extended by applying a once per cycle feedback to the CPG controller. The terrain's slope is measured and used to modify both the CPG frequency and the torque amplitude once per step. A multi-objective optimization algorithm was used to tune the controller parameters for a simulated CB model. The resulting controller successfully traverses terrains with slopes ranging from +7° to -8°, comparable to most slopes found in human constructed environments. Gait stability was verified by computing the linearized Poincaré Map both numerically and analytically.

  1. Symmetry-Breaking in a Rate Model for a Biped Locomotion Central Pattern Generator

    Directory of Open Access Journals (Sweden)

    Ian Stewart

    2014-01-01

    Full Text Available The timing patterns of animal gaits are produced by a network of spinal neurons called a Central Pattern Generator (CPG. Pinto and Golubitsky studied a four-node CPG for biped dynamics in which each leg is associated with one flexor node and one extensor node, with Ζ2 x Ζ2 symmetry. They used symmetric bifurcation theory to predict the existence of four primary gaits and seven secondary gaits. We use methods from symmetric bifurcation theory to investigate local bifurcation, both steady-state and Hopf, for their network architecture in a rate model. Rate models incorporate parameters corresponding to the strengths of connections in the CPG: positive for excitatory connections and negative for inhibitory ones. The three-dimensional space of connection strengths is partitioned into regions that correspond to the first local bifurcation from a fully symmetric equilibrium. The partition is polyhedral, and its symmetry group is that of a tetrahedron. It comprises two concentric tetrahedra, subdivided by various symmetry planes. The tetrahedral symmetry arises from the structure of the eigenvalues of the connection matrix, which is involved in, but not equal to, the Jacobian of the rate model at bifurcation points. Some of the results apply to rate equations on more general networks.

  2. Multiobjective Evolution of Biped Robot Gaits Using Advanced Continuous Ant-Colony Optimized Recurrent Neural Networks.

    Science.gov (United States)

    Juang, Chia-Feng; Yeh, Yen-Ting

    2017-06-30

    This paper proposes the optimization of a fully connected recurrent neural network (FCRNN) using advanced multiobjective continuous ant colony optimization (AMO-CACO) for the multiobjective gait generation of a biped robot (the NAO). The FCRNN functions as a central pattern generator and is optimized to generate angles of the hip roll and pitch, the knee pitch, and the ankle pitch and roll. The performance of the FCRNN-generated gait is evaluated according to the walking speed, trajectory straightness, oscillations of the body in the pitch and yaw directions, and walking posture, subject to the basic constraints that the robot cannot fall down and must walk forward. This paper formulates this gait generation task as a constrained multiobjective optimization problem and solves this problem through an AMO-CACO-based evolutionary learning approach. The AMO-CACO finds Pareto optimal solutions through ant-path selection and sampling operations by introducing an accumulated rank for the solutions in each single-objective function into solution sorting to improve learning performance. Simulations are conducted to verify the AMO-CACO-based FCRNN gait generation performance through comparisons with different multiobjective optimization algorithms. Selected software-designed Pareto optimal FCRNNs are then applied to control the gait of a real NAO robot.

  3. Biped locomotion control with compliance; Compliance wo mochiita nisoku soko robot no undo seigyo

    Energy Technology Data Exchange (ETDEWEB)

    Kawaji, S.; Ogasawara, K.; Iimori, J. [Kumamoto University, Kumamoto (Japan)

    1995-12-20

    Realization of stable walking motion of biped locomotive robot is one of difficult control problems, but it is very interesting both theoretically and practically from the view point of motion control. The authors have already reported that the locomotion rhythm plays an important role in walking motions, and confirmed experimentally that the control method based on the locomotion rhythm is effective. But, many uncertainties, e.g., the changes of robot dynamics and the interaction between the robot and the floor, may make the locomotion rhythm irregular. In this paper, we introduce the compliance into the control system in order to modify the original reference locomotion rhythm for stable walking under the existence of the uncertainties. Concretely a compliance control system for the contact leg is designed to modify the rhythm by changing the posture of the leg corresponding to the force acting from the body so that the robot may keep the equilibrium state dynamically. Finally the simulation results are given to illustrate the effectiveness of the proposed compliance control system. 21 refs., 12 figs., 3 tabs.

  4. Spatiotemporal synchronization of biped walking patterns with multiple external inputs by style-phase adaptation.

    Science.gov (United States)

    Matsubara, Takamitsu; Uchikata, Akimasa; Morimoto, Jun

    2015-12-01

    In this paper, we propose a framework for generating coordinated periodic movements of robotic systems with multiple external inputs. We developed an adaptive pattern generator model that is composed of a two-factor observation model with a style parameter and phase dynamics with a phase variable. The style parameter controls the spatial patterns of the generated trajectories, and the phase variable manages its temporal profiles. By exploiting the style-phase separation in the pattern generation, we can independently design adaptation schemes for the spatial and temporal profiles of the pattern generator to multiple external inputs. To validate the effectiveness of our proposed method, we applied it to a user-exoskeleton model to achieve user-adaptive walking assistance for which the exoskeleton robot's movements need to be coordinated with the user walking patterns and environment. As a result, the exoskeleton robot successfully performed stable biped walking behaviors for walking assistance even when the style of the observed walking pattern and the period were suddenly changed.

  5. Design, Modeling and Control of a Biped Line-Walking Robot

    Directory of Open Access Journals (Sweden)

    Ludan Wang

    2011-01-01

    Full Text Available The subject of this paper is the design and analysis of a biped line walking robot for inspection of power transmission lines. With a novel mechanism the centroid of the robot can be concentrated on the axis of hip joint to minimize the drive torque of the hip joint. The mechanical structure of the robot is discussed, as well as forward kinematics. Dynamic model is established in this paper to analyze the inverse kinematics for motion planning. The line-walking cycle of the line-walking robot is composed of a single-support phase and a double-support phase. Locomotion of the line-walking robot is discussed in details and the obstacle-navigation process is planed according to the structure of power transmission line. To fulfill the demands of line-walking, a control system and trajectories generation method are designed for the prototype of the line-walking robot. The feasibility of this concept is then confirmed by performing experiments with a simulated line environment.

  6. Research on Walking Gait of Biped Robot Based on a Modified CPG Model

    Directory of Open Access Journals (Sweden)

    Qiang Lu

    2015-01-01

    Full Text Available The neurophysiological studies of animals locomotion have verified that the fundamental rhythmic movements of animals are generated by the central pattern generator (CPG. Many CPG models have been proposed by scientific researchers. In this paper, a modified CPG model whose output function is sin(x is presented. The paper proves that the modified model has stable periodic solution and characteristics of the rhythmic movement using the Lyapunov judgement theorem and the phase diagram. A modified locomotion model is established in which the credit-assignment cerebellar model articulation controller (CA-CMAC algorithm is used to realize the pattern mapping between the CPG output and the musculoskeletal system. And a seven-link biped robot is employed to simulate cyclic walking gait in order to test the validity of the locomotion model. The main findings include the following. (1 The modified CPG model can generate spontaneous oscillations which correspond to biological signals. (2 The analysis of the modified locomotion model reveals that the CA-CMAC algorithm can be used to realize the pattern mapping between the CPG output and the musculoskeletal system.

  7. Pareto design of state feedback tracking control of a biped robot via multiobjective PSO in comparison with sigma method and genetic algorithms: modified NSGAII and MATLAB's toolbox.

    Science.gov (United States)

    Mahmoodabadi, M J; Taherkhorsandi, M; Bagheri, A

    2014-01-01

    An optimal robust state feedback tracking controller is introduced to control a biped robot. In the literature, the parameters of the controller are usually determined by a tedious trial and error process. To eliminate this process and design the parameters of the proposed controller, the multiobjective evolutionary algorithms, that is, the proposed method, modified NSGAII, Sigma method, and MATLAB's Toolbox MOGA, are employed in this study. Among the used evolutionary optimization algorithms to design the controller for biped robots, the proposed method operates better in the aspect of designing the controller since it provides ample opportunities for designers to choose the most appropriate point based upon the design criteria. Three points are chosen from the nondominated solutions of the obtained Pareto front based on two conflicting objective functions, that is, the normalized summation of angle errors and normalized summation of control effort. Obtained results elucidate the efficiency of the proposed controller in order to control a biped robot.

  8. A study of the passive gait of a compass-like biped robot: Symmetry and chaos

    Energy Technology Data Exchange (ETDEWEB)

    Goswami, A.; Espiau, B. [INRIA Rhone-Alpes, Montbonnot Saint Martin (France); Thuilot, B. [Univ. Blaise Pascal, Aubiere (France)

    1998-12-01

    The focus of this work is a systematic study of the passive gait of a compass-like planar, biped robot on inclined slopes. The robot is kinematically equivalent to a double pendulum, possessing two kneeless legs with point masses and a third point mass at the hip joint. Three parameters, namely, the ground-slope angle and the normalized mass and length of the robot describe its gait. The authors show that in response to a continuous change in any one of its parameters, the symmetric and steady stable gait of the unpowered robot gradually evolves through a regime of bifurcations characterized by progressively complicated asymmetric gaits, eventually arriving at an apparently chaotic gait where not two steps are identical. The robot can maintain this gait indefinitely. A necessary (but not sufficient) condition for the stability of such gaits is the contraction of the phase-fluid volume. For this frictionless robot, the volume contraction, which the authors compute, is caused by the dissipative effects of the ground-impact model. In the chaotic regime, the fractal dimension of the robot`s strange attractor (2.07) compared to its state-space dimension (4) also reveals strong contraction. The authors present a novel graphical technique based on the first return map that compactly captures the entire evolution of the gait, from symmetry to chaos. Additional passive dissipative elements in the robot joint results in a significant improvement in the stability and the versatility of the gait, and provide a rich repertoire for simple controls laws.

  9. Adaptive, fast walking in a biped robot under neuronal control and learning.

    Science.gov (United States)

    Manoonpong, Poramate; Geng, Tao; Kulvicius, Tomas; Porr, Bernd; Wörgötter, Florentin

    2007-07-01

    Human walking is a dynamic, partly self-stabilizing process relying on the interaction of the biomechanical design with its neuronal control. The coordination of this process is a very difficult problem, and it has been suggested that it involves a hierarchy of levels, where the lower ones, e.g., interactions between muscles and the spinal cord, are largely autonomous, and where higher level control (e.g., cortical) arises only pointwise, as needed. This requires an architecture of several nested, sensori-motor loops where the walking process provides feedback signals to the walker's sensory systems, which can be used to coordinate its movements. To complicate the situation, at a maximal walking speed of more than four leg-lengths per second, the cycle period available to coordinate all these loops is rather short. In this study we present a planar biped robot, which uses the design principle of nested loops to combine the self-stabilizing properties of its biomechanical design with several levels of neuronal control. Specifically, we show how to adapt control by including online learning mechanisms based on simulated synaptic plasticity. This robot can walk with a high speed (>3.0 leg length/s), self-adapting to minor disturbances, and reacting in a robust way to abruptly induced gait changes. At the same time, it can learn walking on different terrains, requiring only few learning experiences. This study shows that the tight coupling of physical with neuronal control, guided by sensory feedback from the walking pattern itself, combined with synaptic learning may be a way forward to better understand and solve coordination problems in other complex motor tasks.

  10. Adaptive, fast walking in a biped robot under neuronal control and learning.

    Directory of Open Access Journals (Sweden)

    Poramate Manoonpong

    2007-07-01

    Full Text Available Human walking is a dynamic, partly self-stabilizing process relying on the interaction of the biomechanical design with its neuronal control. The coordination of this process is a very difficult problem, and it has been suggested that it involves a hierarchy of levels, where the lower ones, e.g., interactions between muscles and the spinal cord, are largely autonomous, and where higher level control (e.g., cortical arises only pointwise, as needed. This requires an architecture of several nested, sensori-motor loops where the walking process provides feedback signals to the walker's sensory systems, which can be used to coordinate its movements. To complicate the situation, at a maximal walking speed of more than four leg-lengths per second, the cycle period available to coordinate all these loops is rather short. In this study we present a planar biped robot, which uses the design principle of nested loops to combine the self-stabilizing properties of its biomechanical design with several levels of neuronal control. Specifically, we show how to adapt control by including online learning mechanisms based on simulated synaptic plasticity. This robot can walk with a high speed (>3.0 leg length/s, self-adapting to minor disturbances, and reacting in a robust way to abruptly induced gait changes. At the same time, it can learn walking on different terrains, requiring only few learning experiences. This study shows that the tight coupling of physical with neuronal control, guided by sensory feedback from the walking pattern itself, combined with synaptic learning may be a way forward to better understand and solve coordination problems in other complex motor tasks.

  11. Tuning a PD Controller Based on an SVR for the Control of a Biped Robot Subject to External Forces and Slope Variation

    Directory of Open Access Journals (Sweden)

    João P. Ferreira

    2014-03-01

    Full Text Available Real-time balance control of an eight-link biped robot using a zero moment point (ZMP dynamic model is difficult to achieve due to the processing time of the corresponding equations. To overcome this limitation an intelligent computing technique based on Support Vector Regression (SVR is developed and presented in this paper. To implement a PD controller the SVR uses the ZMP error relative to a reference and its variation as inputs, and the output is the correction of the angle of the robot's torso, necessary for its sagittal balance. The SVR was trained based on simulation data generated using a PD controller. The initial values of the parameters of the PD controller were obtained by the second Ziegler-Nichols method. In order to evaluate the balance performance of the biped robot, three performance indexes are used. The ZMP is calculated by reading four force sensors placed under each of the robot's feet. The gait implemented in this biped is similar to a human gait, which is acquired and adapted to the robot's size. The main contribution of this paper is the fine-tuning of the ZMP controller based on the SVR. To implement and test this, the biped robot was subjected to external forces and slope variation. Some experiments are presented and the results show that the implemented gait combined with the correct tuning of the SVR controller is appropriate for use with this biped robot. The SVR controller runs at 0.2 ms, which is about 50 times faster than a corresponding first-order TSK neural-fuzzy network.

  12. Dynamic gait control of biped robot based on kinematics and motion description in Cartesian space; Zettai zahyokei no dosa kijutsu to kinematics ni motozuita nisoku robot no dohoko seigyo no jitsugen

    Energy Technology Data Exchange (ETDEWEB)

    Majima, K.; Miyazaki, T.; Oishi, K. [Nagaoka Univ. of Technology., Niigata (Japan)

    1997-10-20

    This paper proposes a new dynamic gait control method of biped robot based on robust joint servo control. The method consists of two subjects. The first subject is the approximation of biped robot to the inverted pendulum for sagittal plane and lateral plane. The second subject is the constitution of dynamic gait control based on robust joint servo control and kinematics. The motion description in Cartesian space is determined from the motion of the inverted pendulum for sagittal plane and lateral plane. Suitability of the biped motion reference is confirmed by distribution of ZMP (Zero Moment Point). Using the inverse kinematics of biped robot, the biped motion references in Cartesian space is transformed to the position references in joint space. In joint space, the robust position control system consists of two-degrees-of-freedom control system based on coprime factorization and disturbance observer. Since the robust joint servo control system compensates the inertia variation and disturbance torque on dynamic gait control, this control system is suitable for the dynamic gait control of biped robot. The validity of the proposed method is confirmed by the experimental results. 15 refs., 11 figs., 2 tabs.

  13. Fabrication of four-point biped robot foot module based on contact-resistance force sensor and its evaluation

    Energy Technology Data Exchange (ETDEWEB)

    Kwon, Hyun Joon; Kim, Jong Ho; Kim, Dong Ki [Korea Research Institute of Standards and Science, Daejeon (Korea, Republic of); Kwon, Young Ha [Kyung Hee University, Yongin (Korea, Republic of)

    2011-02-15

    This paper presents the design of robot foot module of four-point biped walking robot and its fabrication. The foot module has four sensor units based on contact-resistance force sensor. The thin-film-type force sensor is fabricated by coating resistive ink on thin polyimide film using silk screening technique. The simple structure is devised and fabricated to assemble the thin force sensor rigidly. The unit force sensor module is evaluated by the calibration setup to obtain the characteristics of repeatability and hysteresis. The sensor module presents hysteresis error of about 5% and repeatability error of about 0.37%. The calculated zero moment point (ZMP) of the foot module is also compared with the measured position using static load of 50 N. The maximum location error of ZMP is less than 10%. The robot foot module shows the possibility of applying it to humanoid walking.

  14. Fabrication of four-point biped robot foot module based on contact-resistance force sensor and its evaluation

    International Nuclear Information System (INIS)

    Kwon, Hyun Joon; Kim, Jong Ho; Kim, Dong Ki; Kwon, Young Ha

    2011-01-01

    This paper presents the design of robot foot module of four-point biped walking robot and its fabrication. The foot module has four sensor units based on contact-resistance force sensor. The thin-film-type force sensor is fabricated by coating resistive ink on thin polyimide film using silk screening technique. The simple structure is devised and fabricated to assemble the thin force sensor rigidly. The unit force sensor module is evaluated by the calibration setup to obtain the characteristics of repeatability and hysteresis. The sensor module presents hysteresis error of about 5% and repeatability error of about 0.37%. The calculated zero moment point (ZMP) of the foot module is also compared with the measured position using static load of 50 N. The maximum location error of ZMP is less than 10%. The robot foot module shows the possibility of applying it to humanoid walking

  15. Artificial Leg Design and Control Research of a Biped Robot with Heterogeneous Legs Based on PID Control Algorithm

    Directory of Open Access Journals (Sweden)

    Hualong Xie

    2015-04-01

    Full Text Available A biped robot with heterogeneous legs (BRHL is proposed to provide an ideal test-bed for intelligent bionic legs (IBL. To make artificial leg gait better suited to a human, a four-bar mechanism is used as its knee joint, and a pneumatic artificial muscle (PAM is used as its driving source. The static mathematical model of PAM is established and the mechanical model of a single degree of freedom of a knee joint driven by PAM is analyzed. A control simulation of an artificial leg based on PID control algorithm is carried out and the simulation results indicate that the artificial leg can simulate precisely a normal human walking gait.

  16. Boron and marine life: a new look at an enigmatic bioelement.

    Science.gov (United States)

    Carrano, Carl J; Schellenberg, Stephen; Amin, Shady A; Green, David H; Küpper, Frithjof C

    2009-01-01

    On the occasion of the 200th anniversary of the discovery of boron, we review the oceanic biogeochemistry of boron as well as suitable analytical techniques for its determination. This overview includes aspects of biogeochemistry including geochemical stable isotope variations, uptake, transport, storage, nutritional value, toxicity, and distribution within biological materials, providing a framework for discussion of the role of boron in marine organisms, which remains largely enigmatic.

  17. Enigmatic Sexuality

    DEFF Research Database (Denmark)

    Zeuthen, Katrine Egede; Gammelgård, Judy

    2017-01-01

    Clinical Encounters in Sexuality makes an intervention into the fields of clinical psychoanalysis and sexuality studies, in an effort to think about a range of issues relating to sexuality from a clinical psychoanalytic perspective. This book concentrates on a number of concepts, namely identity......, desire, pleasure, perversion, ethics and discourse. The editors, Noreen Giffney and Eve Watson, have chosen queer theory, a sub-field of sexuality studies, as an interlocutor for the clinical contributors, because it is at the forefront of theoretical considerations of sexuality, as well as being both...... a self-reflective attitude in clinical readers about sexuality which historically has tended toward reification. The central questions we present to readers to think about are: 1. What are the discourses of sexuality underpinning psychoanalysis, and how do they impact on clinical practice? 2. In what...

  18. Enigmatic Sexuality

    DEFF Research Database (Denmark)

    Zeuthen, Katrine Egede; Gammelgård, Judy

    2017-01-01

    , desire, pleasure, perversion, ethics and discourse. The editors, Noreen Giffney and Eve Watson, have chosen queer theory, a sub-field of sexuality studies, as an interlocutor for the clinical contributors, because it is at the forefront of theoretical considerations of sexuality, as well as being both...

  19. Using step width to compare locomotor biomechanics between extinct, non-avian theropod dinosaurs and modern obligate bipeds.

    Science.gov (United States)

    Bishop, P J; Clemente, C J; Weems, R E; Graham, D F; Lamas, L P; Hutchinson, J R; Rubenson, J; Wilson, R S; Hocknull, S A; Barrett, R S; Lloyd, D G

    2017-07-01

    How extinct, non-avian theropod dinosaurs locomoted is a subject of considerable interest, as is the manner in which it evolved on the line leading to birds. Fossil footprints provide the most direct evidence for answering these questions. In this study, step width-the mediolateral (transverse) distance between successive footfalls-was investigated with respect to speed (stride length) in non-avian theropod trackways of Late Triassic age. Comparable kinematic data were also collected for humans and 11 species of ground-dwelling birds. Permutation tests of the slope on a plot of step width against stride length showed that step width decreased continuously with increasing speed in the extinct theropods ( p < 0.001), as well as the five tallest bird species studied ( p < 0.01). Humans, by contrast, showed an abrupt decrease in step width at the walk-run transition. In the modern bipeds, these patterns reflect the use of either a discontinuous locomotor repertoire, characterized by distinct gaits (humans), or a continuous locomotor repertoire, where walking smoothly transitions into running (birds). The non-avian theropods are consequently inferred to have had a continuous locomotor repertoire, possibly including grounded running. Thus, features that characterize avian terrestrial locomotion had begun to evolve early in theropod history. © 2017 The Author(s).

  20. Pareto Design of State Feedback Tracking Control of a Biped Robot via Multiobjective PSO in Comparison with Sigma Method and Genetic Algorithms: Modified NSGAII and MATLAB’s Toolbox

    Directory of Open Access Journals (Sweden)

    M. J. Mahmoodabadi

    2014-01-01

    Full Text Available An optimal robust state feedback tracking controller is introduced to control a biped robot. In the literature, the parameters of the controller are usually determined by a tedious trial and error process. To eliminate this process and design the parameters of the proposed controller, the multiobjective evolutionary algorithms, that is, the proposed method, modified NSGAII, Sigma method, and MATLAB’s Toolbox MOGA, are employed in this study. Among the used evolutionary optimization algorithms to design the controller for biped robots, the proposed method operates better in the aspect of designing the controller since it provides ample opportunities for designers to choose the most appropriate point based upon the design criteria. Three points are chosen from the nondominated solutions of the obtained Pareto front based on two conflicting objective functions, that is, the normalized summation of angle errors and normalized summation of control effort. Obtained results elucidate the efficiency of the proposed controller in order to control a biped robot.

  1. Thoracic spine morphology of a pseudo-biped animal model (kangaroo) and comparisons with human and quadruped animals.

    Science.gov (United States)

    Balasubramanian, Sriram; Peters, James R; Robinson, Lucy F; Singh, Anita; Kent, Richard W

    2016-12-01

    Based on the structural anatomy, loading condition and range of motion (ROM), no quadruped animal has been shown to accurately mimic the structure and biomechanical function of the human spine. The objective of this study is to quantify the thoracic vertebrae geometry of the kangaroo, and compare with adult human, pig, sheep, and deer. The thoracic vertebrae (T1-T12) from whole body CT scans of ten juvenile kangaroos (ages 11-14 months) were digitally reconstructed and geometric dimensions of the vertebral bodies, endplates, pedicles, spinal canal, processes, facets and intervertebral discs were recorded. Similar data available in the literature on the adult human, pig, sheep, and deer were compared to the kangaroo. A non-parametric trend analysis was performed. Thoracic vertebral dimensions of the juvenile kangaroo were found to be generally smaller than those of the adult human and quadruped animals. The most significant (p human and kangaroo were in vertebrae and endplate dimensions (0.951 ≤ Rho ≤ 0.963), pedicles (0.851 ≤ Rho ≤ 0.951), and inter-facet heights (0.891 ≤ Rho ≤ 0.967). The deer displayed the least similar trends across vertebral levels. Similarities in thoracic spine vertebral geometry, particularly of the vertebrae, pedicles and facets may render the kangaroo a more clinically relevant human surrogate for testing spinal implants. The pseudo-biped kangaroo may also be a more suitable model for the human thoracic spine for simulating spine deformities, based on previously published similarities in biomechanical loading, posture and ROM.

  2. An enigmatic, diminutive theropod footprint in the shallow marine Pliensbachian Hasle Formation, Bornholm, Denmark

    DEFF Research Database (Denmark)

    Milàn, Jesper; Surlyk, Finn

    2015-01-01

    localities around the world. The occurrence of a diminutive dinosaur footprint in a shallow marine sandstone is enigmatic. The well-defined morphology of the footprint, together with the very small size of the trackmaker, excludes the possibility that the track was emplaced by a swimming or wading animal......A well-preserved three-toed footprint, measuring 34 mm in length from a very small predatory dinosaur with an estimated hip height of 153 mm and a total body length around 50 cm including tail, is reported from the type section of the marine Lower Jurassic (Pliensbachian), Hasle Formation...... found footprint is interpreted to have walked in shallow beach pools, thus explaining the strange occurrence of the footprint in a marine deposit....

  3. An Enigmatic Death in Farm Chopping Machine: Is This the Perfect Murder?

    Science.gov (United States)

    Gioia, Sara; Lancia, Massimo; Bacci, Mauro; Suadoni, Fabio

    2015-09-01

    Forensic autopsy, like the other sectors in medicine, has benefited from the technological progress and the creation of multidisciplinary teams to unveil more and more finely planned criminal intents.Forensic pathologists, however, can sometimes deal with very enigmatic cases, meeting so with the limits of their own knowledge. Therefore, in these cases, they must not allow themselves to be pressured by inquiring agencies, remaining instead always faithful to empiric observations.With regard to that, we present a peculiar case of death by shredding inside a grinding machinery. The magistrature consequently opened a dossier for willful murder. Lots of figures were appointed to solve the case and among them is the forensic pathologist. However, a great number of obstacles were put in the investigators' inquiries.Was it a perfect murder?

  4. Enigmatic eight-meter trace fossils in the Lower Pennsylvanian Lee sandstone, central Appalachian basin, Tennessee

    Science.gov (United States)

    Wnuk, C.; Maberry, J.O.

    1990-01-01

    Enigmatic tubular trace fossils up to eight meters long occur in the Lower Pennsylvanian Middlesboro Member of the Lee Formation. Two morphotypes occur: type 1 trace fossils are plain, smooth, vertical, nonbranching, parallel-walled, tubular structures, type 2 trace fossils branch, have walls with faint vertical striations, regularly or irregularly spaced nodes, and funnel-shaped terminations. Sandstone casts filling type 2 structures have helical spiral morphology, and, in rare individuals, faint meniscate fills have been observed. Both trace-fossil morphotypes have poorly cemented wall linings containing framboidal pyrite, amorphous carbon, quartz sand, and poorly preserved fecal material. The trace fossils occur in a massive, structureless, channel-form sandstone, originating at the contact between a channel lag and the overlying massive fill representing a barrier island transgressing an estuarine facies. Origin of these structures is uncertain. -from Authors

  5. Period-three route to chaos induced by a cyclic-fold bifurcation in passive dynamic walking of a compass-gait biped robot

    Science.gov (United States)

    Gritli, Hassène; Khraief, Nahla; Belghith, Safya

    2012-11-01

    This paper presents a study of the passive dynamic walking of a compass-gait biped robot as it goes down an inclined plane. This biped robot is a two-degrees-of-freedom mechanical system modeled by an impulsive hybrid nonlinear dynamics with unilateral constraints. It is well-known to possess periodic as well as chaotic gaits and to possess only one stable gait for a given set of parameters. The main contribution of this paper is the finding of a window in the parameters space of the compass-gait model where there is multistability. Using constraints of a grazing bifurcation on the basis of a shooting method and the Davidchack-Lai scheme, we show that, depending on initial conditions, new passive walking patterns can be observed besides those already known. Through bifurcation diagrams and Floquet multipliers, we show that a pair of stable and unstable period-three gait patterns is generated through a cyclic-fold bifurcation. We show also that the stable period-three orbit generates a route to chaos.

  6. A genome-wide perspective on the evolutionary history of enigmatic wolf-like canids

    Science.gov (United States)

    vonHoldt, Bridgett M.; Pollinger, John P.; Earl, Dent A.; Knowles, James C.; Boyko, Adam R.; Parker, Heidi; Geffen, Eli; Pilot, Malgorzata; Jedrzejewski, Wlodzimierz; Jedrzejewska, Bogumila; Sidorovich, Vadim; Greco, Claudia; Randi, Ettore; Musiani, Marco; Kays, Roland; Bustamante, Carlos D.; Ostrander, Elaine A.; Novembre, John; Wayne, Robert K.

    2011-01-01

    High-throughput genotyping technologies developed for model species can potentially increase the resolution of demographic history and ancestry in wild relatives. We use a SNP genotyping microarray developed for the domestic dog to assay variation in over 48K loci in wolf-like species worldwide. Despite the high mobility of these large carnivores, we find distinct hierarchical population units within gray wolves and coyotes that correspond with geographic and ecologic differences among populations. Further, we test controversial theories about the ancestry of the Great Lakes wolf and red wolf using an analysis of haplotype blocks across all 38 canid autosomes. We find that these enigmatic canids are highly admixed varieties derived from gray wolves and coyotes, respectively. This divergent genomic history suggests that they do not have a shared recent ancestry as proposed by previous researchers. Interspecific hybridization, as well as the process of evolutionary divergence, may be responsible for the observed phenotypic distinction of both forms. Such admixture complicates decisions regarding endangered species restoration and protection. PMID:21566151

  7. Oldest fossil remains of the enigmatic pig-footed bandicoot show rapid herbivorous evolution

    Science.gov (United States)

    Travouillon, Kenny J.

    2016-08-01

    The pig-footed bandicoot, Chaeropus ecaudatus, is one of the most enigmatic Australian marsupials, which went extinct in the late 1950s probably as a result of European colonization. It is unusual in being the only marsupial to have evolved reduction of digits on both fore and hind feet, with the forefeet being pig-like (two toes) and the hind feet being horse-like (one toe). According to molecular phylogenetic analyses, Chaeropus diverged from other bandicoots (Peramelidae), and the bilbies (Thylacomyidae) by the mid-Late Oligocene. This is considerably earlier than suggested by the fossil record, with the current oldest specimens being Late Pleistocene in age. Here, I report the oldest fossils of Chaeropus, representing a new species, Chaeropus baynesi from the Late Pliocene to Early Pleistocene (2.47-2.92 Ma) Fisherman's Cliff Local Fauna, Moorna Formation, New South Wales, Australia, and extending the fossil record of the genus and family by at least 2 million years. Chaeropus baynesi is less high crowned than C. ecaudatus and lacks lateral blade development on lower molars, suggesting that it was unlikely to be grazing. This suggests that Chaeropus must have adapted rapidly to the drying conditions and changes in environments, and would have become a grazer in a very short period of time.

  8. Enigmatic mounds in 'Subglacial Meltwater Corridors' on the Canadian Shield: a record of channelised, subglacial meltwater drainage during Laurentide deglaciation

    Science.gov (United States)

    Haiblen, Anna; Ward, Brent; Normandeau, Philippe; Campbell, Janet

    2017-04-01

    Esker networks have traditionally been invoked to represent the channelised subglacial drainage system in shield terrains. However, eskers are only one landform found within 'subglacial meltwater corridors' (SMCs) on the Canadian Shield. SMCs are tracts where till has been eroded, bedrock is exposed, and glaciofluvial sediments have been deposited. SMCs are regularly spaced, parallel deglacial ice-flow directions, have undulating longitudinal profiles, and cross modern drainage divides. Our lidar- and field-based mapping near Lac de Gras, Northwest Territories, west of the Keewatin Ice Divide (KID), reveals that eskers are not present in the majority of SMCs. Instead, enigmatic mounds are commonly the dominant landform type. Enigmatic mounds typically occur in groups of 20 to 200. They are commonly composed of sandy diamicton that is coarser grained and better sorted than regional till. This diamicton is occasionally draped with well-sorted, stratified glaciofluvial sediments. Some enigmatic mounds have a single highpoint (individual mounds) while others have a complex, irregular form (complex mounds). Individual mounds have an average long-axis length of 43 m and an average height of < 2 m, however, their size is highly variable: the largest mounds are 170 m long and 15 m high. Complex mounds are typically larger than individual mounds. Our morphometric analysis shows that individual mounds have a mean length-to-width ratio of 1.8. The average mound elongation direction parallels the final ice flow that affected the area. However, where meltwater- and ice-flow directions differ, mound long-axis orientations typically cluster about meltwater flow directions. We have also observed SMCs and enigmatic mounds in the South Rae region of Northwest Territories, 450 km SE of Lac de Gras. Multiple types of enigmatic mounds are present in this area: some are similar to those near Lac de Gras, some are composed of till, and some are composed of sorted and stratified sediments

  9. Enigmatic cranial superstructures among Chamorro ancestors from the Mariana Islands: gross anatomy and microanatomy.

    Science.gov (United States)

    Heathcote, Gary M; Bromage, Timothy G; Sava, Vincent J; Hanson, Douglas B; Anderson, Bruce E

    2014-06-01

    This study focuses on the gross anatomy, anatomic relations, microanatomy, and the meaning of three enigmatic, geographically patterned, and quasi-continuous superstructures of the posterior cranium. Collectively known as occipital superstructures (OSSs), these traits are the occipital torus tubercle (TOT), retromastoid process (PR), and posterior supramastoid tubercle (TSP). When present, TOT, PR, and TSP develop at posterior cranial attachment sites of the upper trapezius, superior oblique, and sternocleidomastoid muscles, respectively. Marked expression and co-occurrence of these OSSs are virtually circumscribed within Oceania and reach highest recorded frequencies in protohistoric Chamorros (CHamoru) of the Mariana Islands. Prior to undertaking scanning electron microscopy (SEM) work, our working multifactorial model for OSS development was that early-onset, long-term, and chronic activity-related microtrauma at enthesis sites led to exuberant reactive or reparative responses in a substantial minority of genetically predisposed (and mostly male) individuals. SEM imaging, however, reveals topographic patterning that questions, but does not negate, activity induction of these superstructures. Although OSSs appear macroscopically as relatively large and discrete phenomena, SEM findings reveal a unique, widespread, and seemingly systemic distribution of structures over the occipital surface that have the appearance of OSS microforms. Nevertheless, apparent genetic underpinnings, anatomic relationships with muscle entheses, and positive correlation of OSS development with humeral robusticity continue to suggest that these superstructures have potential to at once bear witness to Chamorro population history and inform osteobiographical constructions of chronic activity patterns in individuals bearing them. Further work is outlined that would illuminate the proximate and ultimate meanings of OSS. Copyright © 2014 Wiley Periodicals, Inc.

  10. Resistant tissues of modern marchantioid liverworts resemble enigmatic Early Paleozoic microfossils.

    Science.gov (United States)

    Graham, Linda E; Wilcox, Lee W; Cook, Martha E; Gensel, Patricia G

    2004-07-27

    Absence of a substantial pretracheophyte fossil record for bryophytes (otherwise predicted by molecular systematics) poses a major problem in our understanding of earliest land-plant structure. In contrast, there exist enigmatic Cambrian-Devonian microfossils (aggregations of tubes or sheets of cells or possibly a combination of both) controversially interpreted as an extinct group of early land plants known as nematophytes. We used an innovative approach to explore these issues: comparison of tube and cell-sheet microfossils with experimentally degraded modern liverworts as analogues of ancient early land plants. Lower epidermal surface tissues, including rhizoids, of Marchantia polymorpha and Conocephalum conicum were resistant to breakdown after rotting for extended periods or high-temperature acid treatment (acetolysis), suggesting fossilization potential. Cell-sheet and rhizoid remains occurred separately or together depending on the degree of body degradation. Rhizoid break-off at the lower epidermal surface left rimmed pores at the centers of cell rosettes; these were similar in structure, diameter, and distribution to pores characterizing nematophyte cell-sheet microfossils known as Cosmochlaina. The range of Marchantia rhizoid diameters overlapped that of Cosmochlaina pores. Approximately 14% of dry biomass of Marchantia vegetative thalli and 40% of gametangiophores was resistant to acetolysis. Pre- and posttreatment cell-wall autofluorescence suggested the presence of phenolic compounds that likely protect lower epidermal tissues from soil microbe attack and provide dimensional stability to gametangiophores. Our results suggest that at least some microfossils identified as nematophytes may be the remains of early marchantioid liverworts similar in some ways to modern Marchantia and Conocephalum.

  11. Small, Enigmatic Plasmids of the Nosocomial Pathogen, Acinetobacter baumannii: Good, Bad, Who Knows?

    Directory of Open Access Journals (Sweden)

    Soo Sum Lean

    2017-08-01

    Full Text Available Acinetobacter baumannii is a Gram-negative nosocomial pathogen that has become a serious healthcare concern within a span of two decades due to its ability to rapidly acquire resistance to all classes of antimicrobial compounds. One of the key features of the A. baumannii genome is an open pan genome with a plethora of plasmids, transposons, integrons, and genomic islands, all of which play important roles in the evolution and success of this clinical pathogen, particularly in the acquisition of multidrug resistance determinants. An interesting genetic feature seen in majority of A. baumannii genomes analyzed is the presence of small plasmids that usually ranged from 2 to 10 kb in size, some of which harbor antibiotic resistance genes and homologs of plasmid mobilization genes. These plasmids are often overlooked when compared to their larger, conjugative counterparts that harbor multiple antibiotic resistance genes and transposable elements. In this mini-review, we will examine our current knowledge of these small A. baumannii plasmids and look into their genetic diversity and phylogenetic relationships. Some of these plasmids, such as the Rep-3 superfamily group and the pRAY-type, which has no recognizable replicase genes, are quite widespread among diverse A. baumannii clinical isolates worldwide, hinting at their usefulness to the lifestyle of this pathogen. Other small plasmids especially those from the Rep-1 superfamily are truly enigmatic, encoding only hypothetical proteins of unknown function, leading to the question of whether these small plasmids are “good” or “bad” to their host A. baumannii.

  12. Reinvestigating an enigmatic Late Cretaceous monocot: morphology, taxonomy, and biogeography of Viracarpon

    Directory of Open Access Journals (Sweden)

    Kelly K.S. Matsunaga

    2018-04-01

    genus Viracarpon was widespread and may be present in other Late Cretaceous assemblages. Viracarpon exhibits character combinations not present in any extant taxa and its affinities remain unresolved, possibly representing an extinct member of Alismatales. The character mosaic observed in Viracarpon and the broad distribution of the genus provide new data relevant to understanding early monocot evolution and suggest that the (thus far largely invisible Late Cretaceous monocot diversification was characterized by enigmatic and/or stem taxa.

  13. Enigmatic organosiliceous rocks in the 2000 Ma petrified oil field in Russian Fennoscandia

    Science.gov (United States)

    Deines, Yu.; Melezhik, V.; Lepland, A.; Filippov, M.; Romashkin, A.; Rychanchik, D.

    2009-04-01

    The c. 2000 Ma, 900 m-thick, Zaonezhskaja Formation in the Onega basin, Russian Fennoscandia, contains one of the greatest accumulations of organic matter (OM) in the Early Precambrian. It also represents a unique preservation of a supergiant petrified oil field. Zaonezhskaja Formation rocks are greenschist-facies volcaniclastic greywackes (distal turbidites), dolostone and limestones, mafic tuffs and lavas intruded by numerous mafic sills. Several sedimentary beds are enriched in OM with the overall content of total organic carbon (TOC) ranging from 0.1 to 16 wt.% whereas d13C varies between -44 and -17 per mil(V-PDB). The formation contains plentiful evidence of generation and migration of oil (now petrified) as well as oil traps. Results of geophysical surveys combined with drillcore data, including results recently obtained within the framework of the Fennoscandian Arctic Russia - Drilling Early Earth Project (FAR-DEEP), revealed numerous bodies of organosiliceous rocks (OSR) containing mainly silica (c. 57 wt.% SiO2), organic carbon (up to 40 wt.%), Al2O3 (c. 5 wt.%), S (c. 2 wt.%), and minor K, Mg, Fe, Ca and Ti. d13C of the OSR ranges between -40 and -20 per mil. The OSR form crudely stratified beds, cupola-like bodies or veins. The cupola-like bodies show cross-cutting (intrusive) contacts with the host turbiditic greywackes, reach thicknesses of 120 m with a lateral extent of several hundreds of metres. Veins are a few tens of centimetres thick. The OSR show close spatial association with gabbro sills. Although different fabrics have been recognised in the OSR, syngenetic macro- and microbreccias per se are the most common rock types. Fragments of different sedimentary rocks, as well as those with alternating C-rich and C-poor concentric lamina are present. The latter suggests precipitation from hydrothermal fluids. The nature of the OSR remains enigmatic. Several models have been advanced for explanation of origin of the OSR. However, neither of them

  14. Enigmatic X-Ray Sources Point to Possible New Black Hole Population

    Science.gov (United States)

    2004-03-01

    Mysterious, powerful X-ray sources found in nearby galaxies may represent a new class of objects, according to data from NASA's Chandra X-ray Observatory. These sources, which are not as hot as typical neutron-star or black-hole X- ray sources, could be a large new population of black holes with masses several hundred times that of the sun. "The challenge raised by the discovery of these sources is to understand how they produce so much X-ray power at temperatures of a few million degrees," said Rosanne Di Stefano from the Harvard-Smithsonian Center for Astrophysics in Cambridge, Mass., and Tufts University in Medford, Mass. Di Stefano is lead author of a series of papers published in or submitted to The Astrophysical Journal and The Astrophysical Journal Letters. Until a few years ago, astronomers only knew of two sizes of black holes: stellar black holes, with masses about 10 times the sun, and supermassive black holes located at the centers of galaxies, with masses ranging from millions to billions times the sun. Recent evidence suggests a class of "intermediate- mass" black holes may also exist. M83 M83 Searching for quasisoft sources may be a new way to identify those X-ray sources most likely to be intermediate-mass black holes," said Albert Kong of the Center for Astrophysics (CfA) and a member of the team. The enigmatic objects found by the Chandra team are called "quasisoft" sources, because they have a temperature in the range of 1 million to 4 million degrees Celsius. On the one hand this temperature range is below the 10 million to 100 million-degree gas associated with "hard" X-ray sources, such as neutron stars or stellar-mass black holes. On the other hand the quasisoft-source temperatures are hotter than the several hundred-thousand-degree gas associated with "supersoft" X-ray sources due to white dwarfs. M51 M51 Di Stefano and her colleagues determined the temperatures of individual X-ray emitting objects in four galaxies by measuring their X

  15. ENIGMATIC RECURRENT PULSATIONAL VARIABILITY OF THE ACCRETING WHITE DWARF EQ LYN (SDSS J074531.92+453829.6)

    Energy Technology Data Exchange (ETDEWEB)

    Mukadam, Anjum S.; Szkody, Paula [Department of Astronomy, University of Washington, Seattle, WA 98195-1580 (United States); Townsley, D. M.; Brockett, T. [Department of Physics and Astronomy, University of Alabama, Tuscaloosa, AL 35487 (United States); Gaensicke, B. T.; Parsons, S. [Department of Physics, University of Warwick, Coventry CV4 7AL (United Kingdom); Southworth, J. [Astrophysics Group, Keele University, Staffordshire ST5 5BG (United Kingdom); Hermes, J. J.; Montgomery, M. H.; Winget, D. E.; Harrold, S. [Department of Astronomy, University of Texas at Austin, Austin, TX 78759 (United States); Tovmassian, G.; Zharikov, S. [Observatorio Astronomico Nacional SPM, Instituto de Astronomia, Universidad Nacional Autonoma de Mexico, Ensenada, BC (Mexico); Drake, A. J. [Department of Astronomy and the Center for Advanced Computing Research, California Institute of Technology, Pasadena, CA 91225 (United States); Henden, A. [American Association of Variable Star Observers, 25 Birch Street, Cambridge, MA 02138 (United States); Rodriguez-Gil, P. [Departamento de Astrofisica, Universidad de La Laguna, La Laguna, E-38204 Santa Cruz de Tenerife (Spain); Sion, E. M. [Department of Astronomy and Astrophysics, Villanova University, Villanova, PA 19085 (United States); Zola, S.; Szymanski, T. [Astronomical Observatory, Jagiellonian University, ul. Orla 171, PL-30-244 Krakow (Poland); Pavlenko, E. [Crimean Astrophysical Observatory, Crimea 98409 (Ukraine); and others

    2013-09-15

    Photometric observations of the cataclysmic variable EQ Lyn (SDSS J074531.92+453829.6), acquired from 2005 October to 2006 January, revealed high-amplitude variability in the range 1166-1290 s. This accreting white dwarf underwent an outburst in 2006 October, during which its brightness increased by at least five magnitudes, and it started exhibiting superhumps in its light curve. Upon cooling to quiescence, the superhumps disappeared and it displayed the same periods in 2010 February as prior to the outburst within the uncertainties of a couple of seconds. This behavior suggests that the observed variability is likely due to nonradial pulsations in the white dwarf star, whose core structure has not been significantly affected by the outburst. The enigmatic observations begin with an absence of pulsational variability during a multi-site campaign conducted in 2011 January-February without any evidence of a new outburst; the light curve is instead dominated by superhumps with periods in the range of 83-87 minutes. Ultraviolet Hubble Space Telescope time-series spectroscopy acquired in 2011 March reveals an effective temperature of 15,400 K, placing EQ Lyn within the broad instability strip of 10,500-16,000 K for accreting pulsators. The ultraviolet light curve with 90% flux from the white dwarf shows no evidence of any pulsations. Optical photometry acquired during 2011 and Spring 2012 continues to reflect the presence of superhumps and an absence of pulsations. Subsequent observations acquired in 2012 December and 2013 January finally indicate the disappearance of superhumps and the return of pulsational variability with similar periods as previous data. However, our most recent data from 2013 March to May reveal superhumps yet again with no sign of pulsations. We speculate that this enigmatic post-outburst behavior of the frequent disappearance of pulsational variability in EQ Lyn is caused either by heating the white dwarf beyond the instability strip due to an

  16. Divergent mating patterns and a unique mode of external sperm transfer in Zoraptera: an enigmatic group of pterygote insects

    Science.gov (United States)

    Dallai, R.; Gottardo, M.; Mercati, D.; Machida, R.; Mashimo, Y.; Matsumura, Y.; Beutel, R. G.

    2013-06-01

    A remarkable external sperm transfer is described for the first time in a species of a group of winged insects (Pterygota), the enigmatic Zoraptera. Mating and sperm transfer of two species of the order were examined in detail, documented, and compared with each other and with patterns described for other species belonging to the order. The behavior differs strikingly in Zorotypus impolitus and Zorotypus magnicaudelli. A copula is performed by males and females of the latter, as it is also the case in other zorapteran species and generally in pterygote insects. In striking contrast to this, males of Z. impolitus do not copulate but deposit small (100 μm in diameter) spermatophores externally on the abdomen of the female. Each spermatophore contains only one giant spermatozoon (3 mm long and 3 μm wide), a unique feature in the entire Hexapoda. External sperm transfer in Pterygota is a highly unusual case of evolutionary reversal. The very small relict group Zoraptera displays a uniform general morphology but exhibits very different reproductive structures and patterns of mating behavior. This may be an extreme form of a more general situation in insects, with a specific form of selection resulting in an accelerated rate of evolution in the reproductive system.

  17. RADIATIVE TRANSFER MODELING OF THE ENIGMATIC SCATTERING POLARIZATION IN THE SOLAR Na i D{sub 1} LINE

    Energy Technology Data Exchange (ETDEWEB)

    Belluzzi, Luca [Istituto Ricerche Solari Locarno, CH-6605 Locarno Monti (Switzerland); Bueno, Javier Trujillo [Instituto de Astrofísica de Canarias, E-38205 La Laguna, Tenerife (Spain); Degl’Innocenti, Egidio Landi [Dipartimento di Fisica e Astronomia, Università di Firenze, I-50125 Firenze (Italy)

    2015-12-01

    The modeling of the peculiar scattering polarization signals observed in some diagnostically important solar resonance lines requires the consideration of the detailed spectral structure of the incident radiation field as well as the possibility of ground level polarization, along with the atom's hyperfine structure and quantum interference between hyperfine F-levels pertaining either to the same fine structure J-level, or to different J-levels of the same term. Here we present a theoretical and numerical approach suitable for solving this complex non-LTE radiative transfer problem. This approach is based on the density-matrix metalevel theory (where each level is viewed as a continuous distribution of sublevels) and on accurate formal solvers of the transfer equations and efficient iterative methods. We show an application to the D-lines of Na i, with emphasis on the enigmatic D{sub 1} line, pointing out the observable signatures of the various physical mechanisms considered. We demonstrate that the linear polarization observed in the core of the D{sub 1} line may be explained by the effect that one gets when the detailed spectral structure of the anisotropic radiation responsible for the optical pumping is taken into account. This physical ingredient is capable of introducing significant scattering polarization in the core of the Na i D{sub 1} line without the need for ground-level polarization.

  18. Regulation of the Calvin-Benson-Bassham cycle in the enigmatic diatoms: biochemical and evolutionary variations on an original theme.

    Science.gov (United States)

    Jensen, Erik; Clément, Romain; Maberly, Stephen C; Gontero, Brigitte

    2017-09-05

    In Plantae, the Calvin-Benson-Bassham (CBB) cycle is highly regulated and most of its enzymes have been thoroughly studied. Since diatoms arose as a result of secondary endosymbiosis with one or more Plantae ancestors, their precise evolutionary history is enigmatic and complex resulting in biochemical variations on the original CBB cycle theme. The Rubisco Michaelis constant for CO 2 is higher in diatoms than land plants and the nuclear-encoded Rubisco activase in Plantae is replaced by an analogous chloroplast-encoded CbbX (Calvin-Benson-Bassham protein X) in diatoms. In the CBB cycle reduction phase, phosphoglycerate kinase in diatoms is redox-regulated and similar to that in red algae; however, glyceraldehyde phosphate dehydrogenase (GAPDH) is not redox-regulated, unlike in Plantae. The phosphoribulokinase (PRK)-GAPDH-CP12 complex found in many photosynthetic organisms has not yet been found in diatoms, but a ferredoxin-NADP reductase (FNR)-GAPDH-CP12 complex has been found in one species. In the CBB cycle regeneration phase, sedoheptulose 1,7-bisphosphatase and PRK are not redox-regulated in diatoms, unlike in Plantae. Regulation at the transcriptional level seems to be important in diatoms. CBB cycle enzyme properties appear to be variable among diatoms, but this view relies on results from a few model species: a greater range of diatoms need to be studied to test this.This article is part of the themed issue 'The peculiar carbon metabolism in diatoms'. © 2017 The Author(s).

  19. The enigmatic gamma-ray source XSS J12270-4859 aka 1FGL J1227.9-4852

    Science.gov (United States)

    Belloni, Tomaso; de Martino, Domitilla; Falanga, Maurizio; Bonnet-Bidaud, Jean-Marc; Mouchet, Martine; Masetti, Nicola; Mukai, Koji; Matt, Giorgio

    XSS J12270-4859 is an enigmatic source. First classified as a possible magnetic CV, its 860s peri-odicity was not confirmed. Remarkably, the source lies only 1.2 arcminutes from the Fermi/LAT source 1FGL J1227.9-4852, which emits gamma-rays up to 10 GeV. We report the results of the analysis of data over energies from the IR to gamma-rays, using data from ground-based IR-optical-UV telescopes, XMM-Newton, RXTE, INTEGRAL and Fermi. The XMM and RXTE light curves show high variability in the form of flares and dip, with the flares detected also in the UV band. Complex spectral variability is observed. The 0.2-100 keV spectrum is fitted with a power law with photon index 1.7, while the gamma-ray 100 MeV-10 GeV spectrum has a steeper index (2.5). The GeV emission is a significant component of the spectrum, with a peak energy between 1 and 100 MeV. Optical photometry reveals a 4.32 hr period, possibly of orbital nature. This source could be another rare gamma-ray binary of LMXB nature.

  20. The Enigmatic Alphavirus Non-Structural Protein 3 (nsP3 Revealing Its Secrets at Last

    Directory of Open Access Journals (Sweden)

    Benjamin Götte

    2018-02-01

    Full Text Available Alphaviruses encode 4 non-structural proteins (nsPs, most of which have well-understood functions in capping and membrane association (nsP1, polyprotein processing and RNA helicase activity (nsP2 and as RNA-dependent RNA polymerase (nsP4. The function of nsP3 has been more difficult to pin down and it has long been referred to as the more enigmatic of the nsPs. The protein comprises three domains, an N-terminal macro domain, a central zinc-binding domain and a C-terminal hypervariable domain (HVD. In this article, we review old and new literature about the functions of the three domains. Much progress in recent years has contributed to a picture of nsP3, particularly through its HVD as a hub for interactions with host cell molecules, with multiple effects on the biology of the host cell at early points in infection. These and many future discoveries will provide targets for anti-viral therapies as well as strategies for modification of vectors for vaccine and oncolytic interventions.

  1. Enceladus' Enigmatic Heat Flow

    Science.gov (United States)

    Howett, C.; Spencer, J. R.; Spencer, D.; Verbiscer, A.; Hurford, T.; Segura, M.

    2013-12-01

    Accurate knowledge of Enceladus' heat flow is important because it provides a vital constraint on Enceladus' tidal dissipation mechanisms, orbital evolution, and the physical processes that generate the plumes. In 2011 we published an estimate of the current heat flow from Enceladus' active south polar terrain: 15.8 +/- 3.1 GW (Howett et al., 2011). This value was calculated by first estimating by modeling, and then removing, the passive component from 17 to 1000 micron observations made of the entire south polar terrain by Cassini's Composite Infrared Spectrometer (CIRS). The heat flow was then directly calculated from the residual, assumed endogenic, component. The derived heat flow of 15.8 GW was surprisingly high, about 10 times greater than that predicted by steady-state tidal heating (Meyer and Wisdom, 2007). CIRS has also returned high spatial resolution observations of Enceladus' active south polar terrain. Two separate observations are used: 9 to 16 micron observations taken over nearly the complete south polar terrain and a single 17 to 1000 micron scan over Damascus, Baghdad and Cairo. The shorter wavelength observations are only sensitive to high temperature emission (>70 K), and so longer wavelength observations are required (despite their limited spatial coverage) to estimate the low temperature emission from the stripes. Analysis of these higher resolution observations tells a different story of Enceladus' endogenic heat flow: the preliminary estimate of the heat flow from the active tiger stripes using these observations is 4.2 GW. An additional 0.5 GW must be added to this number to account for the latent heat release by the plumes (Ingersoll and Pankine 2009), giving a total preliminary estimate of 4.9 GW. The discrepancy in these two numbers is significant and we are currently investigating the cause. One possible reason is that there is significantly higher endogenic emission from the regions between the tiger stripes than we currently estimate (based on the comparison of the single long-wavelength scan across the fractures). It is also possible that the earlier modeling efforts underestimated Enceladus' passive emission, resulting in an overestimation of Enceladus' heat flow.

  2. The Enigmatic Moon

    Indian Academy of Sciences (India)

    user

    It may come as a surprise to many to hear that astronomers talk about the origin of the uni- verse with more conviction than that of the. Moon, our nearest neighbour in space. We hear of 'precision cosmology' by the methods of which the contents of the universe are being weighed to high accuracy. But the ori- gin, content ...

  3. The Enigmatic Neutrino

    Science.gov (United States)

    Lincoln, Don; Miceli, Tia

    2015-01-01

    Through a century of work, physicists have refined a model to describe all fundamental particles, the forces they share, and their interactions on a microscopic scale. This masterpiece of science is called the Standard Model. While this theory is incredibly powerful, we know of at least one particle that exhibits behaviors that are outside of its…

  4. Examining the Enigmatic Einstein

    Science.gov (United States)

    Khoon, Koh Aik

    2007-01-01

    Albert Einstein is the icon of scientific genius. His is one the most recognizable faces in the history of mankind. This paper takes a cursory look at the man who is commonly perceived to be the epitome of eccentricity. We manage to sum up his salient traits which are associated with his name. The traits are based on anecdotal evidence. This…

  5. THE ENIGMATIC ORDER

    African Journals Online (AJOL)

    tion of this order democracy made its entry into the world of chivalry ... monly referred to as 'people's de- mocracies') are solely military ... Order of the Gar- ter, the Order of the Thistle and the Or- der of the Bath as orders of merit point to the process whereby the ancient temporal orders of chivalry have be- come democratized.

  6. The Enigmatic Moon

    Indian Academy of Sciences (India)

    user

    The surge of space missions after the 60s did see a growth of research in astronomy in the Western world, and one hopes that Chandrayaan-1 will make. Indian students curious about science, espe- cially in the times when the brightest of our students appear to chose careers in money laundering in the name of investment ...

  7. Cross-stratified Wood: Enigmatic Woody Debris Deposits in Warm-Polar Fluvial Sediments (Pliocene Beaufort Formation, Nunavut)

    Science.gov (United States)

    Davies, N. S.; Gosse, J. C.; Rybczynski, N.

    2012-04-01

    Woody debris has been an important sediment component and a significant geomorphic agent in pristine fluvial systems since the Devonian. In recent years a large volume of research has focussed on various aspects of the importance of woody debris within the fluvial realm; from the evolutionary significance of fossil wood accumulations in the rock record to studies of the biogeomorphological and ecological importance of woody debris in modern rivers. In this presentation we describe cross-stratified woody debris deposits comprising organic detritus from a boreal-type treeline forest that included species of pine, birch, poplar, alder, spruce, eastern cedar, and larch, in both shrub and tree form. The cross-stratified wood is an enigmatic subset of fine woody debris which, to our knowledge, has never before been described from either the global stratigraphic record or modern fluvial environments. The deposits we describe are located within the Pliocene Beaufort Formation on Meighen Island, Nunavut, Canada, at a latitude of 80°N, and are compared with other cross-stratified woody debris deposits that have been noted elsewhere in the Pliocene of the Canadian Arctic. We make the robust observation that these deposits appear to be geographically and stratigraphically restricted to polar latitudes from a period of warm climatic conditions during the Pliocene (15-20 °C warmer mean annual temperature than the present day). In this regard it is possible to speculate that the transport of large amounts of woody debris as bedload is potentially a unique feature of forested high latitude rivers. Such bedload deposition requires a large amount of woody debris with a greater density than the fluid transporting it. The softwood composition of the debris suggests that this was most likely attained by saturation and subsequent entrainment of extensive accumulations of deadwood, promoted by unusually high rates of tree mortality and low rates of bacterial decomposition arising from

  8. On the Origin of Reverse Transcriptase-Using CRISPR-Cas Systems and Their Hyperdiverse, Enigmatic Spacer Repertoires.

    Science.gov (United States)

    Silas, Sukrit; Makarova, Kira S; Shmakov, Sergey; Páez-Espino, David; Mohr, Georg; Liu, Yi; Davison, Michelle; Roux, Simon; Krishnamurthy, Siddharth R; Fu, Becky Xu Hua; Hansen, Loren L; Wang, David; Sullivan, Matthew B; Millard, Andrew; Clokie, Martha R; Bhaya, Devaki; Lambowitz, Alan M; Kyrpides, Nikos C; Koonin, Eugene V; Fire, Andrew Z

    2017-07-11

    analysis of available bacterial sequence data, we find evidence that RT-based RNA adaptation machinery has been able to join with CRISPR-Cas immune systems in many, diverse bacterial species. To investigate whether the abilities to adapt to DNA and RNA molecules are utilized for defense against distinct classes of invaders in nature, we sequenced CRISPR arrays from samples of commercial-scale open-air cultures of Arthrospira platensis , a cyanobacterium that contains both RT-lacking and RT-containing CRISPR-Cas systems. We uncovered a diverse pool of naturally occurring immune memories, with the RT-lacking locus acquiring a number of segments matching known viral or bacterial genes, while the RT-containing locus has acquired spacers from a distinct sequence pool for which the source remains enigmatic. Copyright © 2017 Silas et al.

  9. Imaging 50,000 Oriented Ovoid Depressions Using LiDAR Elevation Data Elucidates the Enigmatic Character of The Carolina Bays: Wind & Wave, Or Cosmic Impact Detritus?

    Science.gov (United States)

    Davias, M. E.; Harris, T. H. S.

    2017-12-01

    80 years after aerial photography revealed thousands of aligned oval depressions on the USA's Atlantic Coastal Plain, the geomorphology of the "Carolina bays" remains enigmatic. Geologists and astronomers alike hold that invoking a cosmic impact for their genesis is indefensible. Rather, the bays are commonly attributed to gradualistic fluvial, marine and/or aeolian processes operating during the Pleistocene era. The major axis orientations of Carolina bays are noted for varying statistically by latitude, suggesting that, should there be any merit to a cosmic hypothesis, a highly accurate triangulation network and suborbital analysis would yield a locus and allow for identification of a putative impact site. Digital elevation maps using LiDAR technology offer the precision necessary to measure their exquisitely-carved circumferential rims and orientations reliably. To support a comprehensive geospatial survey of Carolina bay landforms (Survey) we generated about a million km2 of false-color hsv-shaded bare-earth topographic maps as KML-JPEG tile sets for visualization on virtual globes. Considering the evidence contained in the Survey, we maintain that interdisciplinary research into a possible cosmic origin should be encouraged. Consensus opinion does hold a cosmic impact accountable for an enigmatic Pleistocene event - the Australasian tektite strewn field - despite the failure of a 60-year search to locate the causal astroblem. Ironically, a cosmic link to the Carolina bays is considered soundly falsified by the identical lack of a causal impact structure. Our conjecture suggests both these events are coeval with a cosmic impact into the Great Lakes area during the Mid-Pleistocene Transition, at 786 ka ± 5 k. All Survey data and imagery produced for the Survey are available on the Internet to support independent research. A table of metrics for 50,000 bays examined for the Survey is available from an on-line Google Fusion Table: https://goo.gl/XTHKC4 . Each bay

  10. Anatomy of the Enigmatic Reptile Elachistosuchus huenei Janensch, 1949 (Reptilia: Diapsida) from the Upper Triassic of Germany and Its Relevance for the Origin of Sauria.

    Science.gov (United States)

    Sobral, Gabriela; Sues, Hans-Dieter; Müller, Johannes

    2015-01-01

    The holotype and only known specimen of the enigmatic small reptile Elachistosuchus huenei Janensch, 1949 from the Upper Triassic (Norian) Arnstadt Formation of Saxony-Anhalt (Germany) is redescribed using μCT scans of the material. This re-examination revealed new information on the morphology of this taxon, including previously unknown parts of the skeleton such as the palate, braincase, and shoulder girdle. Elachistosuchus is diagnosed especially by the presence of the posterolateral process of the frontal, the extension of the maxillary tooth row to the posterior margin of the orbit, the free posterior process of the jugal, and the notched anterior margin of the interclavicle. Phylogenetic analyses using two recently published character-taxon matrices recovered conflicting results for the phylogenetic position of Elachistosuchus-either as an archosauromorph, as a lepidosauromorph or as a more basal, non-saurian diapsid. These different placements highlight the need of a thorough revision of critical taxa and new character sets used for inferring neodiapsid relationships.

  11. Anatomy of the Enigmatic Reptile Elachistosuchus huenei Janensch, 1949 (Reptilia: Diapsida from the Upper Triassic of Germany and Its Relevance for the Origin of Sauria.

    Directory of Open Access Journals (Sweden)

    Gabriela Sobral

    Full Text Available The holotype and only known specimen of the enigmatic small reptile Elachistosuchus huenei Janensch, 1949 from the Upper Triassic (Norian Arnstadt Formation of Saxony-Anhalt (Germany is redescribed using μCT scans of the material. This re-examination revealed new information on the morphology of this taxon, including previously unknown parts of the skeleton such as the palate, braincase, and shoulder girdle. Elachistosuchus is diagnosed especially by the presence of the posterolateral process of the frontal, the extension of the maxillary tooth row to the posterior margin of the orbit, the free posterior process of the jugal, and the notched anterior margin of the interclavicle. Phylogenetic analyses using two recently published character-taxon matrices recovered conflicting results for the phylogenetic position of Elachistosuchus-either as an archosauromorph, as a lepidosauromorph or as a more basal, non-saurian diapsid. These different placements highlight the need of a thorough revision of critical taxa and new character sets used for inferring neodiapsid relationships.

  12. Rediscovery of the enigmatic fungus-farming ant "Mycetosoritis" asper Mayr (Hymenoptera: Formicidae): Implications for taxonomy, phylogeny, and the evolution of agriculture in ants.

    Science.gov (United States)

    Sosa-Calvo, Jeffrey; Ješovnik, Ana; Vasconcelos, Heraldo L; Bacci, Mauricio; Schultz, Ted R

    2017-01-01

    We report the rediscovery of the exceedingly rarely collected and enigmatic fungus-farming ant species Mycetosoritis asper. Since the description of the type specimen in 1887, only four additional specimens are known to have been added to the world's insect collections. Its biology is entirely unknown and its phylogenetic position within the fungus-farming ants has remained puzzling due to its aberrant morphology. In 2014 we excavated and collected twenty-one colonies of M. asper in the Floresta Nacional de Chapecó in Santa Catarina, Brazil. We describe here for the first time the male and larva of the species and complement the previous descriptions of both the queen and the worker. We describe, also for the first time, M. asper biology, nest architecture, and colony demographics, and identify its fungal cultivar. Molecular phylogenetic analyses indicate that both M. asper and M. clorindae are members of the genus Cyphomyrmex, which we show to be paraphyletic as currently defined. More precisely, M. asper is a member of the Cyphomyrmex strigatus group, which we also show to be paraphyletic with respect to the genus Mycetophylax. Based on these results, and in the interest of taxonomic stability, we transfer the species M. asper, M. clorindae, and all members of the C. strigatus group to the genus Mycetophylax, the oldest available name for this clade. Based on ITS sequence data, Mycetophylax asper practices lower agriculture, cultivating a fungal species that belongs to lower-attine fungal Clade 2, subclade F.

  13. A KEY PHYSICAL MECHANISM FOR UNDERSTANDING THE ENIGMATIC LINEAR POLARIZATION OF THE SOLAR Ba II AND Na I D{sub 1} LINES

    Energy Technology Data Exchange (ETDEWEB)

    Belluzzi, Luca; Trujillo Bueno, Javier [Instituto de Astrofisica de Canarias, E-38205 La Laguna, Tenerife (Spain)

    2013-09-10

    The linearly polarized spectrum of the solar limb radiation produced by scattering processes is of great diagnostic potential for exploring the magnetism of the solar atmosphere. This spectrum shows an impressive richness of spectral details and enigmatic Q/I signals, whose physical origin must be clearly understood before they can be exploited for diagnostic purposes. The most enduring enigma is represented by the polarization signals observed in the D{sub 1} resonance lines of Na I (5896 A) and Ba II (4934 A), which were expected to be intrinsically unpolarizable. The totality of sodium and 18% of barium have hyperfine structure (HFS), and it has been argued that the only way to produce a scattering polarization signal in such lines is through the presence of a substantial amount of atomic polarization in their lower HFS levels. The strong sensitivity of these long-lived levels to depolarizing mechanisms led to the paradoxical conclusion that the observed D{sub 1}-line polarization is incompatible with the presence in the lower solar chromosphere of inclined magnetic fields sensibly stronger than 0.01 G. Here we show that by properly taking into account the fact that the solar D{sub 1}-line radiation has a non-negligible spectral structure over the short frequency interval spanned by the HFS transitions, it is possible to produce scattering polarization signals in the D{sub 1} lines of Na I and Ba II without the need of ground-level polarization. The resulting linear polarization is not so easily destroyed by elastic collisions and/or magnetic fields.

  14. A re-evaluation of the enigmatic dinosauriform Caseosaurus crosbyensis from the Late Triassic of Texas, USA and its implications for early dinosaur evolution

    Directory of Open Access Journals (Sweden)

    Matthew G. Baron

    2018-03-01

    Full Text Available The holotype specimen of the Late Triassic dinosauriform Caseosaurus crosbyensis is redescribed and evaluated phylogenetically for the first time, providing new anatomical information and data on the earliest dinosaurs and their evolution within the dinosauromorph lineage. Historically, Caseosaurus crosbyensis has been considered to represent an early saurischian dinosaur, and often a herrerasaur. More recent work on Triassic dinosaurs has cast doubt over its supposed dinosaurian affinities and uncertainty about particular features in the holotype and only known specimen has led to the species being regarded as a dinosauriform of indeterminate position. Here, we present a new diagnosis for Caseosaurus crosbyensis and refer additional material to the taxon—a partial right ilium from Snyder Quarry. Our comparisons and phylogenetic analyses suggest that Caseosaurus crosbyensis belongs in a clade with herrerasaurs and that this clade is the sister taxon of Dinosauria, rather than positioned within it. This result, along with other recent analyses of early dinosaurs, pulls apart what remains of the “traditional” group of dinosaurs collectively termed saurischians into a polyphyletic assemblage and implies that Dinosauria should be regarded as composed exclusively of Ornithoscelida (Ornithischia + Theropoda and Sauropodomorpha. In addition, our analysis recovers the enigmatic European taxon Saltopus elginensis among herrerasaurs for the first time. This result suggests a greater body-size range for herrerasaurs than previously thought and provides further evidence for their presence in Europe during the Late Triassic. If this hypothesis is correct then this clade of herrerasaurs also represents the first clade of non-dinosaurian dinosauromorphs known to contain large-bodied carnivorous species. The results of our analyses also highlight the distinction between the clades Herrerasauridae and Herrerasauria, as they are currently defined, and

  15. The enigmatic mitochondrial genome of Rhabdopleura compacta (Pterobranchia reveals insights into selection of an efficient tRNA system and supports monophyly of Ambulacraria

    Directory of Open Access Journals (Sweden)

    Stadler Peter F

    2011-05-01

    Rhabdopleura compacta may have arisen by an inversion of the replication direction and adaptation to this bias in the protein sequences leading to an enigmatic mitochondrial genome. Although, phylogenetic analyses of protein coding sequences are hampered, features of the tRNA system of R. compacta support the monophyly of Ambulacraria. The identical reassignment of AGG to Lysine in two distinct groups may have occurred by convergent evolution in the anticodon sequence of the tRNALys.

  16. The Enigmatic Persistence of Anorexia Nervosa

    Science.gov (United States)

    Walsh, B. Timothy

    2014-01-01

    Objective In this review, based on recent advances in cognitive neuroscience, the author presents a formulation in which the marked persistence of anorexia nervosa can be usefully understood as a well-ingrained maladaptive habit. Method The author reviewed the relevant literature on the development and course of anorexia nervosa and interpreted critical features in light of developments in cognitive neuroscience. Results Anorexia nervosa is a well characterized disorder with remarkable persistence both across history and among affected individuals. Food restriction, the salient behavioral feature of the disorder, often begins innocently but gradually takes on a life of its own. Over time, it becomes highly entrenched and resistant to change through either psychological or pharmacological treatment. Cognitive neuroscience has described two related but distinct processes that underlie the acquisition of new patterns of behavior, namely, action-outcome and stimulus-response learning. It is likely that both processes are engaged in the development of anorexia nervosa and that stimulus-response learning (that is, habit formation) is critical to the persistence of the dieting behavior. Conclusions The formulation of the dieting behavior characteristic of anorexia nervosa as a well-entrenched habit provides a basis for understanding the striking persistence of this disorder. This model helps explain the resistance of anorexia nervosa to interventions that have established efficacy in related disorders and implies that addressing the dieting behavior is critical, especially early in the course of the illness, before it has become ingrained. PMID:23429750

  17. The enigmatic whale: the North Atlantic humpback

    Directory of Open Access Journals (Sweden)

    Tim D Smith

    2009-09-01

    Full Text Available We know more about the North Atlantic humpback whale (Megaptera novaeangliae than we do for virtually any other cetacean, yet attempts to use this information to describe the status of the populations in this ocean basin have not proven satisfactory. The North Atlantic humpback has been the subject of extensive research over the past few decades, resulting in a substantial amount of knowledge about what has proven to be a species with a very complex life history and population structure. While several population models have been developed to integrate the available information, the data overall are not well described by any of the models. This has left considerable uncertainty about population status, and has raised questions about the interpretation of some of the data. We describe 7 specific areas where puzzling or ambiguous observations have been made; these require closer attention if population status is to be determined. These areas raise several fundamental questions, including: How many breeding populations are there? How much do the populations mix on the feeding grounds? How has the distribution of animals on both feeding and breeding grounds changed? We identify additional research needed to address the 7 areas and these questions in particular, so that population status might be determined.

  18. The enigmatic wind of 55 Cygni

    Czech Academy of Sciences Publication Activity Database

    Haucke, M.; Kraus, Michaela; Venero, R.O.J.; Cidale, L.S.; Nickeler, Dieter Horst; Tomić, S.; Curé, M.

    2013-01-01

    Roč. 56, č. 1 (2013), s. 191-194 E-ISSN 1669-9521 R&D Projects: GA ČR(CZ) GAP209/11/1198 Institutional support: RVO:67985815 Keywords : line profiles * stellar wind * spectroscopic observin Subject RIV: BN - Astronomy, Celestial Mechanics, Astrophysics http://www. astronomia argentina.org.ar/b56/2013baaa...56...191H.pdf

  19. [An enigmatic disease in Gregor Mendel's life].

    Science.gov (United States)

    Nivet, Christiane

    2004-11-01

    The great value of the experimental and theoretical work of Gregor Mendel has been recognized more than thirty five years after its publication; in this article, we suggest that his personality has still to be rediscovered.

  20. Gephyrin, the enigmatic organizer at GABAergic synapses

    DEFF Research Database (Denmark)

    Tretter, Verena; Mukherjee, Jayanta; Maric, Hans-Michael

    2012-01-01

    GABA(A) receptors are clustered at synaptic sites to achieve a high density of postsynaptic receptors opposite the input axonal terminals. This allows for an efficient propagation of GABA mediated signals, which mostly result in neuronal inhibition. A key organizer for inhibitory synaptic receptors...

  1. Numerical simulation for design of biped locomotion robots

    Energy Technology Data Exchange (ETDEWEB)

    Kume, Etsuo (Computing and Information Systems Center, Tokai Research Establishment, Japan Atomic Energy Research Inst., Ibaraki (Japan)); Takanishi, Atsuo (Dept. of Mechanical Engineering, Waseda Univ., Shinjuku, Tokyo (Japan))

    1993-04-01

    A mechanical design study of anthropomorphic walking robots for patrol and inspection in nuclear facilities is being performed at Computing and Information Systems Center (CISC) of JAERI. We mainly focus on developing a software system to find a stable walking pattern, given robot models described by links, joints and so on. One of the features of our software is that some of the body elements, such as actuators and sensors, can be modeled as material particles as well as rigid bodies. The other is that our software has the cabability of obtaining unknown part of robot motions under given part of robot motions, satisfying a stable constraint. In this paper, we present the numerical models and the simulated results. (orig.)

  2. Additional material of the enigmatic golden mole Cryptochloris zyli ...

    African Journals Online (AJOL)

    Van Zyl's golden mole (Cryptochloris zyli) is a distinctive but little-known species from the northwestern Cape Province of South Africa. Many authors have mentioned that it is known only by the holotype. Two other specimens are now known to exist; one was discovered in the Museum of Comparative Zoology at Harvard ...

  3. Review: The HSP90 molecular chaperone-an enigmatic ATPase.

    Science.gov (United States)

    Pearl, Laurence H

    2016-08-01

    The HSP90 molecular chaperone is involved in the activation and cellular stabilization of a range of 'client' proteins, of which oncogenic protein kinases and nuclear steroid hormone receptors are of particular biomedical significance. Work over the last two decades has revealed a conformational cycle critical to the biological function of HSP90, coupled to an inherent ATPase activity that is regulated and manipulated by many of the co-chaperones proteins with which it collaborates. Pharmacological inhibition of HSP90 ATPase activity results in degradation of client proteins in vivo, and is a promising target for development of new cancer therapeutics. Despite this, the actual function that HSP90s conformationally-coupled ATPase activity provides in its biological role as a molecular chaperone remains obscure. © 2016 Wiley Periodicals, Inc. Biopolymers 105: 594-607, 2016. © 2016 The Authors. Biopolymers Published by Wiley Periodicals, Inc.

  4. The Enigmatic Nature of the Israeli Legal System

    African Journals Online (AJOL)

    RV

    RELATIONSHIP BETWEEN DIGITAL INFORMATION AND CERTAIN LEGAL. FIELDS IN SOUTH AFRICA ... digital) technological devices used by the United States' National Security Agency. (NSA) and by the ...... departments and thus obtained strategic government information that he then made openly available on the ...

  5. The Enigmatic Nature of the Israeli Legal System

    African Journals Online (AJOL)

    RV

    organ donor, one must make this objection publicly known prior to death, in accordance with the requirements set ...... needed, the manner in which consent is obtained, the allocation procedures, the harvesting method ..... In this case the plaintiff underwent an unsuccessful subcutaneous mastectomy that resulted inter alia ...

  6. The Enigmatic Nature of the Israeli Legal System

    African Journals Online (AJOL)

    NWUuser

    legislators will have to define the concept of Ecosystem Services (ES), with the contribution of lawyers and environmental law scholars. So, what are ES? Environmental scientists might have their view of what ES represent from the scientific perspective, but this is not what we will focus on here. *. Antonio Herman Benjamin ...

  7. The Enigmatic Nature of the Israeli Legal System

    African Journals Online (AJOL)

    MJM Venter

    the property which he owns at the time of bankruptcy, a new opportunity in life and a clear field for future effort, unhampered by .... property as if an involuntary case concerning the debtor had not been commenced. 11 USC § 303(g) bepaal ... and use the collateral until the court orders otherwise. Thus … the debtor will have ...

  8. The Enigmatic Nature of the Israeli Legal System

    African Journals Online (AJOL)

    RV

    RELATIONSHIP BETWEEN DIGITAL INFORMATION AND CERTAIN LEGAL. FIELDS IN SOUTH AFRICA ... digital) technological devices used by the United States' National Security Agency. (NSA) and by the ..... Who disregard privacy considerations in order to perform online marketing and advertising. 51. Schmidt and ...

  9. The Enigmatic Nature of the Israeli Legal System

    African Journals Online (AJOL)

    RV

    of New London.5 A third party transfer occurs when the state expropriates property. *. Bradley Virgill ... Rubenfield 1993 Yale LJ 1077-1163 advocates an extreme version of this narrow interpretation of the public use ... O'Connor stated that "[t]he [Supreme] Court long ago rejected any literal requirement that condemned ...

  10. The Enigmatic Nature of the Israeli Legal System

    African Journals Online (AJOL)

    RV

    A FERREIRA-SNYMAN. PER / PELJ 2014(17)1. 02 / 612. LEGAL CHALLENGES RELATING TO THE COMMERCIAL USE OF OUTER. SPACE, WITH SPECIFIC REFERENCE TO SPACE TOURISM. A Ferreira-Snyman*. Fly me to the moon. Let me play among the stars. Let me see what spring is like. On Jupiter and Mars1. 1.

  11. Lung cancer metastasis to the gastrointestinal system: An enigmatic occurrence

    Science.gov (United States)

    Badipatla, Kanthi Rekha; Yadavalli, Niharika; Vakde, Trupti; Niazi, Masooma; Patel, Harish K

    2017-01-01

    Adenocarcinoma of the lung infrequently metastasizes to the gastrointestinal tract. We report a rare case of a 65-year-old male with no respiratory symptoms diagnosed with adenocarcinoma of the lung by histopathological examination of metastatic sites which included an ulcer in the gastric body and a mass in the rectum. Metastatic disease also involved the liver as well. Patient was treated with systemic chemotherapy but unfortunately expired five months after the diagnosis was made. PMID:28344748

  12. The Enigmatic Nature of the Israeli Legal System

    African Journals Online (AJOL)

    10332324

    , the UN Global. Compact (2000), the UN .... equipment, as well as the construction of other infrastructure needed for commercial production. Subsequent ..... 3.1 Nigeria's legal architecture for ensuring that the oil industry respects human rights.

  13. The Enigmatic Nature of the Israeli Legal System

    African Journals Online (AJOL)

    NWUuser

    conclusion, we suggest that more effort should be directed at designing appropriate mechanisms for dealing with .... build an authentic security infrastructure that was consistent with South Africa's emerging role as a ... processes were to be carried out in accordance with the principles of fair labour practices, transparency ...

  14. The Enigmatic Nature of the Israeli Legal System

    African Journals Online (AJOL)

    10332324

    2012-08-15

    Aug 15, 2012 ... Administrative and structural dimensions are ... analysis of institutional and substantive dimensions of intervention is thus for purposes of this ...... greater spatial mix and flexibility.66 The focus should also be on the housing gap in the market. The gap relates to persons earning above the level required to ...

  15. The Enigmatic Nature of the Israeli Legal System

    African Journals Online (AJOL)

    NWUuser

    In terms of the South African common law, a landowner affected by an encroaching structure erected by his neighbour can approach a court and seek an order for removal of the encroachment.1 The basis for the common law remedy of removal is the right to be free from any inference in the use and enjoyment of your ...

  16. The Enigmatic Nature of the Israeli Legal System

    African Journals Online (AJOL)

    MJM Venter

    court in Ndhlovu applied section 3 of the Law of Evidence Amendment Act 3 and found that the hearsay extra curial admission could be admitted in the interests of justice.4. In Litako, however, the court found that section 3 did not overrule an existing common law rule, which is that the extra curial statement of an accused ...

  17. The Enigmatic Nature of the Israeli Legal System

    African Journals Online (AJOL)

    10332324

    South Africa. She argues convincingly that the current unrecognised status of Muslim marriages is not favourable to women because their marriages fall outside the realm of the mainstream legal systems in South Africa (the common and the customary law). She continues to discuss two Bills in various stages of evolution ...

  18. The Enigmatic Nature of the Israeli Legal System

    African Journals Online (AJOL)

    NWUuser

    Defenders of ubuntu as an emerging value in South African law often emphasise its power as a transformative .... overlap between ubuntu, rights articulated in the Constitution, and emerging international legal norms. ...... General of the National Intelligence Agency by the unilateral amendment of his terms of employment.

  19. The Enigmatic Nature of the Israeli Legal System

    African Journals Online (AJOL)

    10332324

    Associate Professor, School of Law,. University of KwaZulu-Natal, Pietermaritzburg Campus. Email: freedman@ukzn.ac.za. A shorter version of this paper was presented at the Environmental Law Association 2013 Annual. Conference at the Salt Rock Hotel in Salt Rock on 27 July 2013. 1. S 43(a) of the Constitution of the ...

  20. Weber and Kafka: The rational and the enigmatic bureaucracy

    DEFF Research Database (Denmark)

    Beck Jørgensen, Torben

    2012-01-01

    Max Weber’s and Franz Kafka’s respective understandings of bureaucracy are as different as night and day. Yet, Kafka’s novel The Castle is best read with Max Weber at hand. In fact, Kafka relates systematically to all the dimensions in Weber’s ideal type of bureaucracy and give us a much......-contemplated parody, almost a counter-punctual ideal type, based on four key observations: bureaucratic excesses unfold in time and space; a ‘no error’ ideology generates inescapable dilemmas; inscrutability is a life condition in bureaucracy; civil servants end up walking on the spot, just like the figures in Escher...

  1. The Enigmatic Nature of the Israeli Legal System

    African Journals Online (AJOL)

    NWUuser

    by reading Christie's theoretical insights against the core propositions of the ... and a bearer of value, man acquires the capacity to be a legal subject and a .... reciprocation for the victim from the offender. To this end, the offender is put to terms ex post facto. He has had his satisfaction. Now, in the face of the power of.

  2. Pityriasis alba revisited: perspectives on an enigmatic disorder of childhood.

    Science.gov (United States)

    Jadotte, Yuri T; Janniger, Camila K

    2011-02-01

    Pityriasis alba (PA) is a localized hypopigmented disorder of childhood with many existing clinical variants. It is more often detected in individuals with a darker complexion but may occur in individuals of all skin types. Atopy, xerosis, and mineral deficiencies are potential risk factors. Sun exposure exacerbates the contrast between normal and lesional skin, making lesions more visible and patients more likely to seek medical attention. Poor cutaneous hydration appears to be a common theme for most risk factors and may help elucidate the pathogenesis of this disorder. The end result of this mechanism is inappropriate melanosis manifesting as hypopigmentation. It must be differentiated from other disorders of hypopigmentation, such as pityriasis versicolor alba, vitiligo, nevus depigmentosus, and nevus anemicus. Alleviation of the various risk factors via patient education on proper skin care and hygiene, use of lubricants and emollients, topical corticosteroid therapy in the presence of inflammation, and the novel administration of topical anti-inflammatory drugs such as calcineurin inhibitors can play a crucial role in promoting remission or resolution.

  3. The Enigmatic Nature of the Israeli Legal System

    African Journals Online (AJOL)

    NWUuser

    2009-04-09

    Apr 9, 2009 ... and shareholders. 4. Unless all the shareholders are also directors of the company. 5. Section 45(5) of the Companies Act. 6. Labour Relations Act 66 of 1995 (hereafter "LRA"). ... Section 213 of the LRA defines a collective agreement as "a written agreement concerning terms and conditions of employment ...

  4. The Enigmatic Nature of the Israeli Legal System

    African Journals Online (AJOL)

    NWUuser

    See Art III(c) of the Genocide Convention and Art 25(3)(e) of the Rome Statute of the ... It is submitted that the amendment of existing national legislation, namely .... 14. ICTR Prosecutor v Nahimana et al (Trial Chamber: Judgment) Case No ICTR-99-52-T, 3. December 2003 para 1101 (hereafter Nahimana (Trail Chamber)).

  5. The Enigmatic Nature of the Israeli Legal System

    African Journals Online (AJOL)

    NWUuser

    emissions cause global warming, and so forth. Which of these are worthy of scientific interest and enquiry? Obviously only scientifically valid theories can lead to scientific knowledge. Popper's view is that theories need not be proven to be true in order to be regarded as scientific. Instead they must be falsifiable.17 In other ...

  6. The Enigmatic Nature of the Israeli Legal System

    African Journals Online (AJOL)

    NWUuser

    assemble, to demonstrate, to picket and to present petitions.1 Public demonstrations in South Africa are, however, often ... persons in or on any public road as defined in the Road Traffic Act 1998 (Act 29 of 1998), or any other public place or premises ..... demonstrations, marches and picketing. In its report42 the panel ...

  7. Puttea, gen. nov., erected for the enigmatic lichen Lecidea margaritella

    Czech Academy of Sciences Publication Activity Database

    Stenroos, S.; Huhtinen, S.; Lesonen, A.; Palice, Zdeněk; Printzen, Ch.

    2009-01-01

    Roč. 112, č. 3 (2009), s. 544-557 ISSN 0007-2745 R&D Projects: GA AV ČR(CZ) KJB600050635 Institutional research plan: CEZ:AV0Z60050516 Keywords : Lecanoromycetes * Lecidea hypopta * molecular systematics Subject RIV: EF - Botanics Impact factor: 0.842, year: 2009

  8. Glycolipid transfer protein: clear structure and activity, but enigmatic function

    NARCIS (Netherlands)

    Neumann, S.; Opacic, M.; Wechselberger, R.W.; Sprong, H.; Egmond, M.R.

    2008-01-01

    Glycosphingolipids comprize a small (typically 5–10% by weight) but vital fraction of membrane lipids in eukaryotes (Holthuis et al., 2001). They provide the plasma membrane with chemical and mechanical stabilities and take part in fundamental biological processes including differentiation,

  9. The Enigmatic Nature of the Israeli Legal System

    African Journals Online (AJOL)

    MJM Venter

    business rescue proceedings no person may exercise any right in respect of any property in the lawful ... unfairness to the other party, a court of appeal may in the exercise of its discretion consider the same. ..... the Act – which formed the thrust of the appellants' argument – reflected that firstly, the cancellation of an ...

  10. Enigmatic Solar Wind Disappearance Events – Do We Understand ...

    Indian Academy of Sciences (India)

    The lower panel shows ACE in situ measurements of proton velocities that have been mapped back along Archimedean spirals to the source surface at 2.5R⊙. The two sets of solid and dashed vertical parallel lines running across all the panels demarcate respectively, the back projected location of DOY 131 when the solar ...

  11. The Enigmatic Nature of the Israeli Legal System

    African Journals Online (AJOL)

    10332324

    Nigeria with a view to answering the following questions: is it possible to regulate the provision and usage of ICT services in Nigeria?; is it necessary to regulate ICT services in Nigeria?; and is it beneficial to regulate ICT services in Nigeria? To ..... They further argue that such would remove competition, create artificial.

  12. Do the enigmatic ``Infrared-Faint Radio Sources'' include pulsars?

    Science.gov (United States)

    Hobbs, George; Middelberg, Enno; Norris, Ray; Keith, Michael; Mao, Minnie; Champion, David

    2009-04-01

    The Australia Telescope Large Area Survey (ATLAS) team have surveyed seven square degrees of sky at 1.4GHz. During processing some unexpected infrared-faint radio sources (IFRS sources) were discovered. The nature of these sources is not understood, but it is possible that some of these sources may be pulsars within our own galaxy. We propose to observe the IFRS sources with steep spectral indices using standard search techniques to determine whether or not they are pulsars. A pulsar detection would 1) remove a subset of the IFRS sources from the ATLAS sample so they would not need to be observed with large optical/IR telescopes to find their hosts and 2) be intrinsically interesting as the pulsar would be a millisecond pulsar and/or have an extreme spatial velocity.

  13. Enigmatic tissue in the orobranchial chamber of cardinalfishes of the ...

    African Journals Online (AJOL)

    An unusual tissue covering the tongue and occasionally part of the gill chamber of many species of the Indo-Pacific cardinalfish genus Siphamia is described and compared with an earlier description of a similar tissue found in the cichlid species Alcolapia grahami inhabiting lakes of the African Rift Valley. Species of both ...

  14. The Enigmatic but Unique Nature of the Israeli Legal System ...

    African Journals Online (AJOL)

    In this respect, Israel may have contributed much to the reinvigoration of the modern comparative law agenda, and it may continue to do so in the future, as the system is not one of legal stasis (a mixed system) but one of legal kinesis (a mixing system). Keywords: Israeli legal system, Israeli Supreme Court, legal systemics, ...

  15. Enigmatic Solar Wind Disappearance Events – Do We Understand ...

    Indian Academy of Sciences (India)

    The last column in table 1 is the Alfvén Mach number and it can be seen ... Table 1. Disappearance events with densities ≤ 0.2 cm. −3 . Date ρmin. Alfvén Mach No. (yyyy:mm:dd). Rotation. Day number. (cm. −3). (MA min). 1977:10:18 ... The uppermost panel shows a synoptic map for CR1949 in May 1999 made using.

  16. The Enigmatic Paleozoic plants Spermopteris and Phasmatocycas reconsidered.

    Science.gov (United States)

    Axsmith, Brian J; Serbet, Rudolph; Krings, Michael; Taylor, Thomas N; Taylor, Edith L; Mamay, Sergius H

    2003-11-01

    Ovule-bearing leaves from the Paleozoic of North America assigned to Spermopteris and Phasmatocycas have been interpreted as primitive cycad megasporophylls. According to this hypothesis, Cycas megasporophylls were derived from a Spermopteris-like ancestor via Phasmatocycas and various other taeniopterid forms. This putative transformation entailed the phyletic shift of ovule attachment from the abaxial lamina surface of Spermopteris to the leaf midrib in Phasmatocyas. However, reexamination of the original Spermopteris specimens from the Lawrence Shale of Kansas has shown that the ovules are attached to the leaf midrib. Therefore, Spermopteris and Phasmatocyas differ only in a few details of lamina morphology. The apical cleft of the ovules of both forms is interpreted as an original feature rather than a preservational artifact; however, the abaxial flange is probably a result of compression of a terete midrib. Spermopteris is typified by sterile specimens of Taeniopteris coriacea from Europe, which are of uncertain affinity to the fertile leaves. Therefore, we propose that the ovule-bearing leaves now known as Spermopteris coriacea be named as a new species of Phasmatocycas (Phasmatocycas bridwellii sp. nov.). The new concept of Phasmatocyas is less cycad-like than previously thought, and the phylogenetic position of the genus is unclear.

  17. Enigmatic Fossils from the Lower Carboniferous Shrimp Bed, Granton, Scotland.

    Science.gov (United States)

    Zapalski, Mikołaj K; Clarkson, Euan N K

    2015-01-01

    The Lower Carboniferous (Visean) Granton Lagerstätte (Edinburgh, Scotland) is principally known for the discovery of the conodont animal, but has also yielded numerous crustaceans and other faunas. Here we report on small branching colonies, reaching 10 mm in length. They are small, erect, arborescent, and irregularly branched with predominant monopodial and dichotomous growth. They bud in a single plane. In one specimen the wall microstructure is well preserved and it is composed of evenly spaced, linear fibers, running parallel to the axis of the stems, and connected by transverse bars. We discuss possible biological affinities of these organisms; we consider algal, poriferan, hydrozoan and bryozoan affinities. The general pattern of branching, presence of fan-like structures (interpreted here as possible gonophores) and microstructure suggests affinity to Hydrozoa, affinity to non-calcifying algae is less likely. Assuming hydrozoan nature; the microstructure might suggest affinities with the extant family Solanderiidae Marshall, 1892 that possess an internal chitinous skeleton. The EDS analysis shows that fossils discussed here are preserved as phosphates. The skeletons were probably not mineralized, the presence of phosphorus suggests that the colonies were originally composed of chitin. We describe these organisms as Caledonicratis caridum gen. et sp. nov. (Solanderiidae?, Capitata?). Colonies of C. caridum gen et. sp. nov. sometimes encrust the exuviae of crustaceans, which very probably lived in fresh to brackish water thus indicating a likely habitat of Caledonicratis.

  18. The Enigmatic Nature of the Israeli Legal System

    African Journals Online (AJOL)

    10332324

    The Constitutional Court confirmed that the Enforcement of Foreign Civil. Judgments Act 32 of 1988 was not the appropriate vehicle for enforcing international judgments, as it inter alia applied to Magistrate Courts only. As a result the common law remained the only possible avenue through which the SADC Tribunal's ...

  19. The Enigmatic Nature of the Israeli Legal System

    African Journals Online (AJOL)

    NWUuser

    multilateral trading system. Instead there is a steady rise to power by emerging economies, especially those of Brazil, Russia, India, China and South Africa. These countries form the now familiar BRICS front and are now considered future economic powerhouses that can contribute to the construction of a new international.

  20. Patrick Pearse: Psychobiographical Reflections on an Enigmatic, Paradoxical Personality

    Directory of Open Access Journals (Sweden)

    Orr, Patricia Meredith

    2016-06-01

    Full Text Available To date historians have focused almost exclusively on Patrick Pearse’s key role in the 1916 Easter Rising to the extent that there is much less information about his personality development and characteristics. They have portrayed the elusive, paradoxical Patrick as nationalist, revolutionary and martyr or as a flawed and failed human being. Moran, agreeing with comments made at an earlier time by F.S.L. Lyons, suggests that, to have any real understanding of Patrick’s role in the rebellion and the events that led up to it, historians need to focus more attention on understanding the man himself.[1] The approach used in this article is psychobiographical, a methodology that applies psychological theory to biographical information in order to more fully understand an individual’s personality and achievements. In the case of Patrick Pearse the biographical information focuses on consensual aspects of his family background, his life experiences, his role as educator and his emergence as leader and hero. With regard to psychological theory, there are many empirically supported perspectives than could have been applied in this psychobiography. However, for the purposes of this particular article three perspectives have been selected. Drawing on some main tenets of the psychoanalytic, humanistic and trait approaches, the authors hope to provide a broader understanding of the influences and experiences that may have shaped Pearse as son, sibling, peer, educator and ultimately as a main instigator of the 1916 Rising and one of Ireland’s most famous patriots.

  1. The Enigmatic Nature of the Israeli Legal System

    African Journals Online (AJOL)

    Antonios Platsas

    Innovation then in the Israeli jurisprudence has been the case in that the Court moved away from the introvert court that this may have been prior to 1980. Typical examples of such departure from an introvert stance would include, at the abstract level, the expansion of justiciability in the Supreme Court's operations and,.

  2. The Enigmatic Nature of the Israeli Legal System

    African Journals Online (AJOL)

    10332324

    the farmers it is important to receive the full market value of property that has been .... The value that property will fetch in the open market is commonly referred to as the market value. Market value as compensation norm is based on the ..... eviction and ensuring that eviction of unlawful occupiers is just, equitable and fair.

  3. On the enigmatic – A true constant of spacetime

    Indian Academy of Sciences (India)

    However, its actual value would be determined by the matter content, the energy density of the Universe through the Einstein equation. For a generic estimate, we could use the Einstein Universe which would give its critical value as. = c = 4πGρ0/c2 where ρ0 is the present value of the density. For the spherical Universe (k ...

  4. The Mammalian Diving Response: An Enigmatic Reflex to Preserve Life?

    Science.gov (United States)

    2013-01-01

    The mammalian diving response is a remarkable behavior that overrides basic homeostatic reflexes. It is most studied in large aquatic mammals but is seen in all vertebrates. Pelagic mammals have developed several physiological adaptations to conserve intrinsic oxygen stores, but the apnea, bradycardia, and vasoconstriction is shared with those terrestrial and is neurally mediated. The adaptations of aquatic mammals are reviewed here as well as the neural control of cardiorespiratory physiology during diving in rodents. PMID:23997188

  5. The Enigmatic Nature of the Israeli Legal System

    African Journals Online (AJOL)

    MJM Venter

    Provided that bona fide engagement in artistic creativity, academic and scientific inquiry, fair and ..... Burchell Personality Rights and Freedom of Expression 94-95 paras 1-4, 9-17; Sindani v Van Der. Merwe 2002 1 All ... National Coalition for Gay and Lesbian Equality v Minister of Justice 1999 1 SA 6 (CC). See. Liebenberg ...

  6. Reflex sympathetic dystrophy: an enigmatic improvement with spinal manipulation

    Science.gov (United States)

    Bortolotto, James

    2000-01-01

    Reflex Sympathetic Dystrophy (RSD) or complex regional pain syndrome, is an extremely painful and disabling condition commonly seen following trauma. Its early recognition and treatment is most critical for a favorable prognosis. Although its diagnosis and treatments vary, neuroblockade is the treatment of choice. Very little has been reported in the literature in regards to manipulation as an early treatment modality to improve joint mobility and reduce pain and future disability. This case report reviews one case presentation of RSD where dramatic results followed cervical spine manipulation.

  7. The Enigmatic Nature of the Israeli Legal System

    African Journals Online (AJOL)

    NWUuser

    This article discusses the issue of the supranational status of ECOWAS. The article consists of six .... recommended to the Authority of Heads of State and Government that a "strong appeal be made to the appropriate ...... judicial authorities to provide redress to the Applicant, who suffered from slavery and discrimination.

  8. The Enigmatic Nature of the Israeli Legal System

    African Journals Online (AJOL)

    MJM Venter

    Part 1 of this piece undertook a critical analysis of the constitutionality of the affirmative action scheme as contained in Chapter III of the Employment Equity Act,. 1998 (or EEA). The author argued that the scheme, and especially its obsession with demographic representivity as a primary objective of affirmative action in ...

  9. Some enigmatic aspects of the marine cyanobacterial genus, Trichodesmium

    Digital Repository Service at National Institute of Oceanography (India)

    Bhat, S.R.; Verlecar, X.N.

    vacuoles) was the second enigma that i g- nited global debate 7 . Gas vesicles and the photosynthetic products are consi d ered the key factors in pr oviding buo y ancy. This also enables Trichodesmium in ve r- tical excursions in the water co l umn... environmental and ecological factors control production and N 2 fix a- tion in Trich o desmium ? The amount of N fixed annually is poorly known but e x- pected at least 5.4 ? 10 12 g per year 6 . C a- pone et al . 6,14 have provided a revised...

  10. The Enigmatic Nature of the Israeli Legal System

    African Journals Online (AJOL)

    NWUuser

    labour practices. Employers could take advantage of such non-regulation and abuse children in those excluded or unregulated sectors. Despite the problems of implementation, all economic sectors should be fully addressed in legislation to avoid the possible exploitation of children in all economic sectors. 2.6 Article 6.

  11. The Enigmatic Nature of the Israeli Legal System

    African Journals Online (AJOL)

    RV

    In a country founded on constitutional democracy, the independence of the courts is pivotal to the protection of human rights.1 Constant interferences with judicial independence2 in Zimbabwe have consequently contributed to the infringement of human rights, as the citizenry cannot rely on the courts for their protection.3.

  12. The Enigmatic Nature of the Israeli Legal System

    African Journals Online (AJOL)

    MJM Venter

    An advertisement to invite prospective students to register for law subjects appeared ... In the advertisement the PUC announced that they would present ...... death on Facebook. Prof Stef Coetzee said that he was a real gentleman and very witty. Dr Theuns Eloff, former Vice-chancellor of the NWU, paid tribute to him during ...

  13. Vitilevumyia, an enigmatic new genus of Stratiomyidae from Fiji (Diptera)

    Science.gov (United States)

    A new genus of Stratiomyidae, Vitilevumyia gen. nov. (type species, V. bobwoodleyi, sp. nov.) is described from the island of Viti Levu, Fiji. It exhibits an unusual combination of character states, but is tentatively placed in the tribe Prosopochrysini of the subfamily Stratiomyinae. ...

  14. The Enigmatic Nature of the Israeli Legal System

    African Journals Online (AJOL)

    MJM Venter

    is an intimate relationship between the standard of review of an affirmative action measure and the ... unlike that of the legislature and the executive, are not these general collective social policies and goals, but the ... Which is why Malan argues that, even if ss 9(3) and (5) were not applicable to the decision of the. National ...

  15. The Enigmatic Nature of the Israeli Legal System

    African Journals Online (AJOL)

    MJM Venter

    quantified targets for addressing extreme poverty in its many dimensions - incomes, poverty, hunger .... in which eliminating poverty and sustaining development would have the highest priority. This affirmation was .... Poor farmers who lack basic infrastructure and access to agricultural markets may turn in desperation to ...

  16. The Enigmatic Nature of the Israeli Legal System

    African Journals Online (AJOL)

    NWUuser

    "borderline personality disorder", resulting from trauma experienced in her teenage years.140 The plaintiff feared that the children would be mentally, emotionally and spiritually harmed by the influence of the lifestyle their mother and her companion shared.141 He further made it clear several times during the trial that he ...

  17. The Enigmatic Nature of the Israeli Legal System

    African Journals Online (AJOL)

    MJM Venter

    brought in to persuade and where it fails, divorce may occur.14. The Court deduced that the living law of the Xitsonga requires that the first wife be informed of her husband's impending subsequent marriage. The wide range of evidence gathered was considered by the majority as a means of ascertaining as well as noting ...

  18. The Enigmatic Nature of the Israeli Legal System

    African Journals Online (AJOL)

    RV

    Astronautica 1598 fn 6; Masson-Zwaan 2008 Proceedings of the International Institute of Space. Law 538-539. 7. Sundahl 2009 Journal of Space Law 163 fn 2 ... Carminati Laws of Spaceflight 52; Walter "Privatisation and Commercialisation of Outer Space" ...... Great Britain and Northern Ireland; United States of America.

  19. The Enigmatic Nature of the Israeli Legal System

    African Journals Online (AJOL)

    MJM Venter

    important conceptual instruments in support of the arguments developed in this article are clarified. Thereafter, in part 4 I concisely posit, without arguing in detail, the basic thesis on the factual dimension of law. The thesis casts doubt on the claims of the. *. Koos Malan. BA Hons (UP), BIur LLB LLD (UNISA) Professor of ...

  20. Enigmatic basal archosauromorph from the Late Triassic of Poland

    OpenAIRE

    Toljagic, Olja

    2012-01-01

    Choristodera, a lineage of basal archosauromorphs (Reptilia: Diapsida), first appeared in Early/Middle Jurassic (possibly Late Triassic; approximately 201 million years ago) and extended all the way into early Miocene (approximately 23 million years ago). Choristoderans are the only group of more basal archosauromorphs that survived after the Jurassic period, along with Archosauriformes (a more derived group of Archosauromorphs). The time of origin of the lineage is still speculative and prec...

  1. The Enigmatic Nature of the Israeli Legal System

    African Journals Online (AJOL)

    RV

    Many have, of course, since developed their own custom-made intellectual property law systems. In the majority of ... development has been recognised.9 Economic development, "'a process of structural transformations' ..... appropriately be attributed to factors such as an adverse business environment and the influence of ...

  2. Gait Selection and Transition of Passivity-Based Bipeds with Adaptable Ankle Stiffness

    Directory of Open Access Journals (Sweden)

    Yan Huang

    2012-10-01

    Full Text Available Stable bipedal walking is one of the most important components of humanoid robot design, which can help us better understand natural human walking. In this paper, to study gait selection and gait transition of efficient bipedal walking, we proposed a dynamic bipedal walking model with an upper body, flat feet and compliant joints. The model can achieve stable cyclic motion with different walking gaits. The hip actuation and ankle stiffness behavior of the model are quite similar to those of human normal walking. In simulation, we studied the influence of hip actuation and ankle stiffness on walking performance of each gait. The effects of ankle stiffness on gait selection are also analyzed. Gait transition is realized by adjusting ankle stiffness during walking.

  3. Perception of Gait Patterns that Deviate from Normal and Symmetric Biped Locomotion

    Directory of Open Access Journals (Sweden)

    Ismet eHandzic

    2015-02-01

    Full Text Available This study examines the range of gait patterns that are perceived as healthy and human-like with the goal of understanding how much asymmetry is allowable in a gait pattern before other people start to notice a gait impairment. Specifically, this study explores if certain abnormal walking patterns can be dismissed as unimpaired or not uncanny. Altering gait biomechanics is generally done in the fields of prosthetics and rehabilitation, however the perception of gait is often neglected. Although a certain gait can be functional, it may not be considered as normal by observers. On the other hand, an abnormally perceived gait may be more practical or necessary in some situations, such as limping after an injury or stroke and when wearing a prosthesis. This research will help to find the balance between the form and function of gait. Gait patterns are synthetically created using a passive dynamic walker (PDW model that allows gait patterns to be systematically changed without the confounding influence from human sensorimotor feedback during walking. This standardized method allows the perception of specific changes in gait to be studied. The PDW model was used to produce walking patterns that showed a degree of abnormality in gait cadence, knee height, step length, and swing time created by changing the foot roll-over-shape, knee damping, knee location, and leg masses. The gait patterns were shown to participants who rated them according to separate scales of impairment and uncanniness. The results indicate that some pathological and asymmetric gait patterns are perceived as unimpaired and normal. Step time and step length asymmetries less than 5%, small knee location differences, and gait cadence changes of 25% do not result in a change in perception. The results also show that the parameters of a pathologically or uncanny perceived gait can be beneficially altered by increasing other independent parameters, in some sense masking the initial pathology.

  4. Systems of Care, Featherless Bipeds, and the Measure of All Things

    Science.gov (United States)

    Hodges, Sharon; Ferreira, Kathleen; Israel, Nathaniel; Mazza, Jessica

    2010-01-01

    For more than 20 years, the system of care philosophy has comprised a central strategy of service reform in children's mental health at the federal, state, tribal, and local levels. System of care terminology has become widely used in many different service sectors but often without a shared understanding of what a system of care is. This…

  5. Stretch reflex improves rolling stability during hopping of a decerebrate biped system.

    Science.gov (United States)

    Rosendo, Andre; Liu, Xiangxiao; Shimizu, Masahiro; Hosoda, Koh

    2015-01-19

    When humans hop, attitude recovery can be observed in both the sagittal and frontal planes. While it is agreed that the brain plays an important role in leg placement, the role of low-level feedback (the stretch reflex) on frontal plane stabilization remains unclear. Seeking to better understand the contribution of the soleus stretch reflex to rolling stability, we performed experiments on a biomimetic humanoid hopping robot. Various reflex responses to touching the floor, ranging from no response to long muscle activations, were examined, and the effect of a delay upon touching the floor was also examined. We found that the stretch reflex brought the system closer to stable, straight hopping. The presence of a delay did not affect the results; both the cases with and without a delay outperformed the case without a reflex response. The results of this study highlight the importance of low-level control in locomotion for which body stabilization does not require higher-level signals.

  6. Stable Gait Generation of a Quasi-Passive Biped Walking Robot Based on Mode Decomposition

    Science.gov (United States)

    Matsumoto, Itaru

    A passive walker is a robot which can walk down a shallow slope without active control or energy input, being powered only by gravity. This paper proposes a control law that can stabilize the gait of a quasi-passive walker by manipulating torque at the hip joint. The motion of the quasi-passive walker is divided into two modes: one is a sinusoidal mode and the other a hyperbolic sinusoidal mode. The controller is designed with a servo system which forces the motion of the sinusoidal mode to track the reference input signal obtained from the phase-plane trajectory of the hyperbolic sinusoidal mode. The generated gait is quite natural, because the input of the servo system is made based on the system dynamics. The results of simulations have demonstrated the effectiveness of the proposed control law.

  7. Insole sensor system for real-time detection of biped slip.

    Science.gov (United States)

    Lincoln, Lucas Samuel; Bamberg, Stacy J

    2010-01-01

    The study of bipedal gait is important for two primary reasons: biomimetic robotics and human gait rehabilitation. Both fields have numerous models describing bipedal locomotion that require a no-slip interaction with the ground for accuracy. This paper presents a low cost wearable sensor system capable of identifying slip in real time, which could afford rehabilitative analysts important information on the nature of patient falls, and provide robot designers a feedback ability with which to implement an active traction control system. The system can functionally provide better than 90% detection rates when calibrated to an individual.

  8. Modeling and Finite-Time Walking Control of a Biped Robot with Feet

    Directory of Open Access Journals (Sweden)

    Juan E. Machado

    2015-01-01

    discontinuous and continuous sliding mode control in the presence of parametric uncertainty and external disturbances. The robot model and the synthesized controller are evaluated through numerical simulations.

  9. A Control Framework for Anthropomorphic Biped Walking Based on Stabilizing Feedforward Trajectories.

    Science.gov (United States)

    Rezazadeh, Siavash; Gregg, Robert D

    2016-10-01

    Although dynamic walking methods have had notable successes in control of bipedal robots in the recent years, still most of the humanoid robots rely on quasi-static Zero Moment Point controllers. This work is an attempt to design a highly stable controller for dynamic walking of a human-like model which can be used both for control of humanoid robots and prosthetic legs. The method is based on using time-based trajectories that can induce a highly stable limit cycle to the bipedal robot. The time-based nature of the controller motivates its use to entrain a model of an amputee walking, which can potentially lead to a better coordination of the interaction between the prosthesis and the human. The simulations demonstrate the stability of the controller and its robustness against external perturbations.

  10. Using Efference Copy and a Forward Internal Model for Adaptive Biped Walking

    DEFF Research Database (Denmark)

    Schröder-Schetelig, Johannes; Manoonpong, Poramate; Wörgötter, Florentin

    2010-01-01

    an application of this for our dynamic walking robot RunBot. We use efference copies of the motor commands with a simple forward internal model to predict the expected self-generated acceleration during walking. The difference to the actually measured acceleration is then used to stabilize the walking...... on terrains with changing slopes through its upper body component controller. As a consequence, the controller drives the upper body component (UBC) to lean forwards/backwards as soon as an error occurs resulting in dynamical stable walking. We have evaluated the performance of the system on four different...... track configurations. Furthermore we believe that the experimental studies pursued here will sharpen our understanding of how the efference copies influence dynamic locomotion control to the benefit of modern neural control strategies in robots....

  11. Inference of facultative mobility in the enigmatic Ediacaran organismParvancorina.

    Science.gov (United States)

    Darroch, Simon A F; Rahman, Imran A; Gibson, Brandt; Racicot, Rachel A; Laflamme, Marc

    2017-05-01

    Establishing how Ediacaran organisms moved and fed is critical to deciphering their ecological and evolutionary significance, but has long been confounded by their non-analogue body plans. Here, we use computational fluid dynamics to quantitatively analyse water flow around the Ediacaran taxon Parvancorina , thereby testing between competing models for feeding mode and mobility. The results show that flow was not distributed evenly across the organism, but was directed towards localized areas; this allows us to reject osmotrophy, and instead supports either suspension feeding or detritivory. Moreover, the patterns of recirculating flow differ substantially with orientation to the current, suggesting that if Parvancorina was a suspension feeder, it would have been most efficient if it was able to re-orient itself with respect to current direction, and thus ensure flow was directed towards feeding structures. Our simulations also demonstrate that the amount of drag varied with orientation, indicating that Parvancorina would have greatly benefited from adjusting its position to minimize drag. Inference of facultative mobility in Parvancorina suggests that Ediacaran benthic ecosystems might have possessed a higher proportion of mobile taxa than currently appreciated from trace fossil studies. Furthermore, this inference of movement suggests the presence of musculature or appendages that are not preserved in fossils, but which would noneltheless support a bilaterian affinity for Parvancorina . © 2017 The Author(s).

  12. Development of carpels and ovules in Dialypetalanthus fuscescens Kuhlm. (Rubiaceae): an enigmatic taxon

    OpenAIRE

    Figueiredo, Rogério da Costa; Vieira, Ricardo Cardoso; Mariath, Jorge Ernesto de Araújo; Moço, Maria Cecilia de Chiara; Toni, Karen L. G. De

    2017-01-01

    ABSTRACT Dialypetalanthus is a monospecific genus that occurs in the Amazon Basin of Brazil, Bolivia and Peru and occupies a controversial position among the Rubiaceae. We continue this taxonomic discussion with the overall aim of clarifying the systematic position of D. fuscescens within the Rubiaceae. To accomplish this, we analyzed the ontogeny of its gynoecium, in particular the floral meristem, as well as the development of the carpels and cauline placentation. Gynosporogenesis and the d...

  13. Development of carpels and ovules in Dialypetalanthus fuscescens Kuhlm. (Rubiaceae: an enigmatic taxon

    Directory of Open Access Journals (Sweden)

    Rogério da Costa Figueiredo

    Full Text Available ABSTRACT Dialypetalanthus is a monospecific genus that occurs in the Amazon Basin of Brazil, Bolivia and Peru and occupies a controversial position among the Rubiaceae. We continue this taxonomic discussion with the overall aim of clarifying the systematic position of D. fuscescens within the Rubiaceae. To accomplish this, we analyzed the ontogeny of its gynoecium, in particular the floral meristem, as well as the development of the carpels and cauline placentation. Gynosporogenesis and the differentiation of the carpellary septa and ovules were also described. Dialypetalanthus fuscescens was classified according to evolutionary diagrams found in the literature. The following characteristics were observed in D. fuscescens: 1 permanence of the floral meristem in the central basal part of the early flower bud; 2 dual origin of carpellary septum; 3 trizonate ovular primordia with only one fertile gynospore per ovule; and 4 cellular proliferation in the chalazal region. Embryological results confirm the classification of D. fuscescens in the subfamily Ixoroideae. These results are distinct from any others previously proposed in the evolutionary diagram. Therefore, we conclude that this study has presented evidence strongly suggesting that Dialypetalanthus possesses new morphological-type of ovule we refer to as the Dialypetalanthus-type.

  14. The Enigmatic Mushtikas and the Associated Triangular Terracotta Cakes: Some Observations

    Directory of Open Access Journals (Sweden)

    J. Manuel

    2010-12-01

    Full Text Available For over four decades, now, mushtikas and its common associate, the triangular terracotta cakes have been believed to be part of ‘fire altars’. This is, in spite of the fact that, either or both of these have been found from hearths, ovens, kilns, as flooring material, on walls, in passages, streets, bathrooms and therefore obviously near commodes. Further, the great variety of central stele and construction material, size and shape, materials found within ‘fire altars’ suggest that, all the above were devoid of religious symbolism and used to achieve domestic or industrial objectives. The cakes being primarily associated with run of the mill economic activities ended up in diverse and defiling contexts. However, like many cultures across time and space Harappans may also have used the medium of fire for offering sacrifices. Therefore the existence of ‘fire altars’ is not denied as such, but these then should not have the ubiquitous cakes, at the least.

  15. The identity of the enigmatic "Black Shrew" (Sorex niger Ord, 1815)

    Science.gov (United States)

    Woodman, Neal

    2013-01-01

    The scientific name Sorex niger Ord, 1815 (Mammalia, Soricidae) was originally applied to a North American species that George Ord called the “Black Shrew.” The origin of the name “Black Shrew,” however, was obscure, and Samuel Rhoads subsequently wrote that the species represented by this name could not be determined. The names Sorex niger Ord and Black Shrew have since been mostly forgotten. Two of Ord's contemporaries, however, noted that Ord's use of these names probably alluded to Benjamin Smith Barton's Black Shrew, whose discovery near Philadelphia was announced by Barton in 1806. Examination of two unpublished illustrations of the Black Shrew made by Barton indicates that the animal depicted is Blarina brevicauda (Say, 1822). Had the connection between Ord's and Barton's names been made more clearly, one of the most common mammals in eastern North America would bear a different scientific name today. This connection also would have affected the validity of Sorex niger Horsfield, 1851. While Sorex niger Ord remains a nomen nudum, the animal it referenced can now be identified.

  16. New observations and interpretations of the enigmatic poorly know Late Paleozoic Irregularina Bykova, 1955

    Czech Academy of Sciences Publication Activity Database

    Schlagintweit, F.; Hladil, Jindřich; Nose, M.

    2013-01-01

    Roč. 9, č. 1 (2013), s. 3-22 ISSN 1842-371X Institutional support: RVO:67985831 Keywords : Parathuramminida * incertae sedis * psammobionts * cryptoendoliths * protozoa Subject RIV: DB - Geology ; Mineralogy http://www.geo-paleontologica.org/actapalrom/Online_first.html

  17. On Leishmania enriettii and Other Enigmatic Leishmania Species of the Neotropics

    Directory of Open Access Journals (Sweden)

    Ralph Lainson

    1997-05-01

    Full Text Available There are 20 named species of the genus Leishmania at present recognized in the New World, of which 14 are known to infect man. The present paper discusses the biological, biochemical and ecological features, where known, of six species which have not till now been found to cause human leishmaniasis; namely, Leishmania (Leishmania enriettii, L. (L. hertigi, L. (L. deanei, L. (L. aristidesi, L. (L. forattinii and L. (Viannia equatorensis. A protocol is suggested for attempts to discover the natural mammalian host(s and sandfly vector of L. (L. enriettii. Doubt is cast on the validity of the species L. herreri, described in Costa Rican sloths. Following the concensus of opinion that modern trypanosomatids derive from monogenetic intestinal flagellates of arthropods, phlebotomine sandflies are best regarded as the primary hosts of Leishmania species, with mammals acting as secondary hosts providing a source of parasites for these insects. There are probably natural barriers limiting the life-cycle of most leishmanial parasites to specific sandfly vectors

  18. An enigmatic suppressed book by Lotsy on the Monocotyledons of Java

    NARCIS (Netherlands)

    Steenis, van C.G.G.J.

    1986-01-01

    Among the numerous works of J.P. Lotsy Mrs. M.J. van Steenis-Kruseman (Fl. Mai. I, 1, 1950, 331a) cited ’Die Monocotylenflora von Java (1904)’ a citation derived from the biography of Lotsy by WA Goddijn (Genetica 13, 1931, xiv). It appears that after his stay in Java (1895—1900) Lotsy had decided

  19. Phylogenetic relationships of the Cochliopinae (Rissooidea: Hydrobiidae): an enigmatic group of aquatic gastropods.

    Science.gov (United States)

    Liu, H P; Hershler, R; Thompson, F G

    2001-10-01

    Phylogenetic analysis based on a partial sequence of the mitochondrial cytochrome c oxidase subunit I gene was performed for 26 representatives of the aquatic gastropod subfamily Cochliopinae, 6 additional members of the family Hydrobiidae, and outgroup species of the families Rissoidae and Pomatiopsidae. Maximum-parsimony analysis yielded a single shortest tree which resolved two monophyletic groups: (1) a clade containing all cochliopine taxa with the exception of Antroselates and (2) a clade composed of Antroselates and the hydrobiid genus Amnicola. The clade containing both of these monophyletic groups was depicted as more closely related to members of the family Pomatiopsidae than to other hydrobiid snails which were basally positioned in our topology. New anatomical evidence supports recognition of the cochliopine and Antroselates-Amnicola clades, and structure within the monophyletic group of cochliopines is largely congruent with genitalic characters. However, the close relationship between the Pomatiopsidae and these clades is in conflict with commonly accepted classifications and suggests that a widely accepted scenario for genitalic evolution in these snails is in need of further study. Copyright 2001 Academic Press.

  20. An Enigmatic Embrace: Problems of Regulating the Effects of New Communication Technologies in the Soviet Union.

    Science.gov (United States)

    Gilder, Eric

    The telecommunication revolution in the USSR is creating structural change in the culture, encompassing media, societal, and ideological systems. In the process, it is replacing traditional Soviet collectivist values with individualist, western values. Increasingly easy access to western ideas through VCRs, direct broadcast satellites (DBS), and…

  1. BRITE-Constellation reveals evidence for pulsations in the enigmatic binary η Carinae

    Science.gov (United States)

    Richardson, Noel D.; Pablo, Herbert; Sterken, Christiaan; Pigulski, Andrzej; Koenigsberger, Gloria; Moffat, Anthony F. J.; Madura, Thomas I.; Hamaguchi, Kenji; Corcoran, Michael F.; Damineli, Augusto; Gull, Theodore R.; Hillier, D. John; Weigelt, Gerd; Handler, Gerald; Popowicz, Adam; Wade, Gregg A.; Weiss, Werner W.; Zwintz, Konstanze

    2018-04-01

    η Car is a massive, eccentric binary with a rich observational history. We obtained the first high-cadence, high-precision light curves with the BRITE-Constellation nanosatellites over 6 months in 2016 and 6 months in 2017. The light curve is contaminated by several sources including the Homunculus nebula and neighbouring stars, including the eclipsing binary CPD -59°2628. However, we found two coherent oscillations in the light curve. These may represent pulsations that are not yet understood but we postulate that they are related to tidally excited oscillations of η Car's primary star, and would be similar to those detected in lower mass eccentric binaries. In particular, one frequency was previously detected by van Genderen et al. and Sterken et al. through the time period of 1974-1995 through timing measurements of photometric maxima. Thus, this frequency seems to have been detected for nearly four decades, indicating that it has been stable in frequency over this time span. These pulsations could help provide the first direct constraints on the fundamental parameters of the primary star if confirmed and refined with future observations.

  2. Revision of the enigmatic Southeast Asian spider genus Savarna (Araneae, Pholcidae

    Directory of Open Access Journals (Sweden)

    Bernhard A. Huber

    2015-12-01

    Full Text Available The genus Savarna Huber, 2005 was previously one of the most poorly known Pholcinae genera. Less than 20 specimens (representing four nominal species were available worldwide; nothing was known about ultrastructure, natural history, or relationships. We present the first SEM data, supporting the position of the genus in Pholcinae outside the Pholcus group of genera and weakly suggesting a closer relationship with the genera Khorata Huber, 2005, Spermophorides Wunderlich, 1992, and two undescribed species of unknown affinity from Borneo. We provide the first data about microhabitat, web structure, and reaction to disturbance. We clarify the type locality of Savarna tessellata (Simon, 1901 (“Jalor, Biserat” and describe topotypical material. We describe the previously unknown male of Spermophora miser Bristowe, 1952 and transfer the species (that was previously considered incertae sedis to Savarna as Savarna miser (Bristowe, 1952 comb. nov. Savarna baso (Roewer, 1963 is newly synonymized with S. miser. We newly describe the most northern species in the genus, Savarna kaeo sp. nov., and provide amendments to the descriptions of all previously described species.

  3. Phylogenetic placement of the enigmatic parasite, Polypodium hydriforme, within the Phylum Cnidaria

    Directory of Open Access Journals (Sweden)

    Collins Allen G

    2008-05-01

    Full Text Available Abstract Background Polypodium hydriforme is a parasite with an unusual life cycle and peculiar morphology, both of which have made its systematic position uncertain. Polypodium has traditionally been considered a cnidarian because it possesses nematocysts, the stinging structures characteristic of this phylum. However, recent molecular phylogenetic studies using 18S rDNA sequence data have challenged this interpretation, and have shown that Polypodium is a close relative to myxozoans and together they share a closer affinity to bilaterians than cnidarians. Due to the variable rates of 18S rDNA sequences, these results have been suggested to be an artifact of long-branch attraction (LBA. A recent study, using multiple protein coding markers, shows that the myxozoan Buddenbrockia, is nested within cnidarians. Polypodium was not included in this study. To further investigate the phylogenetic placement of Polypodium, we have performed phylogenetic analyses of metazoans with 18S and partial 28S rDNA sequences in a large dataset that includes Polypodium and a comprehensive sampling of cnidarian taxa. Results Analyses of a combined dataset of 18S and partial 28S sequences, and partial 28S alone, support the placement of Polypodium within Cnidaria. Removal of the long-branched myxozoans from the 18S dataset also results in Polypodium being nested within Cnidaria. These results suggest that previous reports showing that Polypodium and Myxozoa form a sister group to Bilateria were an artifact of long-branch attraction. Conclusion By including 28S rDNA sequences and a comprehensive sampling of cnidarian taxa, we demonstrate that previously conflicting hypotheses concerning the phylogenetic placement of Polypodium can be reconciled. Specifically, the data presented provide evidence that Polypodium is indeed a cnidarian and is either the sister taxon to Hydrozoa, or part of the hydrozoan clade, Leptothecata. The former hypothesis is consistent with the traditional view that Polypodium should be placed in its own cnidarian class, Polypodiozoa.

  4. The enigmatic nature of the circumstellar envelope and bow shock surrounding Betelgeuse as revealed by Herschel

    Science.gov (United States)

    Decin, L.; Cox, N. L. J.; Royer, P.; van Marle, A. J.; Vandenbussche, B.

    2013-05-01

    The interaction between stellar winds and the interstellar medium (ISM) can create complex bow shocks. We have studied the bow shock region around Betelgeuse using Herschel PACS images at 70, 100, and 160 μm and SPIRE images at 250, 350, and 500 μm. These data were complemented with ultraviolet GALEX data, near-infrared WISE data, and radio 21 cm GALFA-HI data. The infrared Herschel images of the environment around Betelgeuse are spectacular, showing the occurrence of multiple arcs at ~6-7' from the central target and the presence of a linear bar at ~9'. Remarkably, no large-scale instabilities are seen in the outer arcs and linear bar. The dust temperature in the outer arcs varies between 40 and 140 K, with the linear bar having the same colour temperature as the arcs. The inner envelope shows clear evidence of a non-homogeneous clumpy structure (beyond 15''). The non-homogeneous distribution of the material even persists until the collision with the ISM. A strong variation in brightness of the inner clumps at a radius of ~2' suggests a drastic change in mean gas and dust density ~32 000 yr ago. Using hydrodynamical simulations (see van Marle & Decin, these proceedings), we try to explain the observed morphology of the bow shock around Betelgeuse. Different hypotheses, based on observational and theoretical constraints, are formulated to explain the origin of the multiple arcs and the linear bar and the fact that no large-scale instabilities are visible in the bow shock region. We infer that the two main ingredients for explaining these phenomena are a non-homogeneous mass-loss process and the influence of the Galactic magnetic field. The linear bar is probably an interstellar structure illuminated by Betelgeuse itself.

  5. Creativity and mood disorders: The enigmatic case of Isaak Il'ich Levitan (1860-1900).

    Science.gov (United States)

    Lerner, Vladimir; Margolin, Jacob; Witztum, Eliezer

    2017-05-01

    Isaak Levitan (1860-1900) was one of Russia's most influential landscape artists. He lived a very short life, only 40 years, but left more than 1000 paintings. He suffered from mood fluctuations, and died as a result of serious heart disease. After an introduction related to the issue of creativity and mental disorders, a short biography of Levitan's life is outlined, followed by some examples of his mood and behavior. A section on the mood's reflection in Levitan's professional work is followed by a description of his romantic loves and disappointments and his relationship with his contemporary Russian, the writer Anton Chekhov.

  6. Unraveling the phylogenetic relationships of the Eccoptochilinae, an enigmatic array of ordovician cheirurid trilobites.

    Directory of Open Access Journals (Sweden)

    I Wesley Gapp

    Full Text Available The Cheiruridae are a diverse group of trilobites and several subfamilies within the clade have been the focus of recent phylogenetic studies. This paper focuses on the relationships of one of those subfamilies, the Ordovician Eccoptochilinae. We analyze sixteen species from six genera within the traditionally defined group, using the pilekiid Anacheirurus frederici as an outgroup. To assess the monophyly of the Eccoptochilinae seven sphaerexochine species, Kawina arnoldi, Sphaerexochus arenosus, S. atacius, S. latifrons, S. mirus, S. parvus, and S. scabridus were included in the analysis as well. The results of this analysis show that the genus Eccoptochile represents a paraphyletic grade and species traditionally assigned to Parasphaerexochus and Skelipyx plot within Pseudosphaerexochus. Also, representative species of Sphaerexochinae plot within the traditionally defined Eccoptochilinae, suggesting Eccoptochilinae itself is paraphyletic. To resolve this, we propose all species of Pseudosphaerexochus be placed within Sphaerexochinae and Eccoptochilinae be restricted to a monotypic Eccoptochile clavigera.

  7. An Enigmatic Case of Acute Mercury Poisoning: Clinical, Immunological Findings and Platelet Function

    Directory of Open Access Journals (Sweden)

    Ilka Kleffner

    2017-09-01

    Full Text Available Severe mercury intoxication is very rare in developed countries, but still occurs as the result of volatile substance abuse, suicide attempts, occupational hazards, or endemic food ingestion as reported in the cases of public health disasters in Iraq and in Minamata Bay, Japan. Here, we describe the dramatic physical and cognitive decline of a 23-year-old patient caused by a severe methyl mercury (MeHg intoxication of unknown origin. We show serial magnetic resonance imaging (MRI of the patient’s brain, as well as ex vivo analyses of blood and cerebrospinal fluid including multicolor flow cytometric measurements, functional assays of hemostaseologic efficacy, and evaluation of regulatory effector molecules. Together with the clinical history, our findings show the progressive neuronal degeneration accompanying the deterioration of the patient. Moreover, the ex vivo analyses display alterations of thrombocyte function and coagulation, as well as an immunological milieu facilitating autoimmunity. Despite the successful reduction of the MeHg concentration in the patient’s blood with erythrocyte apheresis and chelator therapy, his condition did not improve and led to a persistent vegetative state. This case illustrates the neurotoxicity of MeHg following severe intoxication for the first time by serial MRI. Data on immune-cell and thrombocyte function as well as on coagulation in mercury poisoning reveal potential implications for anticoagulation and immunomodulatory treatment.

  8. The enigmatic Squamanita odorata (Agaricales, Basidiomycota) is parasitic on Hebeloma mesophaeum.

    Science.gov (United States)

    Mondiet, Nicolas; Dubois, Marie-Pierre; Selosse, Marc-André

    2007-05-01

    Squamanita odorata is an agaric which is parasitic on unrecognizable, previously unidentifiable sporophores of a fungal host that is transformed into galls at the bases of the parasite's sporophore. Amplification and sequencing portions of the nuclear (ITS) and mt rDNA from three samplings originating from two sites (from France and from Switzerland) demonstrate that the galls produce sequences that are identical to that of co-occurring Hebeloma mesophaeum. This demonstrates that S. odorata is a biotrophic parasite on Hebeloma mesophaeum.

  9. The imagos of some enigmatic members of theHermanellacomplex (Ephemeroptera, Leptophlebiidae).

    Science.gov (United States)

    Salles, Frederico F; Domínguez, Eduardo; Mariano, Rodolfo; Paresque, Roberta

    2016-01-01

    The imago stages of three species of the Hermanella complex are described mostly based on material from Roraima, northern Brazil: Hydrosmilodon gilliesae , Hydromastodon sallesi and Leentvaaria palpalis . Male imagos of Hydrosmilodon gilliesae and Leentvaaria palpalis both have a pair of large, broad projections at the posterior margin of the styliger plate, nearly covering the penis lobes; in Leentvaaria palpalis , however, these projections are fused. The male imago of Hydromastodon sallesi resembles Hydrosmilodon plagatus in that both species have a styliger plate with a robust projection that is curved towards the penis lobes. DNA barcoding is likely to be a powerful investigative tool for identifying and understanding species limits among these Ephemeroptera taxa, especially if it is used within an integrative taxonomic context. An updated identification key to the genera of the Hermanella complex is proposed.

  10. Phylogeny and genomics of SAUL, an enigmatic bacterial lineage frequently associated with marine sponges.

    Science.gov (United States)

    Astudillo-García, Carmen; Slaby, Beate M; Waite, David W; Bayer, Kristina; Hentschel, Ute; Taylor, Michael W

    2018-02-01

    Many marine sponges contain dense and diverse communities of associated microorganisms. Members of the 'sponge-associated unclassified lineage' (SAUL) are frequently recorded from sponges, yet little is known about these bacteria. Here we investigated the distribution and phylogenetic status of SAUL. A meta-analysis of the available literature revealed the widespread distribution of this clade and its association with taxonomically varied sponge hosts. Phylogenetic analyses, conducted using both 16S rRNA gene-based phylogeny and concatenated marker protein sequences, revealed that SAUL is a sister clade of the candidate phylum 'Latescibacteria'. Furthermore, we conducted a comprehensive analysis of two draft genomes assembled from sponge metagenomes, revealing novel insights into the physiology of this symbiont. Metabolic reconstruction suggested that SAUL members are aerobic bacteria with facultative anaerobic metabolism, with the capacity to degrade multiple sponge- and algae-derived carbohydrates. We described for the first time in a sponge symbiont the putative genomic capacity to transport phosphate into the cell and to produce and store polyphosphate granules, presumably constituting a phosphate reservoir for the sponge host in deprivation periods. Our findings suggest that the lifestyle of SAUL is symbiotic with the host sponge, and identify symbiont factors which may facilitate the establishment and maintenance of this relationship. © 2017 Society for Applied Microbiology and John Wiley & Sons Ltd.

  11. Ancient phylogenetic divergence of the enigmatic African rodent Zenkerella and the origin of anomalurid gliding

    Directory of Open Access Journals (Sweden)

    Steven Heritage

    2016-08-01

    Full Text Available The “scaly-tailed squirrels” of the rodent family Anomaluridae have a long evolutionary history in Africa, and are now represented by two gliding genera (Anomalurus and Idiurus and a rare and obscure genus (Zenkerella that has never been observed alive by mammalogists. Zenkerella shows no anatomical adaptations for gliding, but has traditionally been grouped with the glider Idiurus on the basis of craniodental similarities, implying that either the Zenkerella lineage lost its gliding adaptations, or that Anomalurus and Idiurus evolved theirs independently. Here we present the first nuclear and mitochondrial DNA sequences of Zenkerella, based on recently recovered whole-body specimens from Bioko Island (Equatorial Guinea, which show unambiguously that Zenkerella is the sister taxon of Anomalurus and Idiurus. These data indicate that gliding likely evolved only once within Anomaluridae, and that there were no subsequent evolutionary reversals. We combine this new molecular evidence with morphological data from living and extinct anomaluromorph rodents and estimate that the lineage leading to Zenkerella has been evolving independently in Africa since the early Eocene, approximately 49 million years ago. Recently discovered fossils further attest to the antiquity of the lineage leading to Zenkerella, which can now be recognized as a classic example of a “living fossil,” about which we know remarkably little. The osteological markers of gliding are estimated to have evolved along the stem lineage of the Anomalurus–Idiurus clade by the early Oligocene, potentially indicating that this adaptation evolved in response to climatic perturbations at the Eocene–Oligocene boundary (∼34 million years ago.

  12. An enigmatic plant-eating theropod from the Late Jurassic period of Chile.

    Science.gov (United States)

    Novas, Fernando E; Salgado, Leonardo; Suárez, Manuel; Agnolín, Federico L; Ezcurra, Martín D; Chimento, Nicolás R; de la Cruz, Rita; Isasi, Marcelo P; Vargas, Alexander O; Rubilar-Rogers, David

    2015-06-18

    Theropod dinosaurs were the dominant predators in most Mesozoic era terrestrial ecosystems. Early theropod evolution is currently interpreted as the diversification of various carnivorous and cursorial taxa, whereas the acquisition of herbivorism, together with the secondary loss of cursorial adaptations, occurred much later among advanced coelurosaurian theropods. A new, bizarre herbivorous basal tetanuran from the Upper Jurassic of Chile challenges this conception. The new dinosaur was discovered at Aysén, a fossil locality in the Upper Jurassic Toqui Formation of southern Chile (General Carrera Lake). The site yielded abundant and exquisitely preserved three-dimensional skeletons of small archosaurs. Several articulated individuals of Chilesaurus at different ontogenetic stages have been collected, as well as less abundant basal crocodyliforms, and fragmentary remains of sauropod dinosaurs (diplodocids and titanosaurians).

  13. An enigmatic hawker dragonfly from the Middle Jurassic of China (Odonata, Aeshnoptera)

    OpenAIRE

    Huang, Di-Ying; Nel, André; Cai, Chenyang

    2017-01-01

    International audience; The aeshnopteran Propecymatophlebia magnifica gen. et sp. nov. is described from the Middle Jurassic Hiafanggou Formation of Inner Mongolia in China, on the basis of a complete forewing. It confirms the remarkable palaeodiversity of the stem group of the hawker dragonflies in Central Asia in the period between the Middle Jurassic and the Early Cretaceous.

  14. Cirrosporium novae-zelandiae, an enigmatic coelomycete with meristem arthroconidia, with ancestors in the Eurotiomycetes

    Czech Academy of Sciences Publication Activity Database

    Réblová, Martina; Seifert, K. A.

    2012-01-01

    Roč. 104, č. 6 (2012), s. 1315-1324 ISSN 0027-5514 R&D Projects: GA ČR GAP506/12/0038 Institutional support: RVO:67985939 Keywords : conidium ontogeny * multigene phylogeny * Mycocaliciomycetidae Subject RIV: EF - Botanics Impact factor: 2.110, year: 2012

  15. The enigmatic molar from Gondolin, South Africa: implications for Paranthropus paleobiology.

    Science.gov (United States)

    Grine, Frederick E; Jacobs, Rachel L; Reed, Kaye E; Plavcan, J Michael

    2012-10-01

    The specific attribution of the large hominin M(2) (GDA-2) from Gondolin has significant implications for the paleobiology of Paranthropus. If it is a specimen of Paranthropus robustus it impacts that species' size range, and if it belongs to Paranthropus boisei it has important biogeographic implications. We evaluate crown size, cusp proportions and the likelihood of encountering a large-bodied mammal species in both East and South Africa in the Early Pleistocene. The tooth falls well outside the P. robustus sample range, and comfortably within that for penecontemporaneous P. boisei. Analyses of sample range, distribution and variability suggest that it is possible, albeit unlikely to find a M(2) of this size in the current P. robustus sample. However, taphonomic agents - carnivore (particularly leopard) feeding behaviors - have likely skewed the size distribution of the Swartkrans and Drimolen P. robustus assemblage. In particular, assemblages of large-bodied mammals accumulated by leopards typically display high proportions of juveniles and smaller adults. The skew in the P. robustus sample is consistent with this type of assemblage. Morphological evidence in the form of cusp proportions is congruent with GDA-2 representing P. robustus rather than P. boisei. The comparatively small number of large-bodied mammal species common to both South and East Africa in the Early Pleistocene suggests a low probability of encountering an herbivorous australopith in both. Our results are most consistent with the interpretation of the Gondolin molar as a very large specimen of P. robustus. This, in turn, suggests that large, presumptive male, specimens are rare, and that the levels of size variation (sexual dimorphism) previously ascribed to this species are likely to be gross underestimates. Copyright © 2012 Elsevier Ltd. All rights reserved.

  16. THE ENIGMATIC CORE L1451-mm: A FIRST HYDROSTATIC CORE? OR A HIDDEN VeLLO?

    International Nuclear Information System (INIS)

    Pineda, Jaime E.; Goodman, Alyssa A.; Bourke, Tyler; Foster, Jonathan B.; Robitaille, Thomas; Kauffmann, Jens; Arce, Héctor G.; Tanner, Joel; Schnee, Scott; Tafalla, Mario; Caselli, Paola; Anglada, Guillem

    2011-01-01

    We present the detection of a dust continuum source at 3 mm (CARMA) and 1.3 mm (Submillimeter Array, SMA), and 12 CO (2-1) emission (SMA) toward the L1451-mm dense core. These detections suggest a compact object and an outflow where no point source at mid-infrared wavelengths is detected using Spitzer. An upper limit for the dense core bolometric luminosity of 0.05 L ☉ is obtained. By modeling the broadband spectral energy distribution and the continuum interferometric visibilities simultaneously, we confirm that a central source of heating is needed to explain the observations. This modeling also shows that the data can be well fitted by a dense core with a young stellar object (YSO) and a disk, or by a dense core with a central first hydrostatic core (FHSC). Unfortunately, we are not able to decide between these two models, which produce similar fits. We also detect 12 CO (2-1) emission with redshifted and blueshifted emission suggesting the presence of a slow and poorly collimated outflow, in opposition to what is usually found toward YSOs but in agreement with prediction from simulations of an FHSC. This presents the best candidate, so far, for an FHSC, an object that has been identified in simulations of collapsing dense cores. Whatever the true nature of the central object in L1451-mm, this core presents an excellent laboratory to study the earliest phases of low-mass star formation.

  17. An enigmatic fourth runt domain gene in the fugu genome: ancestral gene loss versus accelerated evolution

    Directory of Open Access Journals (Sweden)

    Hood Leroy

    2004-11-01

    Full Text Available Abstract Background The runt domain transcription factors are key regulators of developmental processes in bilaterians, involved both in cell proliferation and differentiation, and their disruption usually leads to disease. Three runt domain genes have been described in each vertebrate genome (the RUNX gene family, but only one in other chordates. Therefore, the common ancestor of vertebrates has been thought to have had a single runt domain gene. Results Analysis of the genome draft of the fugu pufferfish (Takifugu rubripes reveals the existence of a fourth runt domain gene, FrRUNT, in addition to the orthologs of human RUNX1, RUNX2 and RUNX3. The tiny FrRUNT packs six exons and two putative promoters in just 3 kb of genomic sequence. The first exon is located within an intron of FrSUPT3H, the ortholog of human SUPT3H, and the first exon of FrSUPT3H resides within the first intron of FrRUNT. The two gene structures are therefore "interlocked". In the human genome, SUPT3H is instead interlocked with RUNX2. FrRUNT has no detectable ortholog in the genomes of mammals, birds or amphibians. We consider alternative explanations for an apparent contradiction between the phylogenetic data and the comparison of the genomic neighborhoods of human and fugu runt domain genes. We hypothesize that an ancient RUNT locus was lost in the tetrapod lineage, together with FrFSTL6, a member of a novel family of follistatin-like genes. Conclusions Our results suggest that the runt domain family may have started expanding in chordates much earlier than previously thought, and exemplify the importance of detailed analysis of whole-genome draft sequence to provide new insights into gene evolution.

  18. The land Mollusca of Dominica (Lesser Antilles), with notes on some enigmatic or rare species

    NARCIS (Netherlands)

    Robinson, D.G.; Hovestadt, A.; Fields, A.; Breure, A.S.H.

    2009-01-01

    An overview of the land-snail fauna of the Lesser Antillean island of Dominica is given, based on data from literature and four recent surveys. There are 42 taxa listed, of which the following species are recorded for the first time from the island: Allopeas gracile (Hutt on, 1834), A. micra

  19. An enigmatic clinical presentation of plasma cell granuloma of the oral cavity

    Directory of Open Access Journals (Sweden)

    Pravesh Kumar Jhingta

    2018-01-01

    Full Text Available Plasma cell granuloma is a rare benign lesion characterized by the infiltration of plasma cells; primarily occurring in the lungs. It is also seen to occur in the brain, kidney stomach, heart, and so on but its intraoral occurrence is a rarity. This case report represents one of the uncommon locations in the oral cavity affected by plasma cell granuloma, its clinical and histological features, and establishes the differential diagnosis with other malignant or benign disease entities and planning the treatment accordingly. This report discusses the diagnostic enigma and the associated terminology of plasma cell granulomas and reinforces the need for performing biopsy and a histopathological or immune histochemical study, irrespective of the clinical features and clinical diagnosis of the lesion. In this case a 52-year-old female, presented with gingival enlargement in the mandibular anterior region, treated by excisional biopsy. Histological evaluation revealed plasma cell infiltrates in the connective tissue. The immune-histochemistry revealed kappa and lambda light chains with a polyclonal staining pattern, which confirmed the diagnosis of plasma cell granuloma.

  20. Podargiform affinities of the enigmatic Fluvioviridavis platyrhamphus and the early diversification of Strisores ("Caprimulgiformes" + Apodiformes.

    Directory of Open Access Journals (Sweden)

    Sterling J Nesbitt

    Full Text Available BACKGROUND: The early Eocene Green River Formation avifauna preserves exceptional exemplars of the earliest unambiguous stem representatives of many extant avian clades. We identify the basal-most member of Podargiformes (extant and fossil stem lineage frogmouths based on a new specimen of Fluvioviridavis platyrhamphus, a unique neoavian bird from the Fossil Butte Member of the Green River Formation of Wyoming. Extant frogmouths (Podargidae comprise approximately 13 nocturnal species with an exclusively Australasian distribution. METHODOLOGY/PRINCIPAL FINDINGS: The new specimen was included in a combined phylogenetic analysis of morphological (osteology and soft tissue and molecular sequence (cytochrome b, c-myc exon 3, and RAG data sampling species-level taxa from both extant and extinct members of Steatornithidae, Podargidae, Caprimulgidae, Nyctibiidae, Aegothelidae, and Apodiformes ( = Strisores. New data from F. platyrhamphus help resolve phylogenetic relationships within Strisores, supporting placement of F. platyrhamphus and the European fossil form Masillapodargus longipes as basal parts of Podargiformes and also supporting a sister taxon relationship between Podargiformes and Steatornithiformes (oilbirds within Strisores. This relationship is recovered only when fossil taxa are included, reaffirming the potential impact of stem fossil taxa on inferences of phylogenetic relationships. The well-preserved mandible and palate of the new specimen demonstrate that many of the unique characteristics of the skull that characterize the crown frogmouth clade Podargidae arose early in the evolutionary history of the clade, over 50 million years ago. Comparisons with the new specimen also indicate that Eurofluvioviridavis and Fluvioviridavis are not closely related. CONCLUSIONS/SIGNIFICANCE: Together with the European fossil frogmouth Masillapodargus, Fluvioviridavis shows that Podargiformes had a much wider geographic distribution in the past, whereas extant species are restricted to Australasia. The Eocene record of Strisores from the Green River Formation and Messel Formation indicates most major subclade divergences had already occurred by the early-middle Eocene.

  1. First molecular evidence for the phylogenetic placement of the enigmatic snake genus Brachyorrhos (Serpentes: Caenophidia).

    Science.gov (United States)

    Murphy, John C; Mumpuni; Sanders, Kate L

    2011-12-01

    BrachyorrhosSchlegel, 1826a is a terrestrial-fossorial snake genus endemic to eastern Indonesia that has been assigned to six different families and subfamilies within Colubroidea (advanced snakes) over the past ~200 years. Here we report the first molecular sequences for Brachyorrhos and use them to test the position of the genus within snake phylogeny. Our Bayesian and Maximum Likelihood analyses of three mitochondrial and one nuclear gene strongly resolve Brachyorrhos within the rear-fanged semiaquatic Homalopsidae (Colubroidea), as the sister taxon to all other genera and sampled species. Copyright © 2011 Elsevier Inc. All rights reserved.

  2. Modelling the enigmatic Late Pliocene Glacial Event - Marine Isotope Stage M2

    Science.gov (United States)

    Dolan, Aisling M.; Haywood, Alan M.; Hunter, Stephen J.; Tindall, Julia C.; Dowsett, Harry J.; Hill, Daniel J.; Pickering, Steven J.

    2015-01-01

    The Pliocene Epoch (5.2 to 2.58 Ma) has often been targeted to investigate the nature of warm climates. However, climate records for the Pliocene exhibit significant variability and show intervals that apparently experienced a cooler than modern climate. Marine Isotope Stage (MIS) M2 (~ 3.3 Ma) is a globally recognisable cooling event that disturbs an otherwise relatively (compared to present-day) warm background climate state. It remains unclear whether this event corresponds to significant ice sheet build-up in the Northern and Southern Hemisphere. Estimates of sea level for this interval vary, and range from modern values to estimates of 65 m sea level fall with respect to present day. Here we implement plausible M2 ice sheet configurations into a coupled atmosphere–ocean climate model to test the hypothesis that larger-than-modern ice sheet configurations may have existed at M2. Climate model results are compared with proxy climate data available for M2 to assess the plausibility of each ice sheet configuration. Whilst the outcomes of our data/model comparisons are not in all cases straight forward to interpret, there is little indication that results from model simulations in which significant ice masses have been prescribed in the Northern Hemisphere are incompatible with proxy data from the North Atlantic, Northeast Arctic Russia, North Africa and the Southern Ocean. Therefore, our model results do not preclude the possibility of the existence of larger ice masses during M2 in the Northern or Southern Hemisphere. Specifically they are not able to discount the possibility of significant ice masses in the Northern Hemisphere during the M2 event, consistent with a global sea-level fall of between 40 m and 60 m. This study highlights the general need for more focused and coordinated data generation in the future to improve the coverage and consistency in proxy records for M2, which will allow these and future M2 sensitivity tests to be interrogated further.

  3. The enigmatic truffle Fevansia aurantiaca is an ectomycorrhizal member of the Albatrellus lineage

    Science.gov (United States)

    Matthew E. Smith; Karlee J. Schell; Michael Castellano; Matthew J. Trappe; James M. Trappe

    2013-01-01

    Fevansia aurantiaca is an orange-colored truffle that has been collected infrequently in the Pacific Northwest of the USA. This sequestrate, hypogeous fungus was originally thought to be related to the genera Rhizopogon or Alpova in the Boletales, but the large, inflated cells in the trama and the very pale...

  4. Klebsiella: a long way to go towards understanding this enigmatic jet-setter

    Science.gov (United States)

    Broberg, Christopher A.; Palacios, Michelle

    2014-01-01

    Klebsiella pneumoniae is the causative agent of a variety of diseases, including pneumonia, urinary tract infections, septicemia, and the recently recognized pyogenic liver abscesses (PLA). Renewed efforts to identify and understand the bacterial determinants required to cause disease have come about because of the worldwide increase in the isolation of strains resistant to a broad spectrum of antibiotics. The recent increased isolation of carbapenem-resistant strains further reduces the available treatment options. The rapid geographic spread of the resistant isolates and the spread to other pathogens are of particular concern. For many years, the best characterized virulence determinants were capsule, lipopolysaccharide, siderophores, and types 1 and 3 fimbriae. Recent efforts to expand this list include in vivo screens and whole-genome sequencing. However, we still know little about how this bacterium is able to cause disease. Some recent clonal analyses of K. pneumoniae strains indicate that there are distinct clonal groups, some of which may be associated with specific disease syndromes. However, what makes one clonal group more virulent and what changes the disease pattern are not yet clear and remain important questions for the future. PMID:25165563

  5. Rings without a lord? Enigmatic fossils from the lower Palaeozoic of Bohemia and the Carnic Alps

    Czech Academy of Sciences Publication Activity Database

    Ferretti, A.; Cardini, A.; Crampton, J. S.; Serpagli, E.; Sheets, H. D.; Štorch, Petr

    2013-01-01

    Roč. 46, č. 2 (2013), s. 211-222 ISSN 0024-1164 Institutional support: RVO:67985831 Keywords : phosphatic rings * Problematica * Palaeozoic * morphometric analysis Subject RIV: DB - Geology ; Mineralogy Impact factor: 2.191, year: 2013

  6. The Enigmatic (Almost) Dark Galaxy Coma P: The Atomic Interstellar Medium

    Science.gov (United States)

    Ball, Catherine; Cannon, John M.; Leisman, Lukas; Adams, Elizabeth A. K.; Haynes, Martha P.; Józsa, Gyula I. G.; McQuinn, Kristen B. W.; Salzer, John J.; Brunker, Samantha; Giovanelli, Riccardo; Hallenbeck, Gregory; Janesh, William; Janowiecki, Steven; Jones, Michael G.; Rhode, Katherine L.

    2018-02-01

    We present new high-resolution H I spectral line imaging of Coma P, the brightest H I source in the system HI 1232+20. This galaxy with extremely low surface brightness was first identified in the ALFALFA survey as an “(Almost) Dark” object: a clearly extragalactic H I source with no obvious optical counterpart in existing optical survey data (although faint ultraviolet emission was detected in archival GALEX imaging). Using a combination of data from the Westerbork Synthesis Radio Telescope and the Karl G. Jansky Very Large Array, we investigate the H I morphology and kinematics at a variety of physical scales. The H I morphology is irregular, reaching only moderate maxima in mass surface density (peak {σ }{{H}{{I}}}∼ 10 {M}ȯ pc‑2). Gas of lower surface brightness extends to large radial distances, with the H I diameter measured at 4.0 ± 0.2 kpc inside the 1 {M}ȯ pc‑2 level. We quantify the relationships between mass surface density of H I gas and star formation on timescales of ∼100–200 Myr as traced by GALEX far-ultraviolet emission. While Coma P has regions of dense H I gas reaching the {N}{{H}{{I}}}={10}21 cm‑2 level typically associated with ongoing star formation, it lacks massive star formation as traced by Hα emission. The H I kinematics are extremely complex: a simple model of a rotating disk cannot describe the H I gas in Coma P. Using spatially resolved position–velocity analysis we identify two nearly perpendicular axes of projected rotation that we interpret as either the collision of two H I disks or a significant infall event. Similarly, three-dimensional modeling of the H I dynamics provides a best fit with two H I components. Coma P is just consistent (within 3σ) with the known {M}{{H}{{I}}}{--}{D}{{H}{{I}}} scaling relation. It is either too large for its H I mass, has too low an H I mass for its H I size, or the two H I components artificially extend its H I size. Coma P lies within the empirical scatter at the faint end of the baryonic Tully–Fisher relation, although the complexity of the H I dynamics complicates the interpretation. Along with its large ratio of H I to stellar mass, the collective H I characteristics of Coma P make it unusual among known galaxies in the nearby universe.

  7. An Enigmatic Population of Luminous Globular Clusters in a Galaxy Lacking Dark Matter

    Science.gov (United States)

    van Dokkum, Pieter; Cohen, Yotam; Danieli, Shany; Kruijssen, J. M. Diederik; Romanowsky, Aaron J.; Merritt, Allison; Abraham, Roberto; Brodie, Jean; Conroy, Charlie; Lokhorst, Deborah; Mowla, Lamiya; O’Sullivan, Ewan; Zhang, Jielai

    2018-04-01

    We recently found an ultra diffuse galaxy (UDG) with a half-light radius of R e = 2.2 kpc and little or no dark matter. The total mass of NGC1052–DF2 was measured from the radial velocities of bright compact objects that are associated with the galaxy. Here, we analyze these objects using a combination of Hubble Space Telescope (HST) imaging and Keck spectroscopy. Their average size is =6.2+/- 0.5 pc and their average ellipticity is =0.18+/- 0.02. From a stacked Keck spectrum we derive an age of ≳9 Gyr and a metallicity of [Fe/H] = ‑1.35 ± 0.12. Their properties are similar to ω Centauri, the brightest and largest globular cluster in the Milky Way, and our results demonstrate that the luminosity function of metal-poor globular clusters is not universal. The fraction of the total stellar mass that is in the globular cluster system is similar to that in other UDGs, and consistent with “failed galaxy” scenarios, where star formation terminated shortly after the clusters were formed. However, the galaxy is a factor of ∼1000 removed from the relation between globular cluster mass and total galaxy mass that has been found for other galaxies, including other UDGs. We infer that a dark matter halo is not a prerequisite for the formation of metal-poor globular cluster-like objects in high-redshift galaxies.

  8. Histopathological, immunohistochemical and special stain unraveling the enigmatic carcinosarcoma - A case report

    Directory of Open Access Journals (Sweden)

    Moidin Shakil

    2015-01-01

    Full Text Available Carcinosarcoma is an extremely rare, highly malignant tumor having a characteristic of both epithelial and mesenchymal components; the epithelial component exhibiting focal squamous cell carcinoma and mesenchymal component having sarcomatoid stroma. The occurrence of carcinosarcoma in the oral cavity is very rare and only few cases have been reported in the literature, although its occurrence in other parts of the body has been widely reported.

  9. A polymicrobial perspective of pulmonary infections exposes an enigmatic pathogen in cystic fibrosis patients.

    Science.gov (United States)

    Sibley, Christopher D; Parkins, Michael D; Rabin, Harvey R; Duan, Kangmin; Norgaard, Jens C; Surette, Michael G

    2008-09-30

    Lung disease is the leading cause of morbidity and mortality in cystic fibrosis (CF) patients. A modest number of bacterial pathogens have been correlated with pulmonary function decline; however, microbiological and molecular evidence suggests that CF airway infection is polymicrobial. To obtain a more complete assessment of the microbial community composition and dynamics, we undertook a longitudinal study by using culture-independent and microbiological approaches. In the process, we demonstrated that within complex and dynamic communities, the Streptococcus milleri group (SMG) can establish chronic pulmonary infections and at the onset of 39% of acute pulmonary exacerbations, SMG is the numerically dominant pathogen. We report the comprehensive polymicrobial community dynamics of a CF lung infection in a clinically relevant context. If a given organism, such as Pseudomonas aeruginosa, becomes resistant to antibiotic therapy, an alternative treatment avenue may mediate the desired clinical response by effectively managing the composition of the microbial community.

  10. Premature feather loss among common tern chicks in Ontario: the return of an enigmatic developmental anomaly

    Directory of Open Access Journals (Sweden)

    Jennifer M. Arnold

    2016-05-01

    Full Text Available In July 2014, we observed premature feather loss (PFL among non-sibling, common tern Sterna hirundo chicks between two and four weeks of age at Gull Island in northern Lake Ontario, Canada. Rarely observed in wild birds, to our knowledge PFL has not been recorded in terns since 1974, despite the subsequent banding of hundreds of thousands of tern chicks across North America alone. The prevalence, 5% of chicks (9/167, and extent of feather loss we report is more extreme than in previous reports for common terns but was not accompanied by other aberrant developmental or physical deformities. Complete feather loss from all body areas (wing, tail, head and body occurred over a period of a few days but all affected chicks appeared vigorous and quickly began to grow replacement feathers. All but one chick (recovered dead and submitted for post-mortem most likely fledged 10–20 days after normal fledging age. We found no evidence of feather dystrophy or concurrent developmental abnormalities unusual among affected chicks. Thus, the PFL we observed among common terns in 2014 was largely of unknown origin. There was striking temporal association between the onset of PFL and persistent strong southwesterly winds that caused extensive mixing of near-shore surface water with cool, deep lake waters. One hypothesis is that PFL may have been caused by unidentified pathogens or toxins welling up from these deep waters along the shoreline but current data are insufficient to test this. PFL was not observed among common terns at Gull Island in 2015, although we did observe similar feather loss in a herring gull Larus argentatus chick in that year. Comparison with sporadic records of PFL in other seabirds suggests that PFL may be a rare, but non-specific, response to a range of potential stressors. PFL is now known for gulls, penguins and terns.

  11. FAM26F: An Enigmatic Protein Having a Complex Role in the Immune System.

    Science.gov (United States)

    Malik, Uzma; Javed, Aneela

    2016-09-19

    Mammalian immune system is a complex amalgam of diverse cellular and noncellular components such as cytokines, receptors and co-receptors. FAM26F (family with sequence similarity 26, member F) is a recently identified tetraspanin-like membrane glycoprotein which is predicted to make homophilic interactions and potential synapses between several immune cells including CD4 + , CD8 + , NK, dendritic cells and macrophages. Various whole transcriptome analyses have demonstrated the differential expression of FAM26F in several bacterial, viral and parasitic infections, in certain pathophysiological conditions such as liver and heart transplantation, and in various cancers. The complete understanding of transcriptional regulation of FAM26F is in its infancy however it is up regulated by various stimulants such as polyI:C, LPS, INF gamma and TNF alpha, and via various proposed pathways including TLR3, TLR4 IFN-β and Dectin-1. These pathways can merge in STAT1 activation. The synergistic expression of FAM26F on both NK-cells and myeloid dendritic cells is required to activate NK-cells against tumors via its cytoplasmic tail, thus emphasizing therapeutic potential of FAM26F for NK sensitive tumors. Current review provides a comprehensive basis to propose that FAM26F expression level is at least a hallmark for IFN-γ-lead immune responses and thus can proficiently be regarded as an early diagnostic marker. Future investigation dissecting the role of FAM26F in activation of various immune cell populations in local amplification by cell-cell contact is crucial to provide the missing link imperative for elucidating the relevance of this protein in immune responses.

  12. Enigmatic adult overwintering in damselflies. Coexistence as weaker intraguild competitors due to niche separation in time

    Czech Academy of Sciences Publication Activity Database

    Harabiš, F.; Dolný, A.; Šipoš, Jan

    2012-01-01

    Roč. 54, č. 4 (2012), s. 549-556 ISSN 1438-3896 R&D Projects: GA MŠk LC06073 Institutional research plan: CEZ:AV0Z60870520 Keywords : Competition * Hibernation * Phenology * Sympecma * Temporal niche-partitioning Subject RIV: EH - Ecology, Behaviour Impact factor: 1.923, year: 2012

  13. Molecular analyses reveal high levels of eukaryotic richness associated with enigmatic deep-sea protists (Komokiacea)

    DEFF Research Database (Denmark)

    Lecroq, Beatrice; Gooday, Andrew John; Cedhagen, Tomas

    2009-01-01

    morphological features. To examine their taxonomic position at the molecular level, we analysed the SSU rDNA sequences of two species, Normanina conferta and Septuma ocotillo, obtained either with specific foraminiferal or universal eukaryotic primers. Many different sequences resulted from this investigation...... but none of them could clearly be attributed to komokiaceans. Although our study failed to confirm univocally that Komokiacea are foraminiferans, it revealed a huge eukaryotic richness associated with these organisms, comparable with the richness in the overall surrounding sediment. These observations...

  14. Two types of endosymbiotic bacteria in the enigmatic marine worm Xenoturbella

    DEFF Research Database (Denmark)

    Kjeldsen, Kasper Urup; Obst, Matthias; Nakano, Hiroaki

    2010-01-01

    Two types of endosymbiotic bacteria were identified in the gastrodermis of the marine invertebrate Xenoturbella bocki (Xenoturbellida, Bilateria). While previously described Chlamydia-like endosymbionts were rare, Gammaproteobacteria distantly related to other endosymbionts and pathogens were abu...

  15. Optimal Trajectory Generation for Walking Up and Down a Staircase with a Biped Robot Using Genetic Algorithm (GA)

    Science.gov (United States)

    Kim, Eunsu; Kim, Manseok; Kim, Jong-Wook

    In this paper, a humanoid is simulated and implemented to walk up and down a staircase using the blending polynomial and genetic algorithm (GA). Both ascending and descending a staircase are scheduled by four steps. Each step mimics natural gait of human being and is easy to analyze and implement. Optimal trajectories of ten motors in a lower extremity of a humanoid are rigorously computed to simultaneously satisfy stability condition, walking constraints, and energy efficiency requirements. As an optimization method, GA is applied to search optimal trajectory parameters in blending polynomials. The feasibility of this approach will be validated by simulation with a small humanoid robot.

  16. A biologically inspired modular structure to control the sit-to-stand transfer of a biped robot.

    Science.gov (United States)

    Andani, M Emadi; Bahrami, F; Maralani, P Jabedar

    2007-01-01

    In this study, a biologically inspired control structure to control the sit-to-stand (STS) transfer from a chair is developed and simulated. STS movement is consisted of two main phases. First phase of the movement is before leaving the seat (seat-off moment). In this phase seat reactions forces act on the body parts which are in contact with the seat. The second phase is after seat-off, where the only external forces acting on the body are ground reaction forces. A proper control algorithm of the STS transfer needs to consider switching between these two phases, which correspond to two different dynamical structures. The control structure developed and discussed in this work is based on the MOSAIC structure, proposed first by Wolpert and Kawato [1]. Original MOSAIC structure has a modular architecture which is based on multiple pairs of forward and inverse models of the dynamical system to be controlled, and each module is trained separately to learn one part of a given task. The number of effective modules is predetermined. We have developed a new method to train all modules simultaneously. This method is based on reinforcement and cooperative competitive learning, and the number of effective modules is determined automatically. In this study, the simulation was begun with four modules. Our results showed that only two modules out of four were selected to control the STS task. Responsibility of controlling the task was switched between the two modules around the seat-off moment.

  17. Reproductive Biology of the White-spotted Rabbitfish, Siganus ...

    African Journals Online (AJOL)

    The reproductive biology of the white-spotted rabbitfish, Siganus canaliculatus, was studied on the Arabian Sea coast of Oman between April 2005 and March 2007. The males matured (L50) at 22.6 cm and females attained maturity at 23.9 cm TL when both were close to one year of age. The population of S. canaliculatus ...

  18. A new record of two penaeid species from Goa Coast

    Digital Repository Service at National Institute of Oceanography (India)

    Achuthankutty, C.T.; Nair, S.R.S.

    Adults of Penaeus japonicus (Bate) and juveniles of P. canaliculatus (Olivier) were recorded for the first time from the coastal estuarine regions of Goa, (India) respectively. Their presence in Goa waters suggests that both the species have a wide...

  19. Biodiversity on Broadway--enigmatic diversity of the societies of ants (Formicidae on the streets of New York City.

    Directory of Open Access Journals (Sweden)

    Marko Pećarević

    2010-10-01

    Full Text Available Each year, a larger proportion of the Earth's surface is urbanized, and a larger proportion of the people on Earth lives in those urban areas. The everyday nature, however, that humans encounter in cities remains poorly understood. Here, we consider perhaps the most urban green habitat, street medians. We sampled ants from forty-four medians along three boulevards in New York City and examined how median properties affect the abundance and species richness of native and introduced ants found on them. Ant species richness varied among streets and increased with area but was independent of the other median attributes measured. Ant assemblages were highly nested, with three numerically dominant species present at all medians and additional species present at a subset of medians. The most common ant species were the introduced Pavement ant (Tetramorium caespitum and the native Thief ant (Solenopsis molesta and Cornfield ant (Lasius neoniger. The common introduced species on the medians responded differently to natural and disturbed elements of medians. Tetramorium caespitum was most abundant in small medians, with the greatest edge/area ratio, particularly if those medians had few trees, whereas Nylanderia flavipes was most abundant in the largest medians, particularly if they had more trees. Many of the species encountered in Manhattan were similar to those found in other large North American cities, such that a relatively small subset of ant species probably represent most of the encounters humans have with ants in North America.

  20. An enigmatic frog of the genus Atelopus (Family Bufonidae from Parque Nacional Chirripó, Cordillera de Talamanca, Costa Rica

    Directory of Open Access Journals (Sweden)

    Jay M Savage

    2009-06-01

    Full Text Available A distinctive new species of Atelopus is described from Parque Nacional Chirripó Grande, Cordillera de Talamanca (3 400-3 500 m. It closely resembles populations of the Atelopus ignescens complex from the Andes of northern Ecuador and southern Colombia. it differs most significantly from these frogs in the pattern of spiculae and coni development on the throat, chest, hands and feet. The Costa Rican species appears to be an outlier of the complex inexplicably separated geographically from its nearest allies by an over land distance of about 1 600 km. Rev. Biol. Trop. 57 (1-2: 381-386. Epub 2009 June 30.Se describe una nueva especie de Atelopus del Parque Nacional Chirripó Grande, Cordillera de Talamanca (3 400-3 500 m sobre el nivel del mar. Se parece a poblaciones del complejo de Atelopus ignescens de los Andes del norte de Ecuador y del sur de Colombia. Principalmente difiere de estas ranas en el patrón de desarrollo de espículas y conos en la garganta, pecho, manos y pies. La especie de Costa Rica es atípica dentro del complejo por estar inexplicablemente separada geográficamente de sus más cercanos representantes por una distancia aproximada de 1 600 km por tierra.

  1. Phylogenetic position and taxonomy of the enigmatic Orobanche krylowii (Orobanchaceae), a predominatly Asian species newly found in Albania (SE Europe).

    Science.gov (United States)

    Frajman, Božo; Carlón, Luis; Kosachev, Petr; Pedraja, Oscar Sánchez; Schneeweiss, Gerald M; Schönswetter, Peter

    2013-10-11

    We report on the occurrence of Orobanche krylowii in the Alpet Shqiptare (Prokletije, Albanian Alps) mountain range in northern Albania (Balkan Peninsula). The species was previously known only from eastern-most Europe (Volga-Kama River in Russia), more than 2500 km away, and from adjacent Siberia and Central Asia. We used morphological evidence as well as nuclear ribosomal ITS sequences to show that the Albanian population indeed belongs to O. krylowii and that its closest relative is the European O. lycoctoni , but not O. elatior as assumed in the past. Both Orobanche krylowii and O. lycoctoni parasitize Ranunculaceae ( Thalictrum spp. and Aconitum lycoctonum , respectively). We provide an identification key and a taxonomic treatment for O. krylowii , and suggest the IUCN category CE (critically endangered) for the highly disjunct Albanian population.

  2. Familial Cortical Myoclonic Tremor and Epilepsy, an Enigmatic Disorder: From Phenotypes to Pathophysiology and Genetics. A Systematic Review

    NARCIS (Netherlands)

    van den Ende, Tom; Sharifi, Sarvi; van der Salm, Sandra M. A.; van Rootselaar, Anne-Fleur

    2018-01-01

    Autosomal dominant familial cortical myoclonic tremor and epilepsy (FCMTE) is characterized by distal tremulous myoclonus, generalized seizures, and signs of cortical reflex myoclonus. FCMTE has been described in over 100 pedigrees worldwide, under several different names and acronyms. Pathological

  3. A Continuing Analysis of Possible Activity Drivers for the Enigmatic Comet 29P/Schwassmann-Wachmann 1

    Science.gov (United States)

    Schambeau, Charles; Fernández, Yanga; Samarasinha, Nalin H.; Mueller, Beatrice E. A.; Sarid, Gal; Meech, Karen Jean; Woodney, Laura

    2016-01-01

    We present results from our effort to understand activity drivers in Comet 29P/Schwassmann-Wachmann 1 (SW1). In a nearly circular orbit around 6 AU, outside of the water-sublimation zone, SW1 is continuously active and experiences frequent outbursts. Our group's effort is focusing on finding constraints on physical and dynamical properties of SW1's nucleus and their incorporation into a thermophysical model [1,2] to explain this behavior. We are currently analyzing coma morphology of SW1 before, during, and after outburst placing constraints on the spin-pole direction, spin period, and surface areas of activity. In addition, we are using the thermal model to investigate if the continuous activity comes from one or multiple processes, such as the release of trapped supervolatiles during the amorphous to crystalline (A-C) water ice phase transition and/or the direct sublimation of pockets of supervolatile ices. The supervolatile ices may be primordial or from the condensation of gases released during the A-C phase transition. To explain the possibly quasi-periodic but frequent outbursts, we are looking into subsurface cavities where internal pressures can build, reaching and exceeding surrounding material strengths [3,4] and/or thermal waves reaching a pocket of supervolatile ices, causing a rapid increase in the sublimation rate. For all these phenomena, the model is constrained by comparing the output dust mass loss rate and its variability with what has been observed through optical imaging of the comet at various points in its orbit. We will present preliminary thermal modeling of a homogeneous progenitor nucleus that evolves into a body showing internal material layering, the generation of CO and CO2 ice pockets, and the production of outbursts, thus bringing us closer to explaining the behavior of this intriguing comet. [1] Sarid, G., et al.: 2005, PASP, 117, 843. [2] Sarid, G.: 2009, PhD Thesis, Tel Aviv Univ. [3] Gronkowski, P., 2014, Astron. Nachr./AN 2, No. 335, 124-134. [4] Gronkowski, P. and Wesolowski, M., 2015, MNRAS, 451, 3068-3077. We thank the NASA Outer Planets Research Program (NNX12AK50G) and the Center for Lunar and Asteroid Surface Science (CLASS, NNA14AB05A) for support of this work.

  4. Spring sapping origin of the enigmatic relict valleys of Cape Cod and Martha's Vineyard and Nantucket Islands, Massachusetts

    Science.gov (United States)

    Uchupi, E.; Oldale, R.N.

    1994-01-01

    Steep-sided, flat-floored linear valleys that lack well developed tributaries and end in amphitheater-like heads are eroded on the outwash plains of Cape Cod, Martha's Vineyard and Nantucket Island. The valleys are restricted from the mid to the distal ends of the outwash plains and show no connection to possible water sources at the updip end of the plains. Their distribution and morphology lead us to propose that they were eroded by groundwater seeps fed by proglacial lakes (the high hydrostatic heads of the lakes led to the elevation of the water table) dammed by the outwash plains and associated moraines. The valleys on Cape Cod were initiated by seeps along the foreset surfaces of sandy deltas emplaced in lakes in Nantucket Sound and Cape Cod Bay after these lakes drained. Those on Martha's Vineyard and Nantucket islands were either eroded by seeps at the distal ends of outwash plain wedges emplaced atop the subareal continental shelf south of the islands or along the foreset surfaces of sandy deltas emplaced on a lake behind a peripheral crustal bulge south of the glacial front. Valley erosion terminated after the lakes were drained and the water table dropped. ?? 1994.

  5. The enigmatic SAR202 cluster up close: shedding light on a globally distributed dark ocean lineage involved in sulfur cycling.

    Science.gov (United States)

    Mehrshad, Maliheh; Rodriguez-Valera, Francisco; Amoozegar, Mohammad Ali; López-García, Purificación; Ghai, Rohit

    2018-03-01

    The dark ocean microbiota represents the unknown majority in the global ocean waters. The SAR202 cluster belonging to the phylum Chloroflexi was the first microbial lineage discovered to specifically inhabit the aphotic realm, where they are abundant and globally distributed. The absence of SAR202 cultured representatives is a significant bottleneck towards understanding their metabolic capacities and role in the marine environment. In this work, we use a combination of metagenome-assembled genomes from deep-sea datasets and publicly available single-cell genomes to construct a genomic perspective of SAR202 phylogeny, metabolism and biogeography. Our results suggest that SAR202 cluster members are medium sized, free-living cells with a heterotrophic lifestyle, broadly divided into two distinct clades. We present the first evidence of vertical stratification of these microbes along the meso- and bathypelagic ocean layers. Remarkably, two distinct species of SAR202 cluster are highly abundant in nearly all deep bathypelagic metagenomic datasets available so far. SAR202 members metabolize multiple organosulfur compounds, many appear to be sulfite-oxidizers and are predicted to play a major role in sulfur turnover in the dark water column. This concomitantly suggests an unsuspected availability of these nutrient sources to allow for the high abundance of these microbes in the deep sea.

  6. Evolutionary history of enigmatic bears in the Tibetan Plateau–Himalaya region and the identity of the yeti

    Science.gov (United States)

    Lan, Tianying; Gill, Stephanie; Bellemain, Eva; Bischof, Richard; Nawaz, Muhammad Ali

    2017-01-01

    Although anecdotally associated with local bears (Ursus arctos and U. thibetanus), the exact identity of ‘hominid’-like creatures important to folklore and mythology in the Tibetan Plateau–Himalaya region is still surrounded by mystery. Recently, two purported yeti samples from the Himalayas showed genetic affinity with an ancient polar bear, suggesting they may be from previously unrecognized, possibly hybrid, bear species, but this preliminary finding has been under question. We conducted a comprehensive genetic survey of field-collected and museum specimens to explore their identity and ultimately infer the evolutionary history of bears in the region. Phylogenetic analyses of mitochondrial DNA sequences determined clade affinities of the purported yeti samples in this study, strongly supporting the biological basis of the yeti legend to be local, extant bears. Complete mitochondrial genomes were assembled for Himalayan brown bear (U. a. isabellinus) and black bear (U. t. laniger) for the first time. Our results demonstrate that the Himalayan brown bear is one of the first-branching clades within the brown bear lineage, while Tibetan brown bears diverged much later. The estimated times of divergence of the Tibetan Plateau and Himalayan bear lineages overlap with Middle to Late Pleistocene glaciation events, suggesting that extant bears in the region are likely descendants of populations that survived in local refugia during the Pleistocene glaciations. PMID:29187630

  7. Evolutionary history of enigmatic bears in the Tibetan Plateau-Himalaya region and the identity of the yeti.

    Science.gov (United States)

    Lan, Tianying; Gill, Stephanie; Bellemain, Eva; Bischof, Richard; Nawaz, Muhammad Ali; Lindqvist, Charlotte

    2017-12-13

    Although anecdotally associated with local bears ( Ursus arctos and U. thibetanus ), the exact identity of 'hominid'-like creatures important to folklore and mythology in the Tibetan Plateau-Himalaya region is still surrounded by mystery. Recently, two purported yeti samples from the Himalayas showed genetic affinity with an ancient polar bear, suggesting they may be from previously unrecognized, possibly hybrid, bear species, but this preliminary finding has been under question. We conducted a comprehensive genetic survey of field-collected and museum specimens to explore their identity and ultimately infer the evolutionary history of bears in the region. Phylogenetic analyses of mitochondrial DNA sequences determined clade affinities of the purported yeti samples in this study, strongly supporting the biological basis of the yeti legend to be local, extant bears. Complete mitochondrial genomes were assembled for Himalayan brown bear ( U. a. isabellinus ) and black bear ( U. t. laniger ) for the first time. Our results demonstrate that the Himalayan brown bear is one of the first-branching clades within the brown bear lineage, while Tibetan brown bears diverged much later. The estimated times of divergence of the Tibetan Plateau and Himalayan bear lineages overlap with Middle to Late Pleistocene glaciation events, suggesting that extant bears in the region are likely descendants of populations that survived in local refugia during the Pleistocene glaciations. © 2017 The Authors.

  8. Who was the eponym of the village with the enigmatic name of Kondofrej in the Valley of the Strymon?

    Directory of Open Access Journals (Sweden)

    Tomov Thomas

    2014-01-01

    Full Text Available This paper sheds light on the eponym of the village of Kondofrej in the Upper Strymon Valley. It mainly discussed the possibility that the village was named after Manuel Kontofré, commander of the Nicaean fleet. It is also very probable that he was a Nicaean governor, who had his seat there.

  9. On the Origin of Reverse Transcriptase-Using CRISPR-Cas Systems and Their Hyperdiverse, Enigmatic Spacer Repertoires

    Directory of Open Access Journals (Sweden)

    Sukrit Silas

    2017-07-01

    Full Text Available Cas1 integrase is the key enzyme of the clustered regularly interspaced short palindromic repeat (CRISPR-Cas adaptation module that mediates acquisition of spacers derived from foreign DNA by CRISPR arrays. In diverse bacteria, the cas1 gene is fused (or adjacent to a gene encoding a reverse transcriptase (RT related to group II intron RTs. An RT-Cas1 fusion protein has been recently shown to enable acquisition of CRISPR spacers from RNA. Phylogenetic analysis of the CRISPR-associated RTs demonstrates monophyly of the RT-Cas1 fusion, and coevolution of the RT and Cas1 domains. Nearly all such RTs are present within type III CRISPR-Cas loci, but their phylogeny does not parallel the CRISPR-Cas type classification, indicating that RT-Cas1 is an autonomous functional module that is disseminated by horizontal gene transfer and can function with diverse type III systems. To compare the sequence pools sampled by RT-Cas1-associated and RT-lacking CRISPR-Cas systems, we obtained samples of a commercially grown cyanobacterium—Arthrospira platensis. Sequencing of the CRISPR arrays uncovered a highly diverse population of spacers. Spacer diversity was particularly striking for the RT-Cas1-containing type III-B system, where no saturation was evident even with millions of sequences analyzed. In contrast, analysis of the RT-lacking type III-D system yielded a highly diverse pool but reached a point where fewer novel spacers were recovered as sequencing depth was increased. Matches could be identified for a small fraction of the non-RT-Cas1-associated spacers, and for only a single RT-Cas1-associated spacer. Thus, the principal source(s of the spacers, particularly the hypervariable spacer repertoire of the RT-associated arrays, remains unknown.

  10. Antioxidant activity and electrochemical elucidation of the enigmatic redox behavior of curcumin and its structurally modified analogues

    International Nuclear Information System (INIS)

    Jha, Niki S.; Mishra, Satyendra; Jha, Shailendra K.; Surolia, Avadhesha

    2015-01-01

    Highlights: • Structural analogues of curcumin have been synthesized. • Confirmation of redox behaviour emanates from H- shift from central methylene group in curcumin. • Mechanism of curcumin oxidation has been proposed. • Correlation between redox behavior and antioxidant activity has been established. - Abstract: Here, we report studies on the antioxidant activity and redox behavior of curcumin and its structurally modified synthetic analogues. We have synthesized a number of analogues of curcumin which abrogate its keto-enol tautomerism or substitute the methylene group at the centre of its heptadione moiety implicated in the hydride transfer and studied their redox property. From cyclic voltammetric studies, it is demonstrated that H- atom transfer from CH 2 group at the center of the heptadione link also plays an important role in the antioxidant properties of curcumin along with that of its phenolic –OH group. In addition, we also show that the conversion of 1, 3- dicarbonyl moiety of curcumin to an isosteric heterocycle as in pyrazole curcumin, which decreases its rotational freedom, leads to an improvement of its redox properties as well as its antioxidant activity

  11. Taxonomic status of Woodland’s enigmatic tapeworms (Cestoda: Proteocephalidea) from Amazonian catfishes: back to museum collections

    Czech Academy of Sciences Publication Activity Database

    de Chambrier, A.; Scholz, Tomáš; Kuchta, Roman

    2014-01-01

    Roč. 87, č. 1 (2014), s. 1-19 ISSN 0165-5752 R&D Projects: GA ČR GBP505/12/G112 Institutional support: RVO:60077344 Keywords : fresh water fishes * scolex morphology * Eucestoda Subject RIV: EA - Cell Biology Impact factor: 1.336, year: 2014

  12. Enigmatic Ethiopian endemic rodent Muriculus imberbis (Rüppell 1842) represents a separate lineage within genus Mus

    Czech Academy of Sciences Publication Activity Database

    Meheretu, Yonas; Šumbera, R.; Bryja, Josef

    2015-01-01

    Roč. 79, č. 1 (2015), s. 15-23 ISSN 0025-1461 R&D Projects: GA ČR GAP506/10/0983; GA ČR GCP502/11/J070 Institutional support: RVO:68081766 Keywords : Afroalpine * endemic * Ethiopia * Nannomys * phylogeny Subject RIV: EG - Zoology Impact factor: 0.538, year: 2015

  13. Sandonella sandoni (Lynsdale, 1960), an enigmatic and morphologically unique cestode parasitic in the osteoglossiform fish Heterotis niloticus in Africa

    Czech Academy of Sciences Publication Activity Database

    de Chambrier, A.; Mariaux, J.; Sène, A.; Mahmoud, Z. N.; Scholz, Tomáš

    2008-01-01

    Roč. 94, č. 1 (2008), s. 202-211 ISSN 0022-3395 R&D Projects: GA ČR GA524/04/0342; GA MŠk LC522 Institutional research plan: CEZ:AV0Z60220518 Keywords : tapeworms * systematics * morphology * phylogeny * geographical distribution Subject RIV: GJ - Animal Vermins ; Diseases, Veterinary Medicine Impact factor: 1.165, year: 2008

  14. An enigmatic graffito from the sun temple of Nyuserre and the meaning of the so-called “slaughterhouse”

    Directory of Open Access Journals (Sweden)

    Massimiliano Nuzzolo

    2016-12-01

    Full Text Available For a long time the presence of a “slaughterhouse” in the sun temple of Nyuserre has been taken for granted as the result of the investigation conducted by Ludwig Borchardt in Abu Ghurab in 1898–1901. However, several pieces of archaeological and textual evidence, including the documents from the Abusir papyri, which are contemporary with the sun temples, challenge this reconstruction. An important element in this discussion may probably come from the correct reading and interpretation of a hieratic inscription found inside the so-called “slaughterhouse” and later on completely forgotten. To this inscription, and the important institutions mentioned therein, we shall pay attention in this article.

  15. Pollination and breeding system of the enigmatic South African parasitic plant Mystropetalon thomii (Mystropetalaceae): rodents welcome, but not needed.

    Science.gov (United States)

    Hobbhahn, N; Steenhuisen, S-L; Olsen, T; Midgley, J J; Johnson, S D

    2017-09-01

    Unrelated plants adapted to particular pollinator types tend to exhibit convergent evolution in floral traits. However, inferences about likely pollinators from 'pollination syndromes' can be problematic due to trait overlap among some syndromes and unusual floral architecture in some lineages. An example is the rare South African parasitic plant Mystropetalon thomii (Mystropetalaceae), which has highly unusual brush-like inflorescences that exhibit features of both bird and rodent pollination syndromes. We used camera traps to record flower visitors, quantified floral spectral reflectance and nectar and scent production, experimentally determined self-compatibility and breeding system, and studied pollen dispersal using fluorescent dyes. The dark-red inflorescences are usually monoecious, with female flowers maturing before male flowers, but some inflorescences are purely female (gynoecious). Inflorescences were visited intensively by several rodent species that carried large pollen loads, while visits by birds were extremely rare. Rodents prefer male- over female-phase inflorescences, likely because of the male flowers' higher nectar and scent production. The floral scent contains several compounds known to attract rodents. Despite the obvious pollen transfer by rodents, we found that flowers on both monoecious and gynoecious inflorescences readily set seed in the absence of rodents and even when all flower visitors are excluded. Our findings suggest that seed production occurs at least partially through apomixis and that M. thomii is not ecologically dependent on its rodent pollinators. Our study adds another species and family to the growing list of rodent-pollinated plants, thus contributing to our understanding of the floral traits associated with pollination by non-flying mammals. © 2017 German Botanical Society and The Royal Botanical Society of the Netherlands.

  16. The enigmatic marine reptile nanchangosaurus from the lower triassic of Hubei, China and the phylogenetic affinities of Hupehsuchia.

    Science.gov (United States)

    Chen, Xiao-hong; Motani, Ryosuke; Cheng, Long; Jiang, Da-yong; Rieppel, Olivier

    2014-01-01

    The study of the holotype and of a new specimen of Nanchangosaurus suni (Reptilia; Diapsida; Hupehsuchia) revealed a suite of hitherto unrecognized characters. For example, Nanchangosaurus has bipartite neural spines and its vertebral count is nearly identical to that of Hupehsuchus. It differs from the latter in having poorly developed forelimbs despite the advanced ossification in the rest of the skeleton. Other differences all pertain to hupehsuchian plesiomorphies retained in Nanchangosaurus, such as low neural spines. The relationship of Hupehsuchia within Diapsida was analyzed based on a data matrix containing 41 taxa coded for 213 characters, of which 18 were identified as aquatic adaptations from functional inferences. These aquatic adaptations may be vulnerable to the argumentation of character homology because expectation for homoplasy is high. There is an apparent incongruence between phylogenetic signals from aquatic adaptations and the rest of the data, with aquatic adaptations favoring all marine reptiles but Helveticosaurus to form a super-clade. However, this super-clade does not obtain when aquatic adaptations were deleted, whereas individual marine reptile clades are all derived without them. We examined all possible combinations of the 18 aquatic adaptations (n = 262143) and found that four lineages of marine reptiles are recognized almost regardless of which of these features were included in the analysis: Hupehsuchia-Ichthyopterygia clade, Sauropterygia-Saurosphargidae clade, Thalattosauria, and Helveticosaurus. The interrelationships among these four depended on the combination of aquatic adaptations to be included, i.e., assumed to be homologous a priori by bypassing character argumentation. Hupehsuchia always appeared as the sister taxon of Ichthyopterygia.

  17. The enigmatic marine reptile nanchangosaurus from the lower triassic of Hubei, China and the phylogenetic affinities of Hupehsuchia.

    Directory of Open Access Journals (Sweden)

    Xiao-hong Chen

    Full Text Available The study of the holotype and of a new specimen of Nanchangosaurus suni (Reptilia; Diapsida; Hupehsuchia revealed a suite of hitherto unrecognized characters. For example, Nanchangosaurus has bipartite neural spines and its vertebral count is nearly identical to that of Hupehsuchus. It differs from the latter in having poorly developed forelimbs despite the advanced ossification in the rest of the skeleton. Other differences all pertain to hupehsuchian plesiomorphies retained in Nanchangosaurus, such as low neural spines. The relationship of Hupehsuchia within Diapsida was analyzed based on a data matrix containing 41 taxa coded for 213 characters, of which 18 were identified as aquatic adaptations from functional inferences. These aquatic adaptations may be vulnerable to the argumentation of character homology because expectation for homoplasy is high. There is an apparent incongruence between phylogenetic signals from aquatic adaptations and the rest of the data, with aquatic adaptations favoring all marine reptiles but Helveticosaurus to form a super-clade. However, this super-clade does not obtain when aquatic adaptations were deleted, whereas individual marine reptile clades are all derived without them. We examined all possible combinations of the 18 aquatic adaptations (n = 262143 and found that four lineages of marine reptiles are recognized almost regardless of which of these features were included in the analysis: Hupehsuchia-Ichthyopterygia clade, Sauropterygia-Saurosphargidae clade, Thalattosauria, and Helveticosaurus. The interrelationships among these four depended on the combination of aquatic adaptations to be included, i.e., assumed to be homologous a priori by bypassing character argumentation. Hupehsuchia always appeared as the sister taxon of Ichthyopterygia.

  18. Revelations of X-ray spectral analysis of the enigmatic black hole binary GRS 1915+105

    Science.gov (United States)

    Peris, Charith; Remillard, Ronald A.; Steiner, James; Vrtilek, Saeqa Dil; Varniere, Peggy; Rodriguez, Jerome; Pooley, Guy

    2016-01-01

    Of the black hole binaries discovered thus far, GRS 1915+105 stands out as an exceptional source primarily due to its wild X-ray variability, the diversity of which has not been replicated in any other stellar-mass black hole. Although extreme variability is commonplace in its light-curve, about half of the observations of GRS1915+105 show fairly steady X-ray intensity. We report on the X-ray spectral behavior within these steady observations. Our work is based on a vast RXTE/PCA data set obtained on GRS 1915+105 during the course of its entire mission and 10 years of radio data from the Ryle Telescope, which overlap the X-ray data. We find that the steady observations within the X-ray data set naturally separate into two regions in a color-color diagram, which we refer to as steady-soft and steady-hard. GRS 1915+105 displays significant curvature in the Comptonization component within the PCA band pass suggesting significantly heating from a hot disk present in all states. A new Comptonization model 'simplcut' was developed in order to model this curvature to best effect. A majority of the steady-soft observations display a roughly constant inner radius; remarkably reminiscent of canonical soft state black hole binaries. In contrast, the steady-hard observations display a growing disk truncation that is correlated to the mass accretion rate through the disk, which suggests a magnetically truncated disk. A comparison of X-ray model parameters to the canonical state definitions show that almost all steady-soft observations match the criteria of either thermal or steep power law state, while the thermal state observations dominate the constant radius branch. A large portion (80%) of the steady-hard observations matches the hard state criteria when the disk fraction constraint is neglected. These results suggest that within the complexity of this source is a simpler underlying basis of states, which map to those observed in canonical black hole binaries. When represented in a color-color diagram, state assignments appear to map to ``A, B and C'' (Belloni et al. 2000) regions that govern fast variability cycles in GRS 1915+105 demonstrating a compelling link between short and long time scales in its phenomenology.

  19. Protoliths of enigmatic Archaean gneisses established from zircon inclusion studies: Case study of the Caozhuang quartzite, E. Hebei, China

    Directory of Open Access Journals (Sweden)

    Allen P. Nutman

    2014-07-01

    Full Text Available A diverse suite of Archaean gneisses at Huangbaiyu village in the North China Craton, includes rare fuchsite-bearing (Cr-muscovite siliceous rocks – known as the Caozhuang quartzite. The Caozhuang quartzite is strongly deformed and locally mylonitic, with silica penetration and pegmatite veining common. It contains abundant 3880–3600 Ma and some Palaeoarchaean zircons. Because of its siliceous nature, the presence of fuchsite and its complex zircon age distribution, it has until now been accepted as a (mature quartzite. However, the Caozhuang quartzite sample studied here is feldspathic. The shape and cathodoluminescence petrography of the Caozhuang quartzite zircons show they resemble those found in immature detrital sedimentary rocks of local provenance or in Eoarchaean polyphase orthogneisses, and not those in mature quartzites. The Caozhuang quartzite intra-zircon mineral inclusions are dominated by quartz, with lesser biotite, apatite (7% and alkali-feldspar, and most inclusions are morphologically simple. A Neoarchaean orthogneiss from near Huangbaiyu displays morphologically simple inclusions with much more apatite (73%, as is typical for fresh calc-alkaline granitoids elsewhere. Zircons were also examined from a mature conglomerate quartzite clast and an immature feldspathic sandstone of the overlying weakly metamorphosed Mesoproterozoic Changcheng System. These zircons have oscillatory zoning, showing they were sourced from igneous rocks. The quartzite clast zircons contain only rare apatite inclusions (<1%, with domains with apatite habit now occupied by intergrowths of muscovite + quartz ± Fe-oxides ± baddeleyite. We interpret that these were once voids after apatite inclusions that had dissolved during Mesoproterozoic weathering, which were then filled with clays ± silica and then weakly metamorphosed. Zircons in the immature feldspathic sandstone show a greater amount of preserved apatite (11%, but with petrographic evidence of replacement of other apatites by quartz and mica. From the zircon morphology and inclusions studies, our studied Caozhuang quartzite is most likely <3500 Ma immature detrital sedimentary rock of local provenance. This strengthens the case for Eoarchaean rocks with a substantial 3880–3800 Ma component occur close to Huangbaiyu.

  20. On the Nature of the Enigmatic Object IRAS 19312+1950: A Rare Phase of Massive Star Formation?

    Science.gov (United States)

    Cordiner, M. A.; Boogert, A. C. A.; Charnley, S. B.; Justtanont, K.; Cox, N. L. J.; Smith, R. G.; Tielens, A. G. G. M.; Wirstrom, E. S.; Milam, S. N.; Keane, J. V.

    2016-01-01

    IRAS?19312+1950 is a peculiar object that has eluded firm characterization since its discovery, with combined maser properties similar to an evolved star and a young stellar object (YSO). To help determine its true nature, we obtained infrared spectra of IRAS?19312+1950 in the range 5-550 microns using the Herschel and Spitzer space observatories. The Herschel PACS maps exhibit a compact, slightly asymmetric continuum source at 170 microns, indicative of a large, dusty circumstellar envelope. The far-IR CO emission line spectrum reveals two gas temperature components: approx. = 0.22 Stellar Mass of material at 280+/-18 K, and ˜1.6 Me of material at 157+/-3 K. The OI 63 micron line is detected on-source but no significant emission from atomic ions was found. The HIFI observations display shocked, high-velocity gas with outflow speeds up to 90 km/s along the line of sight. From Spitzer spectroscopy, we identify ice absorption bands due to H2O at 5.8 microns and CO2 at 15 microns. The spectral energy distribution is consistent with a massive, luminous (approx. 2 × 10(exp 4) Stellar Luminosity) central source surrounded by a dense, warm circumstellar disk and envelope of total mass approx. 500-700 Stellar Mass with large bipolar outflow cavities. The combination of distinctive far-IR spectral features suggest that IRAS19312+1950 should be classified as an accreting, high-mass YSO rather than an evolved star. In light of this reclassification, IRAS19312+1950 becomes only the fifth high-mass protostar known to exhibit SiO maser activity, and demonstrates that 18 cm OH maser line ratios may not be reliable observational discriminators between evolved stars and YSOs.

  1. Rodlet Cells in the Head and Trunk Kidney of the Domestic Carp (Cyprinus carpio): Enigmatic Gland Cells or Coccidian Parasites?

    Science.gov (United States)

    Fishelson, Lev; Becker, Klaus

    Rodlet cells have been found in the head and trunk kidneys of the common carp (Cyprinus carpio L.). From an experimental sample of 50 carps of various ages, we detected these cells in only seven fishes, contradicting the hypothesis that they constitute a normal component of the fish epithelia. The rodlet cells have a typical structure: 12-16μm in diameter, with a basal nucleus various in form, and an encasing layer of fibrillar structure. The cells contain rodlets, composed of elongated, opaque sacs featuring dark rods in the center, which strongly elongate in ripening cells. Remarkable pseudopodia-like extensions from the apical parts of the rodlet cells penetrate into the delicate blood vessels and sinusoids of the organs. The encasing layer at the cell apex then opens to release the rodlets into the bloodstream. No junctions were found between the rodlet cells and neighboring cells. It is suggested that these cells comprise some kind of "symbiosis" between leukocyte, possible granulocyte cells, and the parasitic rodlets. The cells serve the rodlets as an incubation chamber, as well as a means of transportation into the bloodstream after ripening.

  2. Structural, physiological, and stable carbon isotopic evidence that the enigmatic Paleozoic fossil Prototaxites formed from rolled liverwort mats.

    Science.gov (United States)

    Graham, Linda E; Cook, Martha E; Hanson, David T; Pigg, Kathleen B; Graham, James M

    2010-02-01

    New structural, nutritional, and stable carbon isotope data may resolve a long-standing mystery-the biological affinities of the fossil Prototaxites, the largest organism on land during the Late Silurian to Late Devonian (420-370 Ma). The tree trunk-shaped specimens, of varying dimensions but consistent tubular anatomy, first formed prior to vascular plant dominance. Hence, Prototaxites has been proposed to represent giant algae, fungi, or lichens, despite incompatible biochemical and anatomical observations. Our comparative analyses instead indicate that Prototaxites formed from partially degraded, wind-, gravity-, or water-rolled mats of mixotrophic liverworts having fungal and cyanobacterial associates, much like the modern liverwort genus Marchantia. We propose that the fossil body is largely derived from abundant, highly degradation-resistant, tubular rhizoids of marchantioid liverworts, intermixed with tubular microbial elements. Our concept explains previously puzzling fossil features and is consistent with evidence for liverworts and microbial associates in Ordovician-Devonian deposits, extensive ancient and modern marchantioid mats, and modern associations of liverworts with cyanobacteria and diverse types of fungi. Our interpretation indicates that liverworts were important components of Devonian ecosystems, that some macrofossils and microfossils previously attributed to "nematophytes" actually represent remains of ancient liverworts, and that mixotrophy and microbial associations were features of early land plants.

  3. Bone histology sheds light on the nature of the "dermal armor" of the enigmatic sauropod dinosaur Agustinia ligabuei Bonaparte, 1999

    Science.gov (United States)

    Bellardini, Flavio; Cerda, Ignacio A.

    2017-02-01

    Agustinia ligabuei is an Early Cretaceous sauropod dinosaur from the northwest of Patagonia that is currently the topic of debate with respect to its phylogenetic position and atypical dermal armor. The presence of four morphotypes of laminar and transversely elongated putative osteoderms was used to consider Agustinia as an armored sauropod. Regarding the different hypotheses about the identity of the bony structures of Agustinia (e.g., osteoderms, cervical or dorsal ribs, hypertrophied elements), a comparative histological analysis has been carried out. Histological evidence is presented herein and reveals that none of the morphotypes of Agustinia shows a primary bone tissue formed by structural fiber bundles as in other sauropod dinosaur osteoderms. Furthermore, on the basis of their gross morphology and microstructure, the bony structures originally classified as types 1 + 4 and 3 are more comparable respectively with dorsal and cervical ribs than any other kind of dermal or bony element. Due to poor preservation, the nature of the type 2 cannot be assessed but is here tentatively assigned to a pelvic girdle element. Although a phylogenetic reassessment of Agustinia is not the purpose of this paper, our paleohistological analyses have broader implications: by not supporting the dermal armor hypothesis for Agustinia, its inclusion in Lithostrotia is not justified in the absence of other diagnostic features.

  4. The first occurrence of the enigmatic archosauriform Crosbysaurus Heckert 2004 from the Chinle Formation of southern Utah

    Directory of Open Access Journals (Sweden)

    Robert J. Gay

    2015-04-01

    Full Text Available Originally identified as an ornithischian dinosaur, Crosbysaurus harrisae has been found in New Mexico, Arizona, and its type locality in Texas, as well as in North Carolina. The genus has been reassessed by other workers in light of reinterpretations about the postcrania of another putative Triassic ornithischian, Revueltosaurus. The understanding of Triassic dental faunas has become more complicated by the extreme convergence between pseudosuchian archosaurs and ornithischian dinosaur dental morphologies. We report here on a new specimen of Crosbysaurus (MNA V10666 from the Chinle Formation at Comb Ridge in southeastern Utah. This new specimen is assigned to Crosbysaurus sp. on the basis of the unique compound posterior denticles, labiolingual width, and curvature. While MNA V10666 does not help resolve the affinities of Crosbysaurus, it does represent the extension of the geographic range of this taxon for approximately 250 kilometers. This is the first record of the genus Crosbysaurus in Utah and as such it represents the northernmost known record of this taxon. This indicates that Crosbysaurus was not limited to the southern area of the Chinle/Dockum deposition but instead was widespread across the Late Triassic paleoriver systems of western Pangea. The reported specimen was found in close association with a typical Late Triassic Chinle fauna, including phytosaurs, metoposaurs, and dinosauromorphs.

  5. On the systematic relationships of Cearadactylus atrox, an enigmatic Early Cretaceous pterosaur from the Santana Formation of Brazil

    Directory of Open Access Journals (Sweden)

    D. M. Unwin

    2002-01-01

    Full Text Available Cearadactylus atrox, a large pterodactyloid pterosaur represented by an incomplete skull and lower jaw from the Lower Cretaceous Santana Formation of Brazil, is a valid species. Diagnostic characters include a mandibular symphysis with a transversely expanded "spatulate" anterior end that is considerably wider than the rostral spatula, and a third rostral tooth that has a basal diameter more than three times that of the fifth tooth. Additional diagnostic characters, contingent upon assignment of Cearadactylus atrox to the Ctenochasmatidae, include: anterior ends of jaws divaricate and containing 7 pairs of rostral teeth and 6 pairs of mandibular teeth; marked dimorphodonty, with an abrupt change in tooth morphology; and a "high check". "Cearadactylus? ligabuei" Dalla Vecchia, 1993, based on an incomplete skull, also from the Santana Formation, is not related to Cearadactylus atrox, exhibits several ornithocheirid synapomorphies and is referred, tentatively, to Anhanguera. Cearadactylus atrox exhibits various synapomorphies of the Ctenochasmatidae (rostrum anterior to nasoantorbital fenestra greater than half total skull length, teeth in anterior part of dentition relatively elongate and pencil-shaped, premaxilla has at least 7 pairs of teeth, the defining synapomorphy of the Gnathosaurinae (rostrum with dorsoventrally compressed laterally expanded spatulate anterior expansion, and shares two synapomorphies with the Chinese gnathosaurine Huanhepterus quingyangensis (anterior tips of jaws divaricate, teeth restricted to anterior half of mandible. Two elongate cervical vertebrae, also from the Santana Formation and previously assigned to "Santanadactylus brasilensis", are tentatively referred to Cearadactylus. Reconstruction of the temporal history of the Ctenochasmatidae suggests that while ctenochasmatines became increasingly specialised for filter feeding, gnathosaurines changed from sieve feeding to piscivory, acquiring several cranial characters that are similar to those of ornithocheirids, a group that also includes large aerial piscivores that used a terminal tooth grab for prey capture. Cearadactylus atrox aus der Santana-Formation (Unterkreide, NO-Brasilien ist eine valide Art. Eine Revision des Taxons, von dem ein unvollständiger Schädel mit Unterkiefer vorliegt, ergab folgende diagnostische (autapomorphe Merkmale. Die Symphyse hat ein transversal verbreitertes spatelförmiges Vorderende, das deutlich breiter ist als das Schnauzenende. Der dritte rostrale Zahn erreicht einen basalen Durchmesser, der jenen des fünften Zahns um das Dreifache übertrifft. Hinzu kommen Merkmale, die C. atrox mit der Ctenochasmatidae gemein hat, darunter die vorn auseinanderklaffenden Kieferränder, sieben rostrale Zahnpaare, sechs Unterkieferzahnpaare, eine ausgeprägte Dimorphodontie sowie eine hohe Wangenregion. "Cearadactylus ? ligabuei" Dalla Vecchia 1993, ebenfalls mit einem unvollständigen Schädel belegt, ist nicht näher mit C. atrox verwandt. Im Gegensatz zu letzterem zeigt "C. ? ligabuei" signifikante Ähnlichkeiten mit den Ornithocheiridae. Unter Vorbehalt wird er hier der Gattung Anhanguera zugeordnet. C. atrox hat neben eindeutigen Synapomorphien der Ctenochasmatidae, z. B. erreicht das Rostrum anterior des nasoantorbitalen Fensters mehr als die halbe Schädellänge, die vordersten Zähne sind verlängert und stiftförmig und die das Prämaxillare trägt mindestens sieben Zahnpaare. Daneben besitzt C. atrox auch noch die entscheidende Synapomorphie der Gnathosaurinae, nämlich ein Rostrum mit dorsoventral komprimierter vorderem Auswuchs. Außerdem ist C. atrox gekennzeichnet durch zwei Autapomorphien des Gnathosaurinen Huanhepterus quingyangensis aus China: divergierende Schnauzenenden und Zähne begrenzt auf vordere Kieferhälfte. Schließlich werden zwei lange Halswirbel, die auch aus der Santana Formation stammen und bislang zu Santanadactylus brasiliensis gerechnet wurden, unter Vorbehalt zu Cearadactylus gestellt. Die Evolutionsgeschichte der Ctenochasmatidae ist durch eine zunehmende Spezialisierung auf filternde Ernährungsweise gekennzeichnet. Die Gnathosaurinen dagegen stellten sich von der filternden auf eine piscivore Ernährung um, wobei sie eine Reihe von Schädelmerkmalen erworben haben, die den Ornithocheiriden konvergent ähnlich ist. doi:10.1002/mmng.20020050114

  6. Multiwavelength Monitoring of the Enigmatic Narrow-Line Seyfert 1 PMN J0948 0022 in March-July 2009

    Energy Technology Data Exchange (ETDEWEB)

    Abdo, A.A.; /Naval Research Lab, Wash., D.C. /Federal City Coll.; Ackermann, M.; /Stanford U., HEPL /KIPAC, Menlo Park /Stanford U., Phys. Dept.; Ajello, M.; /Stanford U., HEPL /KIPAC, Menlo Park /Stanford U., Phys. Dept.; Axelsson, M.; /Stockholm U. /Stockholm U., OKC; Baldini, L.; /INFN, Pisa; Ballet, J.; /DAPNIA, Saclay; Barbiellini, G.; /INFN, Trieste /Trieste U.; Bastieri, D.; /INFN, Padua /Padua U.; Baughman, B.M.; /Ohio State U.; Bechtol, K.; /Stanford U., HEPL /KIPAC, Menlo Park /Stanford U., Phys. Dept.; Bellazzini, R. /INFN, Pisa; Berenji, B.; /Stanford U., HEPL /KIPAC, Menlo Park /Stanford U., Phys. Dept.; Bloom, E.D.; /Stanford U., HEPL /KIPAC, Menlo Park /Stanford U., Phys. Dept.; Bonamente, E. /INFN, Perugia /Perugia U.; Borgland, A.W.; /Stanford U., HEPL /KIPAC, Menlo Park /Stanford U., Phys. Dept.; Bregeon, J.; /INFN, Pisa; Brez, A.; /INFN, Pisa; Brigida, M.; /Bari U. /INFN, Bari; Bruel, P.; /Ecole Polytechnique; Burnett, T.H.; /Washington U., Seattle; Caliandro, G.A.; /Bari U. /INFN, Bari /Stanford U., HEPL /KIPAC, Menlo Park /Stanford U., Phys. Dept. /IASF, Milan /Milan Polytechnic /DAPNIA, Saclay /ASDC, Frascati /INFN, Perugia /Perugia U. /NASA, Goddard /NASA, Goddard /CSST, Baltimore /SISSA, Trieste /Naval Research Lab, Wash., D.C. /George Mason U. /Stanford U., HEPL /KIPAC, Menlo Park /Stanford U., Phys. Dept. /INFN, Perugia /Perugia U. /Stanford U., HEPL /KIPAC, Menlo Park /Stanford U., Phys. Dept. /Montpellier U. /Garching, Max Planck Inst., MPE /Stockholm U. /Stockholm U., OKC /Stanford U., HEPL /KIPAC, Menlo Park /Stanford U., Phys. Dept. /ASDC, Frascati /INFN, Trieste /Bari U. /INFN, Bari /Stanford U., HEPL /KIPAC, Menlo Park /Stanford U., Phys. Dept. /Stanford U., HEPL /KIPAC, Menlo Park /Stanford U., Phys. Dept. /CENBG, Gradignan /CENBG, Gradignan /Montpellier U. /Bari U. /INFN, Bari /Ecole Polytechnique /Stanford U., HEPL /KIPAC, Menlo Park /Stanford U., Phys. Dept. /Ecole Polytechnique /Brera Observ. /INFN, Trieste /Bonn, Max Planck Inst., Radioastron. /Hiroshima U. /Stanford U., HEPL /KIPAC, Menlo Park /Stanford U., Phys. Dept.; /more authors..

    2012-03-29

    Following the recent discovery of {gamma} rays from the radio-loud narrow-line Seyfert 1 galaxy PMN J0948+0022 (z = 0.5846), we started a multiwavelength campaign from radio to {gamma} rays, which was carried out between the end of 2009 March and the beginning of July. The source displayed activity at all the observed wavelengths: a general decreasing trend from optical to {gamma}-ray frequencies was followed by an increase of radio emission after less than two months from the peak of the {gamma}-ray emission. The largest flux change, about a factor of about 4, occurred in the X-ray band. The smallest was at ultraviolet and near-infrared frequencies, where the rate of the detected photons dropped by a factor 1.6-1.9. At optical wavelengths, where the sampling rate was the highest, it was possible to observe day scale variability, with flux variations up to a factor of about 3. The behavior of PMN J0948+0022 observed in this campaign and the calculated power carried out by its jet in the form of protons, electrons, radiation, and magnetic field are quite similar to that of blazars, specifically of flat-spectrum radio quasars. These results confirm the idea that radio-loud narrow-line Seyfert 1 galaxies host relativistic jets with power similar to that of average blazars.

  7. On the identity and taxonomic status of the enigmatic mantid Thespoides bolivari Chopard, 1916 (Mantodea: Mantidae, Angelinae).

    Science.gov (United States)

    Rivera, Julio

    2014-05-21

    Chopard (1916) published a brief paper in which he cited and described a number of praying mantis species from the neotropics. The specimens he studied belonged to the prominent Spanish Entomologist Ignacio Bolívar y Urrutia (1850-1944), whose collection is now housed at the Museo Nacional de Ciencias Naturales in Madrid (MNCN), Spain (Izquierdo et al. 1997). In this publication Chopard described Thespoides bolivari Chopard, 1916 as a new genus and species, based on a single male obtained by French coleopterist René Oberthür in Cauca, Colombia. According to Chopard (1916) the specimen was remarkable for having, among other features, an abdomen that is markedly shorter than the rest of its body-certainly an unusual morphological trait among the Mantodea. Chopard assigned Thespoides to the Miopteryginae (Thespidae), but it was later reassigned (together with Angela Serville, 1839 as the "Angelae group") to the subfamily Schizocephalinae (Mantidae) by Giglio-Tos (1927). Current classifications consider the Angelinae to comprise a distinct subfamily of the Mantidae, with Thespoides and Angela as the only representatives of this subfamily with a Neotropical distribution (e.g. Ehrmann 2002).

  8. „Incendula“ or „monedula“? An Enigmatic Bird Name in Medieval Latin-Written Sources

    Czech Academy of Sciences Publication Activity Database

    Šedinová, Hana

    -, č. 74 (2016), s. 89-109 ISSN 1376-7453 Institutional support: RVO:67985955 Keywords : latin lexicography * ancient and medieval zoology * ancient and medieval zoology * latin names of birds * Bartholomaeus de Solencia dictus Claretus * Aristoteles * Aristoteles Latinus * Michael Scotus * Thomas of Cantimpré Subject RIV: AI - Linguistics OBOR OECD: Specific languages

  9. MULTIWAVELENGTH MONITORING OF THE ENIGMATIC NARROW-LINE SEYFERT 1 PMN J0948+0022 IN 2009 MARCH-JULY

    International Nuclear Information System (INIS)

    Abdo, A. A.; Ackermann, M.; Ajello, M.; Bechtol, K.; Berenji, B.; Bloom, E. D.; Borgland, A. W.; Axelsson, M.; Baldini, L.; Bellazzini, R.; Bregeon, J.; Brez, A.; Ballet, J.; Barbiellini, G.; Bastieri, D.; Baughman, B. M.; Bonamente, E.; Brigida, M.; Bruel, P.; Burnett, T. H.

    2009-01-01

    Following the recent discovery of γ rays from the radio-loud narrow-line Seyfert 1 galaxy PMN J0948+0022 (z = 0.5846), we started a multiwavelength campaign from radio to γ rays, which was carried out between the end of 2009 March and the beginning of July. The source displayed activity at all the observed wavelengths: a general decreasing trend from optical to γ-ray frequencies was followed by an increase of radio emission after less than two months from the peak of the γ-ray emission. The largest flux change, about a factor of about 4, occurred in the X-ray band. The smallest was at ultraviolet and near-infrared frequencies, where the rate of the detected photons dropped by a factor 1.6-1.9. At optical wavelengths, where the sampling rate was the highest, it was possible to observe day scale variability, with flux variations up to a factor of about 3. The behavior of PMN J0948+0022 observed in this campaign and the calculated power carried out by its jet in the form of protons, electrons, radiation, and magnetic field are quite similar to that of blazars, specifically of flat-spectrum radio quasars. These results confirm the idea that radio-loud narrow-line Seyfert 1 galaxies host relativistic jets with power similar to that of average blazars.

  10. Siderophile element systematics of IAB complex iron meteorites: New insights into the formation of an enigmatic group

    Science.gov (United States)

    Worsham, Emily A.; Bermingham, Katherine R.; Walker, Richard J.

    2016-09-01

    Siderophile trace element abundances and the 187Re-187Os isotopic systematics of the metal phases of 58 IAB complex iron meteorites were determined in order to investigate formation processes and how meteorites within chemical subgroups may be related. Close adherence of 187Re-187Os isotopic data of most IAB iron meteorites to a primordial isochron indicates that the siderophile elements of most members of the complex remained closed to elemental disturbance soon after formation. Minor, presumably late-stage open-system behavior, however, is observed in some members of the sLM, sLH, sHL, and sHH subgroups. The new siderophile element abundance data are consistent with the findings of prior studies suggesting that the IAB subgroups cannot be related to one another by any known crystallization process. Equilibrium crystallization, coupled with crystal segregation, solid-liquid mixing, and subsequent fractional crystallization can account for the siderophile element variations among meteorites within the IAB main group (MG). The data for the sLM subgroup are consistent with equilibrium crystallization, combined with crystal segregation and mixing. By contrast, the limited fractionation of siderophile elements within the sLL subgroup is consistent with metal extraction from a chondritic source with little subsequent processing. The limited data for the other subgroups were insufficient to draw robust conclusions about crystallization processes involved in their formation. Collectively, multiple formational processes are represented in the IAB complex, and modeling results suggest that fractional crystallization within the MG may have been a more significant process than has been previously recognized.

  11. New insight into the enigmatic white cord in Rembrandt's The Anatomy Lesson of Dr. Nicolaes Tulp (1632).

    Science.gov (United States)

    Jackowe, David J; Moore, Michael K; Bruner, Andrew E; Fredieu, John R

    2007-11-01

    The anatomic accuracy of Rembrandt's The Anatomy Lesson of Dr. Nicolaes Tulp (1632) has been debated in the literature for many years. The white cord that courses along the ulnar aspect of the carpus and small finger of the cadaver in Dr. Tulp's dissection conforms to no normal anatomic structure and is believed to represent an anomalous branch of the ulnar nerve, an artistic error, or a combination of both. After the discovery of an accessory abductor digiti minimi (AADM) during a routine dissection of a late-middle-aged male cadaver, we noted that the course of its tendon over the hypothenar eminence resembled the white cord in the painting. After conducting a detailed literature search and anatomic interpretation of the painting, we established 4 criteria for identifying the white cord. Using these criteria, we evaluated the plausibility of an AADM being represented in the painting. We conclude that an AADM should be considered as a possible explanation for the white cord.

  12. Decoding the biosynthesis and function of diphthamide, an enigmatic modification of translation elongation factor 2 (EF2

    Directory of Open Access Journals (Sweden)

    Raffael Schaffrath

    2014-05-01

    Full Text Available Diphthamide is a highly conserved modification of archaeal and eukaryal translation elongation factor 2 (EF2 and yet why cells need EF2 to contain diphthamide is unclear. In yeast, the first steps of diphthamide synthesis and the genes (DPH1-DPH5 required to form the intermediate diphthine are well-documented. However, the last step, amidadation of diphthine to diphthamide, had largely been ill-defined. Remarkably, through mining genome-wide synthetic gene array (SGA and chemical genomics databases, recent studies by Uthman et al. [PLoS Genetics (2013 9, e1003334] and Su et al. [Proc. Natl. Acad. Sci. USA (2012 109, 19983-19987] have identified two more diphthamide players, DPH6 and DPH7. Consistent with roles in the amidation step, dph6 and dph7 deletion strains fail to complete diphthamide synthesis and accumulate diphthine-modified EF2. In contrast to Dph6, the catalytically relevant amidase, Dph7 appears to be regulatory. As shown by Uthman et al., it promotes dissociation of diphthine synthase (Dph5 from EF2, allowing diphthine amidation by Dph6 to occur and thereby coupling diphthine synthesis to the terminal step in the pathway. Remarkably, the study by Uthman et al. suggests that Dph5 has a novel role as an EF2 inhibitor that affects cell growth when diphthamide synthesis is blocked or incomplete and, importantly, shows that diphthamide promotes the accuracy of EF2 performance during translation.

  13. Clarifying the Ghrelin System's Ability to Regulate Feeding Behaviours Despite Enigmatic Spatial Separation of the GHSR and Its Endogenous Ligand.

    Science.gov (United States)

    Edwards, Alexander; Abizaid, Alfonso

    2017-04-19

    Ghrelin is a hormone predominantly produced in and secreted from the stomach. Ghrelin is involved in many physiological processes including feeding, the stress response, and in modulating learning, memory and motivational processes. Ghrelin does this by binding to its receptor, the growth hormone secretagogue receptor (GHSR), a receptor found in relatively high concentrations in hypothalamic and mesolimbic brain regions. While the feeding and metabolic effects of ghrelin can be explained by the effects of this hormone on regions of the brain that have a more permeable blood brain barrier (BBB), ghrelin produced within the periphery demonstrates a limited ability to reach extrahypothalamic regions where GHSRs are expressed. Therefore, one of the most pressing unanswered questions plaguing ghrelin research is how GHSRs, distributed in brain regions protected by the BBB, are activated despite ghrelin's predominant peripheral production and poor ability to transverse the BBB. This manuscript will describe how peripheral ghrelin activates central GHSRs to encourage feeding, and how central ghrelin synthesis and ghrelin independent activation of GHSRs may also contribute to the modulation of feeding behaviours.

  14. Biodiversity on Broadway--enigmatic diversity of the societies of ants (Formicidae) on the streets of New York City.

    Science.gov (United States)

    Pećarević, Marko; Danoff-Burg, James; Dunn, Robert R

    2010-10-05

    Each year, a larger proportion of the Earth's surface is urbanized, and a larger proportion of the people on Earth lives in those urban areas. The everyday nature, however, that humans encounter in cities remains poorly understood. Here, we consider perhaps the most urban green habitat, street medians. We sampled ants from forty-four medians along three boulevards in New York City and examined how median properties affect the abundance and species richness of native and introduced ants found on them. Ant species richness varied among streets and increased with area but was independent of the other median attributes measured. Ant assemblages were highly nested, with three numerically dominant species present at all medians and additional species present at a subset of medians. The most common ant species were the introduced Pavement ant (Tetramorium caespitum) and the native Thief ant (Solenopsis molesta) and Cornfield ant (Lasius neoniger). The common introduced species on the medians responded differently to natural and disturbed elements of medians. Tetramorium caespitum was most abundant in small medians, with the greatest edge/area ratio, particularly if those medians had few trees, whereas Nylanderia flavipes was most abundant in the largest medians, particularly if they had more trees. Many of the species encountered in Manhattan were similar to those found in other large North American cities, such that a relatively small subset of ant species probably represent most of the encounters humans have with ants in North America.

  15. Cardiocondyla pirata sp. n. – a new Philippine ant with enigmatic pigmentation pattern (Hymenoptera, Formicidae

    Directory of Open Access Journals (Sweden)

    Bernhard Seifert

    2013-05-01

    Full Text Available A new species of the ant genus Cardiocondyla Emery, 1869 – Cardiocondyla pirata sp. n. – is described from the Philippines. The species belongs to an Indo-Malayan group of six species that is characterized by workersa strongly bilobate postpetiolar sternite and a thickset mesosoma with strongly convex dorsal profile as well as wingless, ergatoid males with sickle-shaped mandibles. The female castes show a pigmentation pattern not known from any ant worldwide. Ifany adaptive value, a possible function of this structure is supposed to be visual dissolution of body shape in order to irritate predators.

  16. Enigmatic declines in bird numbers in lowland forest of eastern Ecuador may be a consequence of climate change

    Directory of Open Access Journals (Sweden)

    John G. Blake

    2015-08-01

    Full Text Available Bird populations have declined in many parts of the world but most of those declines can be attributed to effects of human activities (e.g., habitat fragmentation; declines in areas unaffected by human activities are not common. We have been sampling bird populations at an undisturbed site in lowland forest of eastern Ecuador annually since 2001 using a combination of mist nets and direct observations on two 100-ha plots. Bird numbers fluctuated on both plots during the first 8 years but did not show a consistent pattern of change. Since about 2008, numbers of birds on both plots have declined; capture rates in 2014 were ∼40% less than at the start of the study and observation rates were ∼50% less. Both understory and canopy species declined in abundance. Overall, insectivores showed the most pronounced declines but declines varied among trophic groups. The period from 2008 onward also was a period of stronger La Niña events which, at this study site, are associated with increased rainfall. The mechanism for the declines is not known but likely reflects a combination of reduced reproductive success coupled with reduced survival associated with changing climate.

  17. Protoliths of enigmatic Archaean gneisses established from zircon inclusion studies: Case study of the Caozhuang quartzite, E. Hebei, China

    OpenAIRE

    Allen P. Nutman; Ronni Maciejowski; Yusheng Wan

    2014-01-01

    A diverse suite of Archaean gneisses at Huangbaiyu village in the North China Craton, includes rare fuchsite-bearing (Cr-muscovite) siliceous rocks – known as the Caozhuang quartzite. The Caozhuang quartzite is strongly deformed and locally mylonitic, with silica penetration and pegmatite veining common. It contains abundant 3880–3600 Ma and some Palaeoarchaean zircons. Because of its siliceous nature, the presence of fuchsite and its complex zircon age distribution, it has until now been acc...

  18. A new case of the enigmatic Candidatus Neoehrlichia sp (FU98) in a fox from the Czech Republic

    Czech Academy of Sciences Publication Activity Database

    Hodžić, A.; Mitková, B.; Modrý, David; Juránková, J.; Frgelecová, L.; Forejtek, P.; Steinbauer, V.; Duscher, G. G.

    2017-01-01

    Roč. 31, 1 February (2017), s. 59-60 ISSN 0890-8508 Institutional support: RVO:60077344 Keywords : Candidatus Neoehrlichia sp. * 16S rRNA * groEL * blood * red fox * Czech Republic Subject RIV: GJ - Animal Vermins ; Diseases, Veterinary Medicine OBOR OECD: Veterinary science Impact factor: 1.403, year: 2016

  19. Homology of the enigmatic nuchal bone reveals novel reorganization of the shoulder girdle in the evolution of the turtle shell.

    Science.gov (United States)

    Lyson, Tyler R; Bhullar, Bhart-Anjan S; Bever, Gabe S; Joyce, Walter G; de Queiroz, Kevin; Abzhanov, Arhat; Gauthier, Jacques A

    2013-01-01

    The turtle shell represents a unique modification of the ancestral tetrapod body plan. The homologies of its approximately 50 bones have been the subject of debate for more than 200 years. Although most of those homologies are now firmly established, the evolutionary origin of the dorsal median nuchal bone of the carapace remains unresolved. We propose a novel hypothesis in which the nuchal is derived from the paired, laterally positioned cleithra-dorsal elements of the ancestral tetrapod pectoral girdle that are otherwise retained among extant tetrapods only in frogs. This hypothesis is supported by origin of the nuchal as paired, mesenchymal condensations likely derived from the neural crest followed by a unique two-stage pattern of ossification. Further support is drawn from the establishment of the nuchal as part of a highly conserved "muscle scaffold" wherein the cleithrum (and its evolutionary derivatives) serves as the origin of the Musculus trapezius. Identification of the nuchal as fused cleithra is congruent with its general spatial relationships to other elements of the shoulder girdle in the adult morphology of extant turtles, and it is further supported by patterns of connectivity and transformations documented by critical fossils from the turtle stem group. The cleithral derivation of the nuchal implies an anatomical reorganization of the pectoral girdle in which the dermal portion of the girdle was transformed from a continuous lateral-ventral arc into separate dorsal and ventral components. This transformation involved the reduction and eventual loss of the scapular rami of the clavicles along with the dorsal and superficial migration of the cleithra, which then fused with one another and became incorporated into the carapace. © 2013 Wiley Periodicals, Inc.

  20. Proposal and Verification of Visual Walke Aiming at the Rotation Target Object Based on Feature Value Caused by Biped Walking Motion

    Science.gov (United States)

    Asano, Yosuke; Kawamura, Atsuo

    A definition of the visual walking proposed by authors is that the robot autonomously walks by making decision based on the image feature motion. One of the achievements is “visual tracking walk”. In the past conference, authors proposed a hybrid control for “visual walking”. In this paper, the four vertexes of a square surrounding the red target in the image plane are selected as image features. Using such image features, the robot moves in front of the desired position. The rotation orientation of the robot is improved by the feature values caused by the walking motion. The proposed control law is verified by simulations and experiments.

  1. A Robust Formulation for Prediction of Human Running

    Science.gov (United States)

    2007-01-01

    injuries. Robotics : Many researchers have worked on the problem of walking robots . Since walking and running are considered part of biped locomotion...creating trajectory for a biped running robot . The idea was to minimize energy consumption due to the biped robot’s running motion by determining...generation of an energy-optimal complete gait for biped robots . This work did not discuss the running problem, but it included an impulse term in the

  2. Traces of the Tragic Anti-Heroe in the Enigmatic Wife of Job? The Biblical Re-use of a Classical Dramatic Form

    Directory of Open Access Journals (Sweden)

    Giancarlo Toloni

    2017-07-01

    Full Text Available There are many analogies between the great protagonists of the Hebrew Bible and the Greek heroes of the archaic epic poetry, and the heroines of the classical theater. In particular, the figure of the wife of a right man – victimized and misunderstood precisely because of his unconditional faithfulness – is very close to that of the anti-hero of Sophocles’s theater, which strongly objects to the hero choice in name of the mentality of the common man; in both cases, the result is just the opposite of expectations, since it confirms the choice of the righteous/hero, helping to increase even more his isolation. On this literary form, the character of his wife might therefore have been placed in the story of Job; in fact, she was absent from the ancient legend that is the basis of the prologue and the epilogue, of the biblical book. The Old Greek (OG attests clearly that by its addition (v. 9a-e, by means of which, a little later, the intervention of Job’s wife was defined more favorably, and making her a kind of anti-heroine, on the dramatic scheme of the antagonism of Ismene and Chrysothemis against their respective hero, in the tragic theater of Sophocles. The Testament of Job appreciated this choice, and deepened the role of woman, by reworking even more benevolently her image appearing in the OG addition.

  3. Circadian Tick-Talking Across the Neuroendocrine System and Suprachiasmatic Nuclei Circuits: The Enigmatic Communication Between the Molecular and Electrical Membrane Clocks.

    Science.gov (United States)

    Belle, M D C

    2015-07-01

    As with many processes in nature, appropriate timing in biological systems is of paramount importance. In the neuroendocrine system, the efficacy of hormonal influence on major bodily functions, such as reproduction, metabolism and growth, relies on timely communication within and across many of the brain's homeostatic systems. The activity of these circuits is tightly orchestrated with the animal's internal physiological demands and external solar cycle by a master circadian clock. In mammals, this master clock is located in the hypothalamic suprachiasmatic nucleus (SCN), where the ensemble activity of thousands of clock neurones generates and communicates circadian time cues to the rest of the brain and body. Many regions of the brain, including areas with neuroendocrine function, also contain local daily clocks that can provide feedback signals to the SCN. Although much is known about the molecular processes underpinning endogenous circadian rhythm generation in SCN neurones and, to a lesser extent, extra-SCN cells, the electrical membrane clock that acts in partnership with the molecular clockwork to communicate circadian timing across the brain is poorly understood. The present review focuses on some circadian aspects of reproductive neuroendocrinology and processes involved in circadian rhythm communication in the SCN, aiming to identify key gaps in our knowledge of cross-talk between our daily master clock and neuroendocrine function. The intention is to highlight our surprisingly limited understanding of their interaction in the hope that this will stimulate future work in these areas. © 2015 The Author. Journal of Neuroendocrinology published by John Wiley & Sons Ltd on behalf of The British Society for Neuroendocrinology.

  4. A propósito del enigmático sudor inglés = Concerning the enigmatic English sweating disease

    Directory of Open Access Journals (Sweden)

    Volcy, Charles

    2010-12-01

    Full Text Available El sudor inglés fue una enfermedad de gran impacto sicológico y moral en la Inglaterra medieval y en el continente europeo, y misteriosa por su comienzo repentino, brevedad y súbita desaparición. En esta investigación se analizan diversos aspectos de esta enfermedad, otrora emergente, con base en documentos clásicos y en otros poco conocidos; se incluyen aspectos históricos, descripción de las epidemias, enfermedades afines, especulaciones sobre la etiología incluyendo los posibles agentes infecciosos responsables y los cambios conceptuales acerca de la enfermedad; se relacionan las dificultades de este tipo de ejercicio retrospectivo con los problemas de comunicación inherentes a la cultura médica de aquella época y con la incipiente semiología.

  5. Molecular and karyological data confirm that the enigmatic genus Platypholis from Bonin-Islands (SE Japan) is phylogenetically nested within Orobanche (Orobanchaceae).

    Science.gov (United States)

    Li, Xi; Jang, Tae-Soo; Temsch, Eva M; Kato, Hidetoshi; Takayama, Koji; Schneeweiss, Gerald M

    2017-03-01

    Molecular phylogenetic studies have greatly improved our understanding of phylogenetic relationships of non-photosynthetic parasitic broomrapes (Orobanche and related genera, Orobanchaceae), but a few genera have remained unstudied. One of those is Platypholis, whose sole species, Platypholis boninsimae, is restricted to the Bonin-Islands (Ogasawara Islands) about 1000 km southeast of Japan. Based on overall morphological similarity, Platypholis has been merged with Orobanche, but this hypothesis has never been tested with molecular data. Employing maximum likelihood and Bayesian analyses on a family-wide data set (two plastid markers, matK and rps2, and three nuclear markers, ITS, phyA and phyB) as well as on an ITS data set focusing on Orobanche s. str., it is shown that P. boninsimae Maxim. is phylogenetically closely linked to or even nested within Orobanche s. str. This position is supported both by morphological evidence and by the newly obtained chromosome number of 2n = 38, which is characteristic for the genus Orobanche s. str.

  6. Neither silverfish nor fowl: the enigmatic Carboniferous Carbotriplura kukalovae Kluge, 1996 (Insecta: Carbotriplurida) is the putative fossil sister group of winged insects (Insecta: Pterygota)

    Czech Academy of Sciences Publication Activity Database

    Staniczek, A. H.; Sroka, Pavel; Bechly, G.

    2014-01-01

    Roč. 39, č. 4 (2014), s. 619-632 ISSN 0307-6970 EU Projects: European Commission(CZ) FP7/2007-2013 Program:FP7 Institutional support: RVO:60077344 Keywords : Carbotriplura kukalovae Subject RIV: EG - Zoology Impact factor: 2.784, year: 2014 http://onlinelibrary.wiley.com/doi/10.1111/syen.12076/pdf

  7. Investigating the deep internal structure and the heterogeneous margins of the enigmatic Demerara plateau using deep penetrating seismic methods: first results of the MARGATS cruise

    Science.gov (United States)

    Graindorge, David; Walter, Roest; Klingelhoefer, Frauke; Loncke, Lies; Basile, Christophe; Poetisi, Ewald; Deverchère, Jacques; Frédéric Lebrun, Jean; Heuret, Arnauld; Perrot, Julie; Apprioual, Ronan; Crozon, Jacques; Fabre, Maud; Fernagu, Philippe; Guyavarch, Pierre; Prunier, Christophe

    2017-04-01

    The MARGATS scientific cruise was carried out from October 20th to November 16th 2016 on board the R/V L'Atalante, in the Exclusive Economic Zones of Suriname and French Guiana. This cruise is part of a program dedicated to geological investigations of the continental margin, including the Demerara plateau, following the GUYAPLAC (2003), IGUANES (2013) and DRADEMcruises (2016). The aim of MARGATS was to image the internal structure of the Demerara plateau and its different margins using coincident deep penetrating wide angle refraction and multi channel reflection seismic (MCS) methods. During the MARGATS experiment 171 OBSs were deployed distributed along 4 wide-angle lines. Along each wide angle line we also recorded coincident MCS data using a 3 km 480 channel streamer. The dataset was completed by three MCS lines along the eastern part of the Demerara plateau. MCS MAR007 line which is coincident with line OBS MAR-3 was extended on land by a set of 13 land stations deployed along the Maroni River. This line, together with MCS MAR001 and the coincident OBS MAR-1 line reveal the highly homogeneous deep structure of the internal part of the plateau. MCS MAR005 line, which is coincident with OBS MAR-2, MCS MAR006 line coincident with OBS MAR-4, MCS MAR002, MCS MAR003 and MCS MAR004 help to elucidate the structural complexity of the northern transform margin and the eastern divergent margin of the plateau. These new datasets will be highly complementary to the DRADEM dredges results which provide evidence for huge vertical displacements along the transform margin. This EGU session will be the first opportunity to reveal the exceptional quality of the seismic data, after the initial processing steps and the new emergent results conditioning our understanding of the Demarara plateau and its margins.

  8. New data on the morphology and distribution of the enigmatic Schouteden's sun snake, Helophis schoutedeni (de Witte, 1922) from the Congo Basin

    Czech Academy of Sciences Publication Activity Database

    Nagy, Z. T.; Gvoždík, Václav; Meirte, D.; Collet, M.; Pauwels, O. S. G.

    2014-01-01

    Roč. 3755, č. 1 (2014), s. 96-100 ISSN 1175-5326 Institutional support: RVO:68081766 Keywords : Helophis * morphology * distribution * Congo Basin Subject RIV: EG - Zoology Impact factor: 0.906, year: 2014

  9. The oldest fossil record of the megamouth shark from the late Eocene of Denmark and comments on the enigmatic megachasmid origin

    Directory of Open Access Journals (Sweden)

    Kenshu Shimada

    2016-12-01

    Full Text Available The megamouth shark (Lamniformes: Megachasmidae has sporadic occurrences both in the present-day oceans and in the fossil record. In this paper, we describe a new megachasmid, Megachasma alisonae sp. nov., on the basis of a morphologically distinct tooth collected from the Pyt Member of the late Eocene Søvind Marl Formation at Moesgård Strand in Denmark, that represents the geologically oldest known Megachasma. The tooth likely came from an individual that measured somewhere between 1.3 and 3.5 m long, and its morphology and chipped cusp tips suggest that it possibly fed on macro-zooplankton and small fishes that had hard skeletal components. Its occurrence in the mid-Priabonian Pyt Member at least suggests that the shark inhabited a relatively deep, open marine environment about 36 Ma ago. This Eocene specimen is significant because it illustrates the dental condition of early megachasmids, which is distinctively odontaspidid-like morphologically.

  10. Allodaposuchus palustris sp. nov. from the upper cretaceous of Fumanya (South-Eastern Pyrenees, Iberian Peninsula: systematics, palaeoecology and palaeobiogeography of the enigmatic allodaposuchian crocodylians.

    Directory of Open Access Journals (Sweden)

    Alejandro Blanco

    Full Text Available The controversial European genus Allodaposuchus is currently composed of two species (A. precedens, A. subjuniperus and it has been traditionally considered a basal eusuchian clade of crocodylomorphs. In the present work, the new species A. palustris is erected on the base of cranial and postcranial remains from the lower Maastrichtian of the southern Pyrenees. Phylogenetic analyses here including both cranial and postcranial data support the hypothesis that Allodaposuchus is included within Crocodylia. The studied specimen suggests little change in postcranial skeleton along the evolutionary history of crocodylians, except for some bone elements such as the axis, the first caudal vertebra and the ilium. The specimen was found in an organic mudstone corresponding to a coastal wetland environment. Thus, A. palustris from Fumanya is the first Allodaposuchus reported in lacustrine-palustrine settings that expand the ecological range for this genus. The S-DIVA palaeobiogeographic reconstruction of ancestral area suggests that early members of Crocodylia rapidly widespread for the Northern Hemisphere landmasses no later than the Campanian, leading the apparition of endemic groups. In that way "Allodaposuchia" represents an endemic European clade probably originated in the Ibero-Armorican domain in the late Campanian and dispersed by the Southern European archipelago prior to the early Maastrichtian.

  11. Resolution of the enigmatic phylogenetic relationship of the critically endangered Western Swamp Tortoise Pseudemydura umbrina (Pleurodira: Chelidae) using a complete mitochondrial genome.

    Science.gov (United States)

    Zhang, Xiuwen; Unmack, Peter J; Kuchling, Gerald; Wang, Yinan; Georges, Arthur

    2017-10-01

    Pseudemydura umbrina is one of the most endangered turtle species in the world, and the imperative for its conservation is its distinctive morphology and relict status among the Chelidae. We use Illumina sequencing to obtain the complete mitogenome for resolving its uncertain phylogenetic position. A novel nuclear paralogue confounded the assembly, and resolution of the authentic mitogenome required further Sanger sequencing. The P. umbrina mitogenome is 16,414bp comprising 37 genes organized in a conserved pattern for other vertebrates. The nuclear paralogue is 547bp, 97.8% identity to the corresponding mitochondrial sequence. Particular features of the mitogenome include an nd3 174+1A frameshift, loss of DHC loop in tRNA Ser (AGN), and a light-strand replication initiation site in Wancy region that extends into an adjacent tRNA gene. Phylogenetic analysis showed that P. umbrina is the monotypic sister lineage to the remaining Australasian Chelidae, a lineage probably dating back to the Cretaceous. Copyright © 2017 Elsevier Inc. All rights reserved.

  12. Extraordinary fossils reveal the nature of Cambrian life: a commentary on Whittington (1975) 'The enigmatic animal Opabinia regalis, Middle Cambrian, Burgess Shale, British Columbia'.

    Science.gov (United States)

    Briggs, Derek E G

    2015-04-19

    Harry Whittington's 1975 monograph on Opabinia was the first to highlight how some of the Burgess Shale animals differ markedly from those that populate today's oceans. Categorized by Stephen J. Gould as a 'weird wonder' (Wonderful life, 1989) Opabinia, together with other unusual Burgess Shale fossils, stimulated ongoing debates about the early evolution of the major animal groups and the nature of the Cambrian explosion. The subsequent discovery of a number of other exceptionally preserved fossil faunas of Cambrian and early Ordovician age has significantly augmented the information available on this critical interval in the history of life. Although Opabinia initially defied assignment to any group of modern animals, it is now interpreted as lying below anomalocaridids on the stem leading to the living arthropods. This commentary was written to celebrate the 350th anniversary of the journal Philosophical Transactions of the Royal Society.

  13. Extraordinary fossils reveal the nature of Cambrian life: a commentary on Whittington (1975) ‘The enigmatic animal Opabinia regalis, Middle Cambrian, Burgess Shale, British Columbia’

    Science.gov (United States)

    Briggs, Derek E. G.

    2015-01-01

    Harry Whittington's 1975 monograph on Opabinia was the first to highlight how some of the Burgess Shale animals differ markedly from those that populate today's oceans. Categorized by Stephen J. Gould as a ‘weird wonder’ (Wonderful life, 1989) Opabinia, together with other unusual Burgess Shale fossils, stimulated ongoing debates about the early evolution of the major animal groups and the nature of the Cambrian explosion. The subsequent discovery of a number of other exceptionally preserved fossil faunas of Cambrian and early Ordovician age has significantly augmented the information available on this critical interval in the history of life. Although Opabinia initially defied assignment to any group of modern animals, it is now interpreted as lying below anomalocaridids on the stem leading to the living arthropods. This commentary was written to celebrate the 350th anniversary of the journal Philosophical Transactions of the Royal Society. PMID:25750235

  14. Multiple approaches to understanding the taxonomic status of an enigmatic new scorpion species of the genus Tityus (Buthidae) from the biogeographic island of Paraje Tres Cerros (Argentina)

    Science.gov (United States)

    Adilardi, Renzo S.; Cajade, Rodrigo; Ramírez, Martín J.; Ceccarelli, F. Sara; Mola, Liliana M.

    2017-01-01

    Tityus curupi n. sp., belonging to the bolivianus complex, is described from the biogeographically distinct area of Paraje Tres Cerros in north-eastern Argentina. We also present a molecular species delimitation analysis between Tityus curupi n. sp. and its sister species Tityus uruguayensis Borelli 1901 to confirm species integrity. Furthermore, a cytogenetic analysis is presented for these two species which contain different multivalent associations in meiosis, as a consequence of chromosome rearrangements, and the highest chromosome numbers in the genus. PMID:28746406

  15. Searching for the Elusive Optical Photospheric Continuum of the Enigmatic Wide-Orbit Tertiary Companion to FW Tau with HET LRS2

    Science.gov (United States)

    Martinez, Raquel

    2018-01-01

    Adaptive-optics imaging of nearby star-forming regions has found a population of wide-orbit, planetary-mass companions (PMCs), indicating these objects are a normal product of star and planet formation. It is unclear whether these systems represent the low-mass extreme of stellar binary formation, or the high-mass and wide-orbit extreme of planet formation. The final determination of which theory prevails will require a statistical sample of PMCs from which general properties and demographics can be obtained, as well as detailed characterization of each rare discovery.The large separation (>2") and moderate contrast between a PMC and its host star make such systems amenable to direct imaging and spectroscopic study. While the dominant formation mechanism of PMCs remains to be determined, if they did form similarly to planets, studying PMC atmospheres and accretion would provide insight into the gas giant planets that orbit closer to their host stars.FW Tau is a close binary system that harbors a third component whose nature is still a matter of debate. By obtaining ALMA Cycle 1 observations and modeling the SED, Caceres et al. (2015) find the companion to be consistent with either being a brown dwarf embedded in an edge-on disk or a planet embedded in a low inclination disk. More recent ALMA Cycle 3 observations and disk modeling from Wu & Sheehan (2017) suggest the embedded brown dwarf solution. Spectroscopic observations have found the companion to be accreting and driving outflows, but also have failed to detect any photospheric features. In this work, we present observations of FW Tau with the newly commissioned 9 m Hobby-Eberly Telescope (HET) second generation Low Resolution Spectrograph (LRS2). We have obtained >8 hours of data over 12 nights in an attempt to detect the continuum of FW Tau’s third component. We will describe the LRS2 integral-field unit and provide details of our observing strategy. We will detail the data reduction pipeline and current progress in combining our observations to produce a detection of the tertiary component’s continuum. We will conclude by discussing our plans to further characterize this potential planetary-mass companion caught in mid-assembly.

  16. New enigmatic Andean bee species of Protandrena (Hymenoptera, Andrenidae, Panurginae Novas espécies de abelhas andinas do gênero Protandrena (Hymenoptera, Andrenidae, Panurginae

    Directory of Open Access Journals (Sweden)

    Victor H. Gonzalez

    2007-12-01

    Full Text Available Panurgine bees are diverse and abundant in temperate areas of the Americas but poorly represented to nearly absent in the tropics. We describe and illustrate five distinctive new species of the genus Protandrena that occur at high altitudes (2000-3400 m in the Andes, from Venezuela to Ecuador. The species are also described to make the names available in forthcoming papers on their biology. These Andean species resemble some members of the subgenus Heterosarus but differ from it, as well as from any other subgenera of Protandrena, primarily in characters of the male genitalia and hidden sterna. The South American Protandrena s. l. are morphologically highly diverse and a complete study of the group is needed before supraspecific names are proposed for unusual species. Thus, to avoid further nomenclatural changes, we decided not to place these species in a new subgenus or any of the available subgenera. We also provide notes on the biology for some of the species.As espécies de abelhas da subfamília Panurginae nas áreas temperadas das Américas são diversas e abundantes, mas pouco representadas ou até ausentes nos trópicos. São descritas e ilustradas cinco novas espécies do gênero Protandrena que ocorrem em grandes altitudes (2000-3400 m nos Andes, da Venezuela ao Equador. As espécies são descritas para que se tenham nomes válidos em artigos sobre sua biologia. Estas espécies andinas são semelhantes a alguns membros do subgênero Heterosarus, mas diferem dele, assim como do subgênero Protandrena, primariamente pelos caracteres da genitália do macho e pelos esternos ocultos. Protandrena s. l. sulamericanos são morfologicamente muito diversos e um estudo completo do grupo deverá ser feito antes de serem propostos nomes supra-específicos para essas espécies. Portanto, para evitar futuras mudanças na nomenclatura, foi decidido não alocar essas espécies em um novo subgênero ou em qualquer outro. São fornecidas também notas da biologia para algumas espécies.

  17. The complete mitochondrial genome of the enigmatic bigheadedturtle (Platysternon): description of unusual genomic features and thereconciliation of phylogenetic hypotheses based on mitochondrial andnuclear DNA

    Energy Technology Data Exchange (ETDEWEB)

    Parham, James F.; Feldman, Chris R.; Boore, Jeffrey L.

    2005-12-28

    The big-headed turtle (Platysternon megacephalum) from east Asia is the sole living representative of a poorly-studied turtle lineage (Platysternidae). It has no close living relatives, and its phylogenetic position within turtles is one of the outstanding controversies in turtle systematics. Platysternon was traditionally considered to be close to snapping turtles (Chelydridae) based on some studies of its morphology and mitochondrial (mt) DNA, however, other studies of morphology and nuclear (nu) DNA do not support that hypothesis. We sequenced the complete mt genome of Platysternon and the nearly complete mt genomes of two other relevant turtles and compared them to turtle mt genomes from the literature to form the largest molecular dataset used to date to address this issue. The resulting phylogeny robustly rejects the placement of Platysternon with Chelydridae, but instead shows that it is a member of the Testudinoidea, a diverse, nearly globally-distributed group that includes pond turtles and tortoises. We also discovered that Platysternon mtDNA has large-scale gene rearrangements and possesses two, nearly identical, control regions, features that distinguish it from all other studied turtles. Our study robustly determines the phylogenetic placement of Platysternon and provides a well-resolved outline of major turtle lineages, while demonstrating the significantly greater resolving power of comparing large amounts of mt sequence over that of short fragments. Earlier phylogenies placing Platysternon with chelydrids required a temporal gap in the fossil record that is now unnecessary. The duplicated control regions and gene rearrangements of the Platysternon mt DNA probably resulted from the duplication of part of the genome and then the subsequent loss of redundant genes. Although it is possible that having two control regions may provide some advantage, explaining why the control regions would be maintained while some of the duplicated genes were eroded, examples of this are rare. So far, duplicated control regions have been reported for mt genomes from just 12 clades of metazoans, including Platysternon.

  18. BIRD-LIKE HEAD ON A CHAMELEON BODY: NEW SPECIMENS OF THE ENIGMATIC DIAPSID REPTILE MEGALANCOSAURUS FROM THE LATE TRIASSIC OF NORTHERN ITALY

    Directory of Open Access Journals (Sweden)

    SILVIO RENESTO

    2000-07-01

    Full Text Available Two new Megalancosaurus specimens collected from the Norian (Late Triassic Calcare di Zorzino (Zorzino Limestone Formation (Bergamo, Lombardy, Northern Italy, and from the coeval Dolomia di Forni (Forni Dolostone Formation (Udine, Friuli, North-eastern Italy improve our knowledge of skeletal anatomy and mode of life of this genus. Morphology of observable skull elements and cervical vertebrae in one of the new specimens shows some resemblance to the possible Triassic bird Protoavis, while the postcranial skeleton of Megalancosaurus is completely non-avian. This may suggest that either Megalancosaurus and Protoavis developed a similar neck structure as a response to the same functional requirement, or that part of the disarticulated material ascribed to Protoavis may indeed belong to a Megalancosaurus-like reptile. Megalancosaurus shows a very high adaptation to arboreal life and a peculiar feeding strategy. Recent suggestions that Megalancosaurus may have been a glider and a possible model for bird ancestry are discussed. Some skeletal features of Megalancosaurus may indeed be interpreted as gliding adaptation, but evidence is weak, and if this reptile was a glider, however, its gliding bauplan should have been completely different from the one usually accepted for bird ancestors, showing instead more morphological similarities with gliding squirrels, phalangeriids and putative ancestors of bats and pterosaurs (according to a non cursorial model for these latter. 

  19. Review of the enigmatic genus Boalda with transfer of pulcherrima Köhler from Nephelistis and description of two new species (Lepidoptera: Noctuidae).

    Science.gov (United States)

    Goldstein, Paul Z

    2017-06-09

    Schaus (1929: 49) described Boalda gyona in a monobasic genus known only from the holotype taken in Santa Catarina, Brazil. Biezanko et al. (1957) reported the species from Uruguay. A number of specimens of Boalda similar to gyona were collected recently in Paraguay, at least two of which match the anomalous Argentinian taxon Nephelistis pulcherrima Köhler (1947: 77-78). Herein the genus Boalda is reviewed, with one new species described from the Paraguayan samples, and with N. pulcherrima transferred Boalda. A singleton specimen from Parque Nacional Cerro Corá, Dpto. Amambay, Paraguay, is figured but not described as a distinct species because of a lack of additional specimens.

  20. Clarifying the Ghrelin System’s Ability to Regulate Feeding Behaviours Despite Enigmatic Spatial Separation of the GHSR and Its Endogenous Ligand

    Directory of Open Access Journals (Sweden)

    Alexander Edwards

    2017-04-01

    Full Text Available Ghrelin is a hormone predominantly produced in and secreted from the stomach. Ghrelin is involved in many physiological processes including feeding, the stress response, and in modulating learning, memory and motivational processes. Ghrelin does this by binding to its receptor, the growth hormone secretagogue receptor (GHSR, a receptor found in relatively high concentrations in hypothalamic and mesolimbic brain regions. While the feeding and metabolic effects of ghrelin can be explained by the effects of this hormone on regions of the brain that have a more permeable blood brain barrier (BBB, ghrelin produced within the periphery demonstrates a limited ability to reach extrahypothalamic regions where GHSRs are expressed. Therefore, one of the most pressing unanswered questions plaguing ghrelin research is how GHSRs, distributed in brain regions protected by the BBB, are activated despite ghrelin’s predominant peripheral production and poor ability to transverse the BBB. This manuscript will describe how peripheral ghrelin activates central GHSRs to encourage feeding, and how central ghrelin synthesis and ghrelin independent activation of GHSRs may also contribute to the modulation of feeding behaviours.

  1. Robust Robot Control Using Multiple Model-Based Policy Optimization and Fast Value Function-Based Planning

    Science.gov (United States)

    2014-03-01

    size 3D humanoid robot . They showed that optimal stepping trajectories and trajectory cost for a walking biped robot on rough terrain can be encoded as...controller for a full size 3D humanoid robot . We showed that optimal stepping trajectories and trajectory cost for a walking biped robot on rough terrain...stepping trajectories and trajectory cost for a walking biped robot on rough terrain can be encoded as simple quadratic functions of initial state and

  2. A Genetic Cerebellar-Based Controller for Dynamic State Estimation

    Science.gov (United States)

    2009-07-31

    and development time, yet outperforms traditional control methods. Our testbed system was a high degree-of-freedom 3-D biped robot . In simulation, we...walking trials on the actual (hardware) biped to adaptively improve the hardware model. 15. SUBJECT TERMS Non-linear control, evolutionary robotics ...have constructed a nine DOF biped robot to test the ability of algorithms to overcome problems including sensor noise, actuator variability, parts

  3. Australian water mites of the subfamily Notoaturinae Besch (Acari: Hydrachnidia: Aturidae), with the description of 24 new species

    NARCIS (Netherlands)

    Smit, H.

    2010-01-01

    New data are presented on the subfamily Notoaturinae from Australia. Twenty-four new species are described: Austraturus aculeatus n. sp., A. canaliculatus n. sp., A. lamingtonensis n. sp., A. longigenitalis n. sp., A. montanus n. sp., A. otwayensis n. sp., A. tasmanicus n. sp., Azugaturus

  4. Reproductive Biology of the White-spotted Rabbitfish, Siganus ...

    African Journals Online (AJOL)

    Abstract—The reproductive biology of the white-spotted rabbitfish, Siganus canaliculatus, was studied on the Arabian Sea coast of Oman between April 2005 and March 2007. The males matured (L50) at 22.6 cm and females attained maturity at 23.9 cm TL when both were close to one year of age. The population of S.

  5. A new montane Scaevola from Borneo: S. Verticillata (Goodeniaceae)

    NARCIS (Netherlands)

    Leenhouts, P.W.

    1964-01-01

    Frutex. Rami subteretes, lanato-tomentosi. Folia 4-verticillata, apice ramulorum congesta, ad axillas pilis sericeis isabellinis c. 1½ cm longis fasciculatis instructa; periolus c. ¾ cm longus, supra canaliculatus, lanatus; lamina obovato-oblonga, 5½-7 cm longa, 2½—3 cm lata, chartacea, in vivo

  6. A new species of Tristiropsis (Sapindaceae) from New Guinea

    NARCIS (Netherlands)

    Leenhouts, P.W.

    1978-01-01

    Arbor 8 m alta, trunco 26 cm diam. Ramuli ignoti. Folia certe 1,5 m longa, glabra; petiolus teres, canaliculatus, 36 cm longus, 1,25 cm crassus; rhachis teres, supra graciliter costata; rhaches secundariae alternantes; petioluli 1—4 mm longi, supra fossa lata plana instructi, basi dilatati. Foliola

  7. Swing-Leg Retraction for Limit Cycle Walkers Improves Disturbance Rejection

    NARCIS (Netherlands)

    Hobbelen, D.G.E.; Wisse, M.

    2008-01-01

    Limit cycle walkers are bipeds that exhibit a stable cyclic gaitwithout requiring local controllability at all times during gait. A well-known example of limit cycle walking is McGeer’s “passive dynamic walking,” but the concept expands to actuated bipeds as involved in this study. One of the

  8. Knowledge-Based Systems Workshop: Proceedings of a Workshop Held in St. Louis, Missouri on April 21-23, 1987

    Science.gov (United States)

    1987-04-01

    Philadelphia, August, 1986, 950-955. ]Fikes, Hart, and NiKson, 1972] Fikes, R., Hart, P., and Nilsson, N. Learning and executing generalized robot ...recognize an instance of a concept. For example, we can say that "all featherless bipeds are human", i.e., Vx[Featherless— Biped {x) —> Human(a;)|. A

  9. ROBIL - Robot Israel

    Science.gov (United States)

    2013-07-31

    FA8655-12-1-2143 DARPA-BAA-12-39 – “DARPA Robotics Challenge” Project Name: ROBIL 23 6. Turning in either pentad or biped . Turning in pentad-state...C. S. Lin. Genetic algorithm for control design of biped locomotion. J. Robotic Systems, 14(5):365–373, 1997. 11. Flash T, Hogan N (1985) The... robots : A review, Neural Networks, 21(4):642-653, 2008. 14. Kajita S. Kanehiro F. Kaneko K. Fujwara K. Harada K. Yukoi K. and Hirukawa H, Biped

  10. Series Elastic Actuators.

    Science.gov (United States)

    1995-01-01

    7.2 Planetary rover 75 7.3 Biped Robot 76 8 Conclusions 77 8.1 Review of Thesis 77 8.2 Further Work 77 List of Figures 1-1 Schematic of...have only four degrees of freedom, and a simple gripper. 75 76 CHAPTER 7. APPLICATIONS Figure 7-1: Photograph of robot arm 7.3 Biped Robot ...Another group at MIT is building a biped walking robot using series elastic actuators. The design of the actuators differs in that instead of using a

  11. Fuzzy neural network approaches for robotic gait synthesis.

    Science.gov (United States)

    Juang, J G

    2000-01-01

    In this paper, a learning scheme using a fuzzy controller to generate walking gaits is developed. The learning scheme uses a fuzzy controller combined with a linearized inverse biped model. The controller provides the control signals at each control time instant. The algorithm used to train the controller is "backpropagation through time". The linearized inverse biped model provides the error signals for backpropagation through the controller at control time instants. Given prespecified constraints such as the step length, crossing clearance, and walking speed, the control scheme can generate the gait that satisfies these constraints. Simulation results are reported for a five-link biped robot.

  12. The enigmatic Otway odd-clawed spider (Progradungula otwayensis Milledge, 1997, Gradungulidae, Araneae: Natural history, first description of the female and micro-computed tomography of the male palpal organ

    Directory of Open Access Journals (Sweden)

    Peter Michalik

    2013-09-01

    Full Text Available The recently described cribellate gradungulid Progradungula otwayensis Milledge, 1997 is endemic to the Great Otway National Park (Victoria, Australia and known from only one male and a few juvenile specimens. In a recent survey we recorded 47 specimens at several localities across the western part of the Great Otway National park. Our field data suggest that this species is dependant on the microclimate in the hollows of old myrtle beech trees since other hollow trees were very much less inhabited. Furthermore, we describe the female for the first time and study the male palpal organ by using X-ray microtomography. The female genitalia are characterized by eight spermathecae which are grouped in two quartets. The spermophor resembles the general organization of gradungulids, but is similar to Kaiya Gray, 1987 by a convoluted appearance within the embolus. The muscle 30 is located in the cymbium and resembles the organization of other non-entelegyne Araneomorphae.

  13. The phylogenetic position of the enigmatic Balkan Aulopyge huegelii (Teleostei: Cyprinidae) from the perspective of host-specific Dactylogyrus parasites (Monogenea), with a description of Dactylogyrus omenti n. sp.

    Science.gov (United States)

    Benovics, Michal; Kičinjaová, Maria Lujza; Šimková, Andrea

    2017-11-03

    The host specificity of fish parasites is considered a useful parasite characteristic with respect to understanding the biogeography of their fish hosts. Dactylogyrus Diesing, 1850 (Monogenea) includes common parasites of cyprinids exhibiting different degrees of host specificity, i.e. from strict specialism to generalism. The phylogenetic relationships and historical dispersions of several cyprinid lineages, including Aulopyge huegelii Heckel, 1843, are still unclear. Therefore, the aims of our study were to investigate (i) the Dactylogyrus spp. parasites of A. huegelii, and (ii) the phylogenetic relationships of Dactylogyrus spp. parasitizing A. huegelii as a possible tool for understanding the phylogenetic position of this fish species within the Cyprininae lineage. Two species of Dactylogyrus, D. vastator Nybelin, 1924 and D. omenti n. sp., were collected from 14 specimens of A. huegelii from the Šujica River (Bosnia and Herzegovina). While D. vastator is a typical species parasitizing Carassius spp. and Cyprinus carpio L, D. omenti n. sp. is, according to phylogenetic reconstruction, closely related to Dactylogyrus species infecting European species of Barbus and Luciobarbus. The genetic distance revealed that the sequence for D. vastator from A. huegelii is identical with that for D. vastator from Barbus plebejus Bonaparte, 1839 (Italy) and Carassius gibelio (Bloch, 1782) (Croatia). Dactylogyrus omenti n. sp. was described as a species new to science. Our findings support the phylogenetic position of A. huegelii within the Cyprininae lineage and suggest that A. huegelii is phylogenetically closely related to Barbus and Luciobarbus species. The morphological similarity between D. omenti n. sp. and Dactylogyrus species of Middle Eastern Barbus suggests historical contact between cyprinid species recently living in allopatry and the possible diversification of A. huegelii from a common ancestor in this area. On other hand, the genetic similarity between D. vastator ex A. huegelii and D. vastator ex C. gibelio collected in Balkan Peninsula suggests that A. huegelii was secondarily parasitized by D. vastator, originating from C. gibelio after introduction of this fish species from Asia to Europe.

  14. The phylogenetic position of the enigmatic Balkan Aulopyge huegelii (Teleostei: Cyprinidae from the perspective of host-specific Dactylogyrus parasites (Monogenea, with a description of Dactylogyrus omenti n. sp.

    Directory of Open Access Journals (Sweden)

    Michal Benovics

    2017-11-01

    Full Text Available Abstract Background The host specificity of fish parasites is considered a useful parasite characteristic with respect to understanding the biogeography of their fish hosts. Dactylogyrus Diesing, 1850 (Monogenea includes common parasites of cyprinids exhibiting different degrees of host specificity, i.e. from strict specialism to generalism. The phylogenetic relationships and historical dispersions of several cyprinid lineages, including Aulopyge huegelii Heckel, 1843, are still unclear. Therefore, the aims of our study were to investigate (i the Dactylogyrus spp. parasites of A. huegelii, and (ii the phylogenetic relationships of Dactylogyrus spp. parasitizing A. huegelii as a possible tool for understanding the phylogenetic position of this fish species within the Cyprininae lineage. Results Two species of Dactylogyrus, D. vastator Nybelin, 1924 and D. omenti n. sp., were collected from 14 specimens of A. huegelii from the Šujica River (Bosnia and Herzegovina. While D. vastator is a typical species parasitizing Carassius spp. and Cyprinus carpio L, D. omenti n. sp. is, according to phylogenetic reconstruction, closely related to Dactylogyrus species infecting European species of Barbus and Luciobarbus. The genetic distance revealed that the sequence for D. vastator from A. huegelii is identical with that for D. vastator from Barbus plebejus Bonaparte, 1839 (Italy and Carassius gibelio (Bloch, 1782 (Croatia. Dactylogyrus omenti n. sp. was described as a species new to science. Conclusions Our findings support the phylogenetic position of A. huegelii within the Cyprininae lineage and suggest that A. huegelii is phylogenetically closely related to Barbus and Luciobarbus species. The morphological similarity between D. omenti n. sp. and Dactylogyrus species of Middle Eastern Barbus suggests historical contact between cyprinid species recently living in allopatry and the possible diversification of A. huegelii from a common ancestor in this area. On other hand, the genetic similarity between D. vastator ex A. huegelii and D. vastator ex C. gibelio collected in Balkan Peninsula suggests that A. huegelii was secondarily parasitized by D. vastator, originating from C. gibelio after introduction of this fish species from Asia to Europe.

  15. Historical and Current Perspectives on the Systematics of the 'Enigmatic' Diatom Genus Rhoicosphenia (Bacillariophyta), with Single and Multi-Molecular Marker and Morphological Analyses and Discussion on the Monophyly of 'Monoraphid' Diatoms.

    Science.gov (United States)

    Thomas, Evan W; Stepanek, Joshua G; Kociolek, J Patrick

    2016-01-01

    This study seeks to determine the phylogenetic position of the diatom genus Rhoicosphenia. Currently, four hypotheses based on the morphology of the siliceous valve and its various ultrastructural components, sexual reproduction, and chloroplasts have been proposed. Two previous morphological studies have tentatively placed Rhoicosphenia near members of the Achnanthidiaceae and Gomphonemataceae, and no molecular studies have been completed. The position of Rhoicosphenia as sister to 'monoraphid' diatoms is problematic due to the apparent non-monophyly of that group, so hypotheses of 'monoraphid' monophyly are also tested. Using an analysis of morphological and cytological features, as well as sequences from three genes, SSU, LSU, and rbcL, recovered from several freshwater Rhoicosphenia populations that have similar morphology to Rhoicosphenia abbreviata (Agardh) Lange-Bertalot, we have analyzed the phylogenetic position of Rhoicosphenia in the context of raphid diatoms. Further, we have used topology testing to determine the statistical likelihoods of these relationships. The hypothesis that Rhoicosphenia is a member of the Achnanthidiaceae cannot be rejected, while the hypothesis that it is a member of the Gomphonemataceae can be rejected. In our analyses, members of the Achnanthidiaceae are basal to Rhoicosphenia, and Rhoicosphenia is basal to the Cymbellales, or a basal member of the Cymbellales, which includes the Gomphonemataceae. Hypothesis testing rejects the monophyly of 'monoraphid' diatoms.

  16. L’Amleto d’Arrigo Boito : deux versions énigmatiques avec Ducis et Dumas en dialogue Arrigo Boito’s Amleto: Two Enigmatic Versions Reversing Ducis and Changing Dumas

    Directory of Open Access Journals (Sweden)

    Costantino Maeder

    2011-12-01

    Full Text Available Le XIXe siècle est caractérisé par la redécouverte de Shakespeare. Cet article présente un exemple complexe de la réception de Shakespeare en France et en Italie: Hamlet a été à plusieurs reprises traduit et adapté à la scène et à l’opéra. Les traductions étaient pourtant loin d’être fidèles, ce qui n’était par contre pas le cas en Allemagne, si l’on pense à la traduction toujours apprécié des frères Schlegel. Ducis, par exemple, présente une histoire tout à fait incompatible avec le chef-d’œuvre de Shakespeare. Aussi Dumas père, bien qu’aidé par un traducteur, ne suit pas du tout l’original. Pourtant, ces deux versions, de même que leurs autres traductions, conditionneront longtemps la réception de Shakespeare dans les pays de l’Europe latine. Arrigo Boito offrira une version tout à fait autonome de l’Amleto, une désécriture d’auteur qui dialogue avec la version de Ducis, de Dumas, mais aussi avec les vraies traductions de Paul Meurice et de François-Victor Hugo.The 19th century is characterized by the rediscovery of Shakespeare. In this article, we will trace one complex example of Shakespeare’s reception in France and in Italy. Hamlet had been translated and adapted for the stage and for the opera several times. However, from the very beginning of the 18th century, authors like Ducis simply rewrote from scratch totally unauthentic versions which (misguided most French and Italian reception of Shakespeare. In the 19th century, Dumas offered a new and far more interesting interpretation which would be even more seminal for Latin Europe. Arrigo Boito’s Amleto dialogues in a rather astonishing and surprisingly modern way with the Dumas version of Hamlet, taking into account the more recent translations by François-Victor Hugo and Paul Meurice. As a result, the tragedy of the Danish prince is completely rewritten and deconstructed. As is often the case, Boito prefers to be the dwarf that sees farther than the giant, when he has the giant’s shoulder to mount on. By slightly changing Shakespeare and Dumas and reversing Ducis he is able to offer a completely new, autonomous tragedy that probably owes more to Shakespeare than many other adaptations and translations, as was later to be the case for his Otello and Falstaff.

  17. Masoquismo e mensagem enigmática: para que rimar amor e dor? Masoquismo y mensaje enigmático: ¿por qué rimar amor y dolor? Masochism and enigmatic message: why rhyme love and pain?

    Directory of Open Access Journals (Sweden)

    Fernando Cézar Bezerra de Andrade

    2012-09-01

    Full Text Available Discute-se neste trabalho um caso clínico cujo sintoma principal envolvia a realização de desejos masoquistas, expressos tanto em uma cena erótica específica, que envolve riscos, dor e humilhação, quanto em uma psicodinâmica fundada no culto ao sofrimento e dirigida à autodestruição, o que interferia em outras dimensões da vida do paciente: trabalho, formação intelectual e vínculos amorosos. Inicialmente, resume-se a metapsicologia do masoquismo na obra de Freud, bem como sua reavaliação da perspectiva da Teoria da Sedução Generalizada, formulada por Jean Laplanche. Em seguida, são discutidos a etiologia e o arranjo psíquico do paciente, bem como o processo psicanalítico, com seus principais momentos de atuação e de repetição das fantasias de sedução no contexto transferencial. A elaboração dos sintomas ao longo da análise é entendida como resultando de uma nova tradução para o enigma da sexualidade, formulado, sobretudo, pelas mensagens maternas e paternas, caracterizadas por traços de sadismo e perversão.Se discute un caso clínico cuyo síntoma principal involucraba la realización de deseos masoquistas, expresados en una escena erótica específica, implicando riesgos, dolor y humillación, como en la psicodinámica basada en el culto al sufrimiento y dirigida a la autodestrucción, lo que interfería en otras dimensiones de la vida del paciente: su trabajo, formación intelectual y vínculos amorosos. Inicialmente, se resume la metapsicología del masoquismo en la obra de Freud, así como su reevaluación de la perspectiva de la Teoría de la Seducción Generalizada, formulada por Jean Laplanche. En seguida, se discute la etiología y la disposición mental del paciente y también el proceso psicoanalítico, con sus principales momentos de actuación y de repetición de las fantasías de seducción en el contexto transferencial. La elaboración de los síntomas a lo largo del análisis es interpretada como resultado de una nueva traducción por el enigma de la sexualidad, formulado, sobre todo, por los mensajes maternos y paternos, caracterizados por rasgos de sadismo y perversión.This article discusses a clinical case in which main symptom was the accomplishment of masochistic desires, expressed both in a specific erotic scene involving risks, pain and humiliation, and in the patient's psychodynamics, grounded on a cult of suffering and guided to self-destruction, which interfered in other dimensions of patient's life: work, intellectual and loving bonds. Initially, the metapsychology of masochism in Freud's work is summarized, as well as a reassessment promoted by the Theory of Generalized Seduction, formulated by Jean Laplanche. Next, the patient's etiology and his mental arrangement are discussed, as well as his psychoanalytic process, with the main moments of acting out and repeating the seduction fantasies in the context of transference. The formulation of symptoms during his psychoanalysis is understood as an effect of a new translation to his sexual enigmas, which were formulated especially from maternal and paternal messages, characterized by sadism and perversion.

  18. Research Group Introduction : Mechanical Control Engineering Laboratory, Mechanical Engineering Department, Shibaura Institute of Technology

    Science.gov (United States)

    内村, 裕

    Mechanical Control Engineering Laboratory focuses on the control theory and implementation for the robotic applications. The research themes include network based tele-operation, mobile robots control for network relay, autonomous outdoor mobile robot and biped robot.

  19. Stair Descent in the Simple Hexapod ’RHex’

    Science.gov (United States)

    2003-01-01

    robots that successfully do so. Notable exceptions are the Honda bipeds - P2, P3 and Asimo, and Raibert’s tethered biped , yet no specific publications...Stair Descent in the Simple Hexapod ‘RHex’ D. Campbell and M. Buehler dcampb@cim.mcgill.ca, buehler@cim.mcgill.ca, Ambulatory Robotics ...first controller that allows our small hexapod robot , RHex, to descend a wide variety of regular sized, “real-world” stairs. After selecting one of

  20. Multi-Body Dynamics Including the Effects of Flexibility and Compliance.

    Science.gov (United States)

    1980-04-01

    21. Galliday, C. L., Jr., and Hermani, H., "An Approach to Analyzing Biped Locomotion Dynamics and Designing Robot Locomotion Controls," IEEE... robots , manipulators, and teleoperators. 4 ’ 45 T4 REFERENCES 1. Abdelnour, T. A., Passerello, C. E., and Huston, R. L., "An Analytical Analysis of...Synthesis of Biped Locomotion Machines," ed. and Bio. Enstineering, Vol. 8, pp. 465-476, 1970. 20. Frisch, H. P., "A Vector-Dyadic Development of the

  1. Reliable Stair Climbing in the Simple Hexapod ’RHex’

    Science.gov (United States)

    2002-01-01

    legged robots have successfully climbed stairs – recently the Honda bipeds climbed quasi- statically.6 Raibert built a biped that could hop over...cim.mcgill.ca, fgrimminger@web.de, buehler@cim.mcgill.ca Ambulatory Robotics Laboratory, Centre for Intelligent Machines, McGill University Montreal, Quebec...this paper, we describe an open loop controller that enables our small robot (Length: 51 cm, Width: 20 cm, Height: 12.7 cm. Leg length: 16 cm), to

  2. Confidence-Based Robot Policy Learning from Demonstration

    Science.gov (United States)

    2009-03-05

    Development of a small biped entertainment robot QRIO. In Micro- Nanomechatronics and Human Science, 2004, pages 23–28, 2004. [45] Odest Chadwicke Jenkins...adaptation of biped locomotion. Robotics and Autonomous Systems, 47:79–91, 2004. [60] Ulrich Nehmzow, Otar Akanyeti, Cristoph Weinrich, Theocharis...Confidence-Based Robot Policy Learning from Demonstration Sonia Chernova CMU-CS-09-105 March 5, 2009 School of Computer Science Computer Science

  3. Cloning, functional characterization and nutritional regulation of Δ6 fatty acyl desaturase in the herbivorous euryhaline teleost Scatophagus argus.

    Science.gov (United States)

    Xie, Dizhi; Chen, Fang; Lin, Siyuan; Wang, Shuqi; You, Cuihong; Monroig, Óscar; Tocher, Douglas R; Li, Yuanyou

    2014-01-01

    Marine fish are generally unable or have low ability for the biosynthesis of long-chain polyunsaturated fatty acids (LC-PUFA) from C18 PUFA precursors, with some notable exceptions including the herbivorous marine teleost Siganus canaliculatus in which such a capability was recently demonstrated. To determine whether this is a unique feature of S. canaliculatus or whether it is common to the herbivorous marine teleosts, LC-PUFA biosynthetic pathways were investigated in the herbivorous euryhaline Scatophagus argus. A putative desaturase gene was cloned and functionally characterized, and tissue expression and nutritional regulation were investigated. The full-length cDNA was 1972 bp, containing a 1338 bp open-reading frame encoding a polypeptide of 445 amino acids, which possessed all the characteristic features of fatty acyl desaturase (Fad). Functional characterization by heterologous expression in yeast showed the protein product of the cDNA efficiently converted 18:3n-3 and 18:2n-6 to 18:4n-3 and 18:3n-6, respectively, indicating Δ6 desaturation activity. Quantitative real-time PCR showed that highest Δ6 fad mRNA expression was detected in liver followed by brain, with lower expression in other tissues including intestine, eye, muscle, adipose, heart kidney and gill, and lowest expression in stomach and spleen. The expression of Δ6 fad was significantly affected by dietary lipid and, especially, fatty acid composition, with highest expression of mRNA in liver of fish fed a diet with a ratio of 18:3n-3/18:2n-6 of 1.72:1. The results indicated that S. argus may have a different LC-PUFA biosynthetic system from S. canaliculatus despite possessing similar habitats and feeding habits suggesting that LC-PUFA biosynthesis may not be common to all marine herbivorous teleosts.

  4. Cloning, functional characterization and nutritional regulation of Δ6 fatty acyl desaturase in the herbivorous euryhaline teleost Scatophagus argus.

    Directory of Open Access Journals (Sweden)

    Dizhi Xie

    Full Text Available Marine fish are generally unable or have low ability for the biosynthesis of long-chain polyunsaturated fatty acids (LC-PUFA from C18 PUFA precursors, with some notable exceptions including the herbivorous marine teleost Siganus canaliculatus in which such a capability was recently demonstrated. To determine whether this is a unique feature of S. canaliculatus or whether it is common to the herbivorous marine teleosts, LC-PUFA biosynthetic pathways were investigated in the herbivorous euryhaline Scatophagus argus. A putative desaturase gene was cloned and functionally characterized, and tissue expression and nutritional regulation were investigated. The full-length cDNA was 1972 bp, containing a 1338 bp open-reading frame encoding a polypeptide of 445 amino acids, which possessed all the characteristic features of fatty acyl desaturase (Fad. Functional characterization by heterologous expression in yeast showed the protein product of the cDNA efficiently converted 18:3n-3 and 18:2n-6 to 18:4n-3 and 18:3n-6, respectively, indicating Δ6 desaturation activity. Quantitative real-time PCR showed that highest Δ6 fad mRNA expression was detected in liver followed by brain, with lower expression in other tissues including intestine, eye, muscle, adipose, heart kidney and gill, and lowest expression in stomach and spleen. The expression of Δ6 fad was significantly affected by dietary lipid and, especially, fatty acid composition, with highest expression of mRNA in liver of fish fed a diet with a ratio of 18:3n-3/18:2n-6 of 1.72:1. The results indicated that S. argus may have a different LC-PUFA biosynthetic system from S. canaliculatus despite possessing similar habitats and feeding habits suggesting that LC-PUFA biosynthesis may not be common to all marine herbivorous teleosts.

  5. Notas sobre tres especies de Gigartinaceae (Rhodophyta del litoral peruano

    Directory of Open Access Journals (Sweden)

    Martha Calderón

    2011-05-01

    Full Text Available La gran variabilidad morfológica de la familia Gigartinaceae ha producido constantes cambios taxonómicos en sus especies miembros. Tradicionalmente su taxonomía ha estado basada en caracteres de la morfología externa; sin embargo, recientes estudios morfológicos, respaldados con trabajos moleculares, han delimitado los géneros en base a al desarrollo del cistocarpo y de los tetrasporangios. El presente trabajo revisa y comenta sobre las estructuras morfológicas vegetativas y reproductivas de tres especies presentes en Perú: Chondracanthus chamissoi, Mazzaella denticulata y Chondrus canaliculatus.

  6. Diversité floristique des zones côtières pâturées de la Côte d'Ivoire ...

    African Journals Online (AJOL)

    Parmi ces espèces, 63 plantes fourragères, soit 33,15 % de la flore totale ont été recensées. L'indice de diversité de Shannon pour l'ensemble de la zone d'étude est 4,43. Certaines espèces fourragères, telles que Andropogon canaliculatus, Eriosema glomeratum, Stylosanthes fruticosa, qui sont très appétées par les ...

  7. A new species of the hermit crab genus Diogenes (Crustacea: Decapoda: Anomura: Diogenidae) from southern India.

    Science.gov (United States)

    Komai, Tomoyuki; Reshmi, Rema; Kumar, Appukuttannair Biju

    2013-02-12

    A new species of the hermit crab genus Diogenes Dana, 1851 (Diogenidae), D. canaliculatus, is described and illustrated on the basis of material from off the Kerala State, southern India. It is referred to the D. edwardsii (De Haan, 1849) species group, and compared with D. bicristimanus Alcock, 1905, D. fasciatus Rahayu & Forest, 1995, D. laevicarpus Rahayu, 1996 and D. moosai Rahayu & Forest, 1995. The characteristically sculptured left chela and the unarmed dorsal margins of the propodi of the second and third pereopods distinguish the new species from these congeners.

  8. Two new Korean earthworms (Annelida, Oligochaeta, Megadrilacea, Megascolecidae)

    Science.gov (United States)

    Blakemore, Robert J.; Lee, Seunghan; Lee, Wonchoel; Seo, Hong-Yul

    2013-01-01

    Abstract Two Korean endemic pheretimoid Amynthas Kinberg, 1867 species belonging in family Megascolecidae s. stricto are sketched, dissected and described. Amynthas daeari Blakemore sp. n. has spermathecae in 6/7/8 complying with an Amynthas tokioensis spp-group, whilst Amynthas jinburi Blakemore sp. n. has spermathecal pores in 5 & 6 strictly complying with Sims and Easton’s (1972) Amynthas canaliculatus-group. A definitive COI gene barcode is provided for the holotype of Amynthas daeari but the age since collection or preservation of the Amynthas jinburi type in 2000 precluded its mtDNA extraction at this time. PMID:23794922

  9. Motion and Walking Stabilization of Humanoids Using Sensory Reflex Control

    Directory of Open Access Journals (Sweden)

    Jong-Wook Kim

    2016-04-01

    Full Text Available Humanoid robots are versatile robot platforms that can carry out intelligent tasks and services for humans, including intimate interactions. For high mobility, a robust stabilization of motion including biped walking is crucial. This paper employs and elaborates on sensory reflex control to stabilize standing motion and biped walking using basic sensors such as an inertial measurement unit (IMU and a force-sensing resistor (FSR. Specifically, normalized zero-moment points processed from FSR data are used in the reflexive control of a simple motion of swinging the whole body while standing, and the measured inclination angle of the trunk, filtered from IMU data, is used for biped walking on a sloped floor. The proposed control scheme is validated through experiments with the commercial humanoid robot, ROBOTIS-OP.

  10. Tracking control of a planar five-link bipedal walking system with point contact, considering self-impact joint constraint by adaptive neural network method

    Directory of Open Access Journals (Sweden)

    Yousef Bazargan-Lari

    Full Text Available AbstractIn order to achieve the practical characteristics of natural bipedal walking, a key feature is to realize "the straight knee state of walking" during stance and swing motions. Considering a straight knee necessitates that the shank link of each leg not to undergo the rotation angles which are greater than that of the thigh link. For this purpose, various methods have been proposed; the joint self-impact constraint has been suggested for energy-efficient (natural bipedal walking while realizing the straight knee constraint.The prominent objective of this research is to present a model based control method for trajectory tracking of a normal human-like bipedal walking, by considering the joint self-impact constraint. To achieve this objective, the dynamical equations of motion of an unconstrained biped are taken, developed and then modified to consider the joint self-impact constraint at the knee joint.To control this complicated dynamical system, the available anthropometric normal gait cycle data are taken to generate the desired trajectories of the thigh and knee joints of the self-impact biped. Due to the existence of complex nonlinear terms in the dynamical governing equations of self-impact biped, the authors propose to design a nonlinear intelligent controller by taking advantage of the adaptive neural network control method, which neither requires the evaluation of inverse dynamical model nor the time consuming training process. According to the simulation results, the tracking control of the biped robot is accomplished well and the biped walking seems naturally, despite of involving complex nonlinear terms in the dynamical governing equations of the self-impact biped.

  11. Distributed mechatronics controller for modular wall climbing robot

    CSIR Research Space (South Africa)

    Tlale, NS

    2006-07-01

    Full Text Available the fourth motor and the suction cup up and down during locomotion. The fourth motor and the suction cup are attached on the same housing. Purpose of this fourth motor is also to move the suction cup up and down during the locomotion of the robot.... The third and the fourth motors act together to achieve a smooth contact surface between the suction cup and the surface that is being moved upon. In order to assemble wall-climbing robot that consists of any number of biped modules, each biped module...

  12. An "enigmatic" L-carnosine (β-alanyl-L-histidine)? Cell proliferative activity as a fundamental property of a natural dipeptide inherent to traditional antioxidant, anti-aging biological activities: balancing and a hormonally correct agent, novel patented oral therapy dosage formulation for mobility, skeletal muscle power and functional performance, hypothalamic-pituitary- brain relationship in health, aging and stress studies.

    Science.gov (United States)

    Babizhayev, Mark A; Yegorov, Yegor E

    2015-01-01

    Hypothalamic releasing and inhibiting hormones are major neuroendocrine regulators of human body metabolism being driven directly to the anterior pituitary gland via hypothalamic-hypophyseal portal veins. The alternative physiological or therapeutic interventions utilizing the pharmaco-nutritional boost of imidazole-containing dipeptides (non-hydrolized oral form of carnosine, carcinine, N-acetylcarnosine lubricant eye drops) can maintain health, enhance physical exercise performance and prevent ageing. Carnosine (β-alanyl-L-histidine) is synthesized in mammalian skeletal muscle. There is an evidence that the release of carnosine from the skeletal muscle sarcomeres moieties during physical exercise affects autonomic neurotransmission and physiological functions. Carnosine released from skeletal muscle during exercise acts as a powerful afferent physiological signaling stimulus for hypothalamus, may be transported into the hypothalamic tuberomammillary nucleus (TMN), specifically to TMN-histamine neurons and hydrolyzed herewith via activities of carnosine-degrading enzyme (carnosinase 2) localized in situ. Through the colocalized enzymatic activity of Histidine decarboxylase in the histaminergic neurons, the resulting L-histidine may subsequently be converted into histamine, which could be responsible for the effects of carnosine on neurotransmission and physiological function. Carnosine and its imidazole-containing dipeptide derivatives are renowned for their anti-aging, antioxidant, membrane protective, metal ion chelating, buffering, anti-glycation/ transglycating activities used to prevent and treat a spectrum of age-related and metabolic diseases, such as neurodegenerative disease, sight threatening eye diseases, Diabetes mellitus and its complications, cancers and other disorders due to their wide spectrum biological activities. The precursor of carnosine (and related imidazole containing compounds) synthesis in skeletal muscles beta-alanine is used as the oral supplement by athletes to achieve the fine sporting art results due to the buffering activities of carnosine and its related imidazole- containing compounds which contribute to the maintenance of the acid-base balance in the acting muscles. This work originally emphasizes that overall data indicate the signaling activities of carnosine in skeletal and cardiac muscles switching on the mechanisms of exercise-induced telomere protection and point to the stress response and growth/cellular proliferation pathways as high-priority candidates for the ongoing studies and therapeutic concepts. The therapeutic interventions utilizing the specific oral formulation (Can-C Plus), timing dosing and pharmaco-nutritional boost of imidazolecontaining dipeptides can maintain health, enhance physical exercise performance and prevent aging. The patented therapeutic concept protects the existence of the interesting physiological major activities, better controls and therapeutic treatments for aging/age-related disorders (including age-related loss of muscle mass and muscle function) using carnosine dipeptide for cellular rejuvenation and manipulating telomeres and enzyme telomerase activity that may reduce some of the physiological declines that accompany aging.

  13. Coupled chaotic oscillators and their relation to a central pattern ...

    Indian Academy of Sciences (India)

    Animal locomotion employs different periodic patterns known as animal gaits. In 1993, Collins and Stewart recognized that gaits possessed certain symmetries and characterized the gaits of quadrupeds and bipeds using permutation symmetry groups, which impose constraints on the locomotion center called the central ...

  14. Sadhana | Indian Academy of Sciences

    Indian Academy of Sciences (India)

    It may help the engineers to carry out type synthesis of the mechanisms. Volume 40 Issue 2 April 2015 pp 549-575 Mechanical Sciences. Analysis of double support phase of biped robot and multi-objective optimization using genetic algorithm and particle swarm optimization algorithm · Rega Rajendra Dilip Kumar Pratihar.

  15. Neuromechanical Control for Dynamic Bipedal Walking with Reduced Impact Forces

    DEFF Research Database (Denmark)

    Widenka, Johannes; Xiong, Xiaofeng; Matthias Braun, Jan

    2016-01-01

    Human walking emerges from an intricate interaction of nervous and musculoskeletal systems. Inspired by this principle, we integrate neural control and muscle-like mechanisms to achieve neuromechanical control of the biped robot RunBot. As a result, the neuromechanical controller enables Run...

  16. Optimization and Design of Experimental Bipedal Robot

    Czech Academy of Sciences Publication Activity Database

    Zezula, P.; Grepl, Robert

    -, A1 (2005), s. 293-300 ISSN 1210-2717. [Mechatronics, Robot ics and Biomechanics 2005. Třešť, 26.09.2005-29.09.2005] Institutional research plan: CEZ:AV0Z20760514 Keywords : walking machine * biped robot * computational modelling Subject RIV: JD - Computer Applications, Robot ics

  17. Balanced gait generations of a two-legged robot on sloping surface

    Indian Academy of Sciences (India)

    Pleaten et al 2003; Kajita et al 2003; Vukobratovic & Radic 2004; Kim et al 2005). In reality, however, a typical environment may also contain some sloping surfaces and staircases. During. ∗. For correspondence. 525 ... Pratt et al (2001) proposed a virtual model control for the biped robot walking on both the level as well as ...

  18. Coupled chaotic oscillators and their relation to a central pattern ...

    Indian Academy of Sciences (India)

    Abstract. Animal locomotion employs different periodic patterns known as animal gaits. In 1993, Collins and Stewart recognized that gaits possessed certain symmetries and characterized the gaits of quadrupeds and bipeds using permutation symmetry groups, which impose constraints on the locomotion center called the ...

  19. Defining the Scope of Systems of Care: An Ecological Perspective

    Science.gov (United States)

    Cook, James R.; Kilmer, Ryan P.

    2010-01-01

    The definition of a system of care (SOC) can guide those intending to develop and sustain SOCs. Hodges, Ferreira, Israel, and Mazza [Hodges, S., Ferreira, K., Israel, N., & Mazza, J. (in press). "Systems of care, featherless bipeds, and the measure of all things." "Evaluation and Program Planning"] have emphasized contexts in which services are…

  20. Fall detection in walking robots by multi-way principal component analysis

    NARCIS (Netherlands)

    Karssen, J.G.; Wisse, M.

    2008-01-01

    Large disturbances can cause a biped to fall. If an upcoming fall can be detected, damage can be minimized or the fall can be prevented. We introduce the multi-way principal component analysis (MPCA) method for the detection of upcoming falls. We study the detection capability of the MPCA method in

  1. A Study of Energy Saving Shoes for Walking Robot

    Science.gov (United States)

    Minakata, Hideaki; Tadakuma, Susumu

    In this paper, we propose flexible shoe system to apply passive walking manner to ordinary humanoid biped. In this system, 2DOF (FF & FB) control scheme is used and realize walking with less ankle torque. The effectiveness is confirmed by computer simulation and experimental result, so we call this system as “energy saving shoes".

  2. Four-Component Catalytic Machinery: Reversible Three-State Control of Organocatalysis by Walking Back and Forth on a Track.

    Science.gov (United States)

    Mittal, Nikita; Özer, Merve S; Schmittel, Michael

    2018-04-02

    A three-component supramolecular walker system is presented where a two-footed ligand (biped) walks back and forth on a tetrahedral 3D track upon the addition and removal of copper(I) ions, respectively. The addition of N-methylpyrrolidine as a catalyst to the walker system generates a four-component catalytic machinery, which acts as a three-state switchable catalytic ensemble in the presence of substrates for a conjugate addition. The copper(I)-ion-initiated walking process of the biped ligand on the track regulates the catalytic activity in three steps: ON versus int ON (intermediate ON) versus OFF. To establish the operation of the four-component catalytic machinery in a mixture of all constituents, forward and backward cycles were performed in situ illustrating that both the walking process and catalytic action are fully reversible and reproducible.

  3. Bipedal locomotion: toward unified concepts in robotics and neuroscience.

    Science.gov (United States)

    Azevedo, Christine; Espiau, Bernard; Amblard, Bernard; Assaiante, Christine

    2007-02-01

    This review is the result of a joint reflection carried out by researchers in the fields of robotics and automatic control on the one hand and neuroscience on the other, both trying to answer the same question: what are the functional bases of bipedal locomotion and how can they be controlled? The originality of this work is to synthesize the two approaches in order to take advantage of the knowledge concerning the adaptability and reactivity performances of humans and of the rich tools and formal concepts available in biped robotics. Indeed, we claim that the theoretical framework of robotics can enhance our understanding of human postural control by formally expressing the experimental concepts used in neuroscience. Conversely, biological knowledge of human posture and gait can inspire biped robot design and control. Therefore, both neuroscientists and roboticists should find useful information in this paper.

  4. A Low-Cost Anthropometric Walking Robot for Reproducing Gait Lab Data

    Directory of Open Access Journals (Sweden)

    Rogério Eduardo da Silva Santana

    2008-01-01

    Full Text Available Human gait analysis is one of the resources that may be used in the study and treatment of pathologies of the locomotive system. This paper deals with the modelling and control aspects of the design, construction and testing of a biped walking robot conceived to, in limited extents, reproduce the human gait. Robot dimensions have been chosen in order to guarantee anthropomorphic proportions and then to help health professionals in gait studies. The robot has been assembled with low-cost components and can reproduce, in an assisted way, real-gait patterns generated from data previously acquired in gait laboratories. Part of the simulated and experimental results are addressed to demonstrate the ability of the biped robot in reproducing normal and pathological human gait.

  5. 1999 IEEE international conference on robotics and automation

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1999-07-01

    Topics covered in this conference include: biped robots; underwater vehicles; robot planning and programming for assembly; discrete event control of mobile robot maneuvering; navigation in unknown environment; biped robots; underwater vehicles; robot planning and programming for assembly; discrete event control of manufacturing systems; motion planning; robot control; actuator; teleoperation; force and position control; contact and grasping control; visual servo control; tactile sensing; mobile robots and applications; sensor-based navigation; underwater robotics; sensing, navigation and control; flexible manipulators; task scheduling; actuators and joint actuation; teleoperation; sensor-based teleoperation; contact geometry; sonar-based sensing; mobile robot-environment interaction; mobile robot motion planning; biology-inspired methods; service and underwater robots; manufacturing planning and scheduling; constraint and nonholonomic system; fault-tolerant robots; parallel manipulators; dexterous manipulation; computer vision in manufacturing; contact sensing; mobile robot field applications; flexible robots; fuzzy control; and more.

  6. Kinematická analýza posturálních změn v bipedálním stoji při aplikaci podnětu ze zevního prostředí a modifikaci vizuální scény u pacientů po plastice předního zkříženého vazu Kinematic analysis of postural changes in bipedal stance at application of stimulus from external environment and modifi cation of visual scene in patients with anterior cruciate ligament reconstruction

    Directory of Open Access Journals (Sweden)

    Miroslav Janura

    2007-01-01

    Full Text Available Tato studie se zabývá změnami postury při modifikované zrakové scéně a při aplikaci podnětu ze zevního prostředí u zdravých jedinců a u pacientů po plastice předního zkříženého vazu (LCA za nezměněné a modifi kované vizuální scény. Do vyšetřovaného souboru bylo zahrnuto 11 pacientů po plastice LCA a 14 zdravých jedinců. Modifi kace vizuální scény bylo dosaženo prostřednictvím speciálního optického systému Olympus – Eye trek FMD-700. Zevní podnět byl realizován pomocí nárazu letícího míče. K hodnocení posturálních změn jsme využili kinematickou analýzu. U pacientů po rekonstrukci LCA i u zdravých jedinců jsme nejvíce diferencí v jednotlivých způsobech provedení nalezli pro kinematické parametry na dolních končetinách a trupu. U obou skupin probandů jsme zaznamenali podobné tendence k posturálním změnám. Při porovnávání kinematických parametrů mezi skupinou pacientů a zdravých jedinců jsme nalezli rozdíly v poloze horních končetin. Pro dolní končetiny a trup (s výjimkou minimální velikosti úhlu bérec – stehno při modifi kované scéně s reálným podnětem nejsou rozdíly mezi oběma skupinami statisticky významné. Tears and rupture of the anterior cruciate ligament (ACL, which has an important function in knee joint stability, are very common and more so in sports. ACL injury can be managed in two ways. One alternative pertains to conservative therapy whereas the second variant is surgical intervention (reconstruction. The number of ACL reconstructions has risen recently. The purpose of this study was to analyze the postural changes in bipedal stance at application of a stimulus from external environment and the resultant modifi cation in the visual scene in patients with ACL reconstruction. The examined group consisted of 25 subjects – 11 patients with ACL reconstruction and 14 healthy adults. The external stimulus was realized by striking a fl ying ball; the modifi cation of visual scene was obtained using special glasses. The 3D videography method was applied to evaluate postural changes. The most diff erences during three various monitored measurements were found for kinematic parameters of the lower limbs and the trunk in each group (both patients and healthy subjects. Statistically signifi cant diff erences between the group of patients and healthy subjects (between both groups were obtained for comparison of measurements with an unmodifi ed visual scene and measurements with a modifi ed visual scene, especially for the elbow and shoulder joints.

  7. Computer Graphics Research Laboratory

    Science.gov (United States)

    1994-01-31

    the distance to avoid and is given in meters. 26 Ex: (avoid " bodybuilder " "ccube" :strength 5.0 :dist 2.0) An AVOID command should be issued for each...traditional animation principles [23] such as anticipation, squash-and- stretch , follow through, and timing. For biped running, Girard [13] com- puted the... stretched out over time, so as to synchronize with preceding and following gestures, and the speech these gestures accompany. An example of gestural

  8. Evolving Artificial Neural Networks with Generative Encodings Inspired by Developmental Biology

    Science.gov (United States)

    2010-01-01

    role in our lives in generations to come. Legged consumer robots already exist, such as the biped ASIMO and the quadruped AIBO. Both the military and...gaits for legged robots . . . . . . . . . . . . . 28 4.2 Previous work evolving gaits for legged robots . . . . . . . . . . . . . . . . 28 4.3 Applying...The Simulated Robot in the Quadruped Controller Problem. . . . . . . . . 31 ix 4.2 ANN Configuration for HyperNEAT and FT-NEAT Treatments. The first

  9. Monocular Depth Perception and Robotic Grasping of Novel Objects

    Science.gov (United States)

    2009-06-01

    biped walking, snake robot locomotion, etc.) have relied on model-based RL [59], in which an accurate model or simulator of the MDP is first built.2...MONOCULAR DEPTH PERCEPTION AND ROBOTIC GRASPING OF NOVEL OBJECTS A DISSERTATION SUBMITTED TO THE DEPARTMENT OF ELECTRICAL ENGINEERING AND THE...JUN 2009 2. REPORT TYPE 3. DATES COVERED 00-00-2009 to 00-00-2009 4. TITLE AND SUBTITLE Monocular Depth Perception and Robotic Grasping of

  10. Human-Robot Interaction: Intention Recognition and Mutual Entrainment

    Science.gov (United States)

    2012-08-18

    Setiawan, J. Yamaguchi, S. Hyon, and A. Takanishi, “Physical in- teraction between human and a bipedal humanoid robot -realization of human-follow walking...dynamic biped locomotion on rugged terrain—theory and basic experiment,” Advanced Robotics , 1991. ’ Robots in Unstructured Environments’, 91 ICAR., Fifth...dynamics and control in turning maneu- vers. At the same time, some simplified models have been introduced to generate turning motions on bipedal robots

  11. Optimization-based Dynamic Human Lifting Prediction

    Science.gov (United States)

    2008-06-01

    analysis of human lifting movement for biped robot control. Advanced Motion Control, 2004. The 8th IEEE International Workshop. 7. Pope, M.H. and...constraints. Arisumi et al. (2007) studied the dynamic lifting motion of humanoid robots which considered the instantaneous transferred load to the object... robots . IEEE International Conference on Robotics and Automation, Roma, Italy, 10-14 April 2007. 2. Chaffin, D.B. and Andersson, G.B.J.. Occupational

  12. Generalizing the Hop: Object-Level Programming for Legged Motion

    Science.gov (United States)

    1990-08-01

    1989. 4. J. Hodgins, J. Koechling, and M. H. Raibert, "Running experiments with a planar biped ," in The 3rd International Symposium on Robotics ...controlling a hopping robot . The approach focuses on the interaction between the hopper and its surroundings at points of con- tact. It is only through...locomotion of legged robots . Walking, running, and hopping are distinguished from most conventional robot tasks in several respects. A stationary robot

  13. Human-Robot Interaction: A Survey

    Science.gov (United States)

    2007-01-01

    demonstration and adaptation of biped locomotion,” Robotics and Autonomous Systems, vol. 47, no. 2–3, pp. 79–91, 2004. 268 References [203] Y. Nakauchi...Human– Robot Interaction: A Survey Michael A. Goodrich1 and Alan C. Schultz2 1 Brigham Young University, Provo, UT 84602, USA, mike@cs.byu.edu 2 US...Naval Research Laboratory, Washington, DC 20375, USA, schultz@aic.nrl.navy.mil Abstract Human– Robot Interaction (HRI) has recently received considerable

  14. Real-Time Motion Planning and Safe Navigation in Dynamic Multi-Robot Environments

    Science.gov (United States)

    2006-12-15

    Special Issue on Multi- Robot Systems, 2006, to appear. [25] J. Chestnutt, J. J. Kuffner, K. Nishiwaki, and S. Kagami. Planning biped navigation strategies...Real-Time Motion Planning and Safe Navigation in Dynamic Multi- Robot Environments James Robert Bruce CMU-CS-06-181 December 15, 2006 School of...Planning and Safe Navigation in Dynamic Multi- Robot Environments 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) 5d

  15. JPRS Report, Science & Technology, Japan, 4th Intelligent Robots Symposium, Volume 2

    Science.gov (United States)

    1989-03-16

    Containing Skid a.2 System causing overturn A biped mobile robot needs equilibrium control to prevent it from overturning due to external disturbances...8217 « II I, I » 111 I» Uli —’■» !’■’ Science & Technology Japan 19980530 091 ATH INTELLIGENT ROBOTS ...SCIENCE & TECHNOLOGY JAPAN 4th INTELLIGENT ROBOTS SYMPOSIUM VOLUME II 43064062 Tokyo 4TH INTELLIGENT ROBOTS SYMPOSIUM PAPERS in Japanese 13-14 Jun

  16. Use of Advanced Machine-Learning Techniques for Non-Invasive Monitoring of Hemorrhage

    Science.gov (United States)

    2010-04-01

    for humans is confounded by species differences (e.g., quadruped vs. biped ), particularly regarding blood pressure regulation, and the presence of...based, robot navigation system for our machine-learning framework. This system builds linear and nonlinear density models in real-time and is able to... robot navigation system. This approach was used to analyze continuous, physiological waveform data from 28 healthy humans exposed to progressive

  17. Multiresolution Algorithms for Processing Giga-Models: Real-time Visualization, Reasoning, and Interaction

    Science.gov (United States)

    2012-04-23

    Zheng, Ming Lin, Dinesh Manocha, Albertus Hedrawan Adiwahono, Chee-Meng Chew. A walking pattern generator for biped robots on uneven terrains, IEEE...virtual rehearsal’’, and rapid visualization of intricate datasets of varying scale: from nanometer-sized objects (e.g. nanoscale robots , storage devices...cost, perform ``virtual rehearsal’’, and rapid visualization of intricate datasets of varying scale: from nanometer-sized objects (e.g. nanoscale robots

  18. Applying patent information to tracking a specific technology

    Directory of Open Access Journals (Sweden)

    Chen-Yuan Liu

    2007-10-01

    Full Text Available Patents in general contain much novel technological information. This paper demonstrates that the usage of patent analysis can facilitate a unique scheme for tracking technology development. In this paper, the walking technique of the Japanese biped robot is tracked as an example. The searching method of the FI (file index and F-term classification system developed by JPO (Japan Patent Office was employed in this study, where all the related patent data were searched from the IPDL (Intellectual Property Digital Library. This study investigated an important technique applied to the humanoid biped robot that imitates the walking behavior of the human beings on two legs. By analyzing the patent information obtained, the relative research capabilities, technical strengths, and patent citation conditions among patent competitors were compared. Furthermore, a formulated technical matrix of patent map is established in this paper to indicate that the ZMP (Zero Moment Point control means is the main technology to achieve stabilized walking control of the humanoid biped robot. This study also incorporates relevant academic journal findings and industrial information. Results presented herein demonstrate that patents can function not only as a map for tracking a technology trajectory, but also as a guide to the main development of a new technology in years to come.

  19. Modification and Actuator Minimization of the Hip Leg Joint in a Bipedal Robot: A Proposed Design

    Directory of Open Access Journals (Sweden)

    Nirmalya Tripathi

    2014-12-01

    Full Text Available In recent times, there have been numeric applications of Biped Robots. In this paper, a proposed upper leg hip design of a biped was developed taking cost reduction and optimization as factors for consideration. The proposed system introduces a novel method which consists of a vibration reduction (VR DC stepper motor, microcontroller, microprocessor and gearing arrangement. The program in the microprocessor is so designed that it gives a fixed number of cycles/steps to the VR DC stepper motor in clockwise and thereafter in anti-clockwise direction. This turning movement can then be transmitted to the gearing system which precisely moves one upper leg when the VR DC stepper motor moves in clockwise direction, while the other upper leg remains static, and vice-versa. It has been observed that this new proposed system may reduce the cost overhead, weight and the energy consumption incurred by working on a single VR DC stepper motor while conventionally two stepper motors are used to give the motion of the two upper legs in a biped.

  20. Kinetics evaluation of using biomimetic IPMC actuators for stable bipedal locomotion

    Science.gov (United States)

    Hosseinipour, M.; Elahinia, M.

    2013-04-01

    Ionic conducting polymer-metal composites (IPMC) are flexible actuators that can act as artificial muscles in many robotic and microelectromechanical systems. The authors have already investigated the possibility of kinematically stable bipedal locomotion using these actuators. Fabrication parameters of actuators including minimum lengths, installation angles, plating thicknesses and maximum required voltages were found in previous studies for a stable bipedal gait with maximum speed of 0.1093 m/s. Extending the FEA solution of the governing partial differential equation of the behavior of IPMCs to 2D, actuator limits were found. Considering these limits, joint path trajectories were generated to achieve a fast and smooth motion on a seven-degree of freedom biped robot. This study utilizes the same biped model, and focuses on the kinetics of the proposed gait in order to complement the evaluation of using IPMCs as biomimetic actuators for bipedal locomotion. The dynamic equations of motion of the previously designed bipedal gait are solved here to find the maximum required joint torques. Blocking force of a flap of IPMC is found by plugging results of the FEA into a model based on beam theories. This force adequately predicts the maximum deliverable torque of a piece of IPMC with certain length. Feasibility of using IPMCs as joint actuators is then evaluated by comparing the required and achievable torques. This study concludes the previous work to cover feasibility, stability and design of a biped robot actuated with IPMC flaps.

  1. Modelling gait transition in two-legged animals

    Science.gov (United States)

    Pinto, Carla M. A.; Santos, Alexandra P.

    2011-12-01

    The study of locomotor patterns has been a major research goal in the last decades. Understanding how intralimb and interlimb coordination works out so well in animals' locomotion is a hard and challenging task. Many models have been proposed to model animal's rhythms. These models have also been applied to the control of rhythmic movements of adaptive legged robots, namely biped, quadruped and other designs. In this paper we study gait transition in a central pattern generator (CPG) model for bipeds, the 4-cells model. This model is proposed by Golubitsky, Stewart, Buono and Collins and is studied further by Pinto and Golubitsky. We briefly resume the work done by Pinto and Golubitsky. We compute numerically gait transition in the 4-cells CPG model for bipeds. We use Morris-Lecar equations and Wilson-Cowan equations as the internal dynamics for each cell. We also consider two types of coupling between the cells: diffusive and synaptic. We obtain secondary gaits by bifurcation of primary gaits, by varying the coupling strengths. Nevertheless, some bifurcating branches could not be obtained, emphasizing the fact that despite analytically those bifurcations exist, finding them is a hard task and requires variation of other parameters of the equations. We note that the type of coupling did not influence the results.

  2. Feedback Control of Floor Reaction Force Based on Force-Reflecting-Type Multilateral Control

    Science.gov (United States)

    Nagase, Kazuki; Katsura, Seiichiro

    Real-world haptics is being studied not only for improving feedback on real-world haptic information in teleoperation but also for developing key technologies for future human support. For the remote operating of systems at distant places, haptic information is required in addition to visual information. The haptic information around a work environment can be the floor reaction force, which can be obtained using a movement-type haptic device. The floor reaction force from the environment that the mobile haptic device touches is fed back accurately to the operator. First, this paper proposes a general force-reflecting-type multilateral control. Second, this paper extends the control to feedback control of the floor reaction force by using force-reflecting-type multilateral control and a novel haptic device employing a biped robot with a slave system. The position response of a master system is transformed to a leg tip position command for the biped-type haptic device. In addition, the floor reaction force determined by the biped-type haptic device is fed back to the master system. The proposed method can determine the force feedback to the sole of the foot, which is not possible with a conventional stationary system. As a result, the floor reaction force from a large area can be obtained, and the operability of the control system is improved by using the proposed system.

  3. On the evolution of cytoplasmic incompatibility in haplodiploid species

    NARCIS (Netherlands)

    Egas, C.J.M.; de Freitas Vala Salvador, F.; Breeuwer, J.A.J.

    2002-01-01

    The most enigmatic sexual manipulation by Wolbachia endosymbionts is cytoplasmic incompatibility (CI): infected mates are reproductively incompatible with uninfected females. In this paper, we extend the theory on population dynamics and evolution of CI, with emphasis on haplodiploid species. First,

  4. A critical transition in leaf evolution facilitated the Cretaceous angiosperm revolution

    NARCIS (Netherlands)

    Boer, H.J. de; Eppinga, M.B.; Wassen, M.J.; Dekker, S.C.

    2012-01-01

    The revolutionary rise of broad-leaved (flowering) angiosperm plant species during the Cretaceous initiated a global ecological transformation towards modern biodiversity. Still, the mechanisms involved in this angiosperm radiation remain enigmatic. Here we show that the period of rapid

  5. Novel neural pathways for metabolic effects of thyroid hormone

    NARCIS (Netherlands)

    Fliers, Eric; Klieverik, Lars P.; Kalsbeek, Andries

    2010-01-01

    The relation between thyrotoxicosis, the clinical syndrome resulting from exposure to excessive thyroid hormone concentrations, and the sympathetic nervous system remains enigmatic. Nevertheless, beta-adrenergic blockers are widely used to manage severe thyrotoxicosis. Recent experiments show that

  6. Diversity of non–Laboulbenialean fungi on millipedes

    DEFF Research Database (Denmark)

    Enghoff, Henrik; Reboleira, Ana Sofia

    2017-01-01

    . An enigmatic fungus showing characteristics of Coreomycetopsis, Hormiscioideus and Antennopsis is recorded from two species of Danish millipedes of the order Julida. Peculiar structures, tentatively referred to fungi are recorded from several millipede orders where they occur between micro...

  7. Voyage au centre de la matière Voltaire à la vitesse de la lumière

    CERN Multimedia

    2007-01-01

    You heard about of CERN, but fundamental research seems enigmatic to you? Just a step from you, physicists coming from the whole world make the knowledge of Universe and matter progressing. (2/3 page)

  8. IAP survivin regulates atherosclerotic macrophage survival

    NARCIS (Netherlands)

    Blanc-Brude, Olivier P.; Teissier, Elisabeth; Castier, Yves; Lesèche, Guy; Bijnens, Ann-Pascal; Daemen, Mat; Staels, Bart; Mallat, Ziad; Tedgui, Alain

    2007-01-01

    Inflammatory macrophage apoptosis is critical to atherosclerotic plaque formation, but its mechanisms remain enigmatic. We hypothesized that inhibitor of apoptosis protein (IAP) survivin regulates macrophage death in atherosclerosis. Western blot analysis revealed discrete survivin expression in

  9. Bombesin-like peptide mediates lung injury in a baboon model of bronchopulmonary dysplasia

    NARCIS (Netherlands)

    Sunday, ME; Yoder, BA; Cuttitta, F; Haley, KJ; Emanuel, RL

    1998-01-01

    The etiology of bronchopulmonary dysplasia (BPD), a chronic lung disease of infants surviving respiratory distress syndrome, remains fundamentally enigmatic. BPD is decreasing in severity but continues to be a major problem in pediatric medicine, being especially prevalent among very premature

  10. Mixed-species genomic microarray analysis of fecal samples reveals differential transcriptional responses of bifidobacteria in breast- And formula-fed infants

    NARCIS (Netherlands)

    Klaassens, E.S.; Boesten, R.J.; Haarman, M.; Knol, J.; Schuren, F.H.; Vaughan, E.E.; Vos, W.M.de

    2009-01-01

    Although their exact function remains enigmatic, bifidobacteria are among the first colonizers of the newborn infant gut and further develop into abundant communities, notably in response to diet. Therefore, the transcriptional responses of bifidobacteria in rapidly processed fecal samples from

  11. The power of five

    CERN Multimedia

    Minkel, J

    2004-01-01

    Could our best theory of matter possible be wrong? Of course not, say physicists. So why does an enigmatic particle made of five quarks have them falling over each other to dream up new models (2½ pages)

  12. Genetics Home Reference: amyotrophic lateral sclerosis

    Science.gov (United States)

    ... JC. The ALS/PDC syndrome of Guam: potential biomarkers for an enigmatic disorder. Prog Neurobiol. 2011 Dec; ... precision medicine? What is newborn screening? New Pages Depression GABA-transaminase deficiency Pelizaeus-Merzbacher-like disease type ...

  13. The caudate : a key node in the neuronal network imbalance of insomnia?

    NARCIS (Netherlands)

    Stoffers, Diederick; Altena, Ellemarije; van der Werf, Ysbrand D; Sanz-Arigita, Ernesto J; Voorn, Thom A; Astill, Rebecca G; Strijers, Rob L M; Waterman, Dé; Van Someren, Eus J W

    Insomnia is prevalent, severe and partially heritable. Unfortunately, its neuronal correlates remain enigmatic, hampering the development of mechanistic models and rational treatments. Consistently reported impairments concern fragmented sleep, hyper-arousal and executive dysfunction. Because

  14. The caudate: a key node in the neuronal network imbalance of insomnia?

    NARCIS (Netherlands)

    Stoffers, D.; Altena, E.; van der Werf, Y.D.; Sanz-Arigita, E.J.; Voorn, T.A.; Astill, R.G.; Strijers, R.L.M.; Waterman, D.; van Someren, E.J.W.

    2014-01-01

    Insomnia is prevalent, severe and partially heritable. Unfortunately, its neuronal correlates remain enigmatic, hampering the development of mechanistic models and rational treatments. Consistently reported impairments concern fragmented sleep, hyper-arousal and executive dysfunction. Because

  15. The Staphylococcal Cassette Chromosome mec type V from Staphylococcus aureus ST398 is packaged into bacteriophage capsids

    NARCIS (Netherlands)

    Chlebowicz, Monika A.; Mašlaňová, Ivana; Kuntová, Lucie; Grundmann, Hajo; Pantůček, Roman; Doškař, Jiří; van Dijl, Jan Maarten; Buist, Girbe

    The Staphylococcal Cassette Chromosome mec (SCCmec) confers methicillin resistance to Staphylococcus aureus. While SCCmec is generally regarded as a mobile genetic element, the precise mechanisms by which large SCCmec elements are exchanged between staphylococci have remained enigmatic. In the

  16. Observations on the morphological diversity and distribution of two siliceous nannoplankton genera, Hyalolithus and Petasaria

    DEFF Research Database (Denmark)

    Jordan, Richard W.; Abe, Kent; Cruz, Jarret

    2016-01-01

    Scale-bearing siliceous nannoplankton are occasionally encountered in surface seawater samples, but are rarely identified or illustrated. In this study, the morphological diversity of the haptophyte Hyalolithus neolepis and the enigmatic Petasaria heterolepis are investigated in scanning and tran......Scale-bearing siliceous nannoplankton are occasionally encountered in surface seawater samples, but are rarely identified or illustrated. In this study, the morphological diversity of the haptophyte Hyalolithus neolepis and the enigmatic Petasaria heterolepis are investigated in scanning...

  17. Diet and cross-shelf distribution of rabbitfishes (f. Siganidae) on the northern Great Barrier Reef: implications for ecosystem function

    Science.gov (United States)

    Hoey, A. S.; Brandl, S. J.; Bellwood, D. R.

    2013-12-01

    Herbivorous fishes are a critical functional group on coral reefs, and there is a clear need to understand the role and relative importance of individual species in reef processes. While numerous studies have quantified the roles of parrotfishes and surgeonfishes on coral reefs, the rabbitfishes (f. Siganidae) have been largely overlooked. Consequently, they are typically viewed as a uniform group of grazing or browsing fishes. Here, we quantify the diet and distribution of rabbitfish assemblages on six reefs spanning the continental shelf in the northern Great Barrier Reef. Our results revealed marked variation in the diet and distribution of rabbitfish species. Analysis of stomach contents identified four distinct groups: browsers of leathery brown macroalgae ( Siganus canaliculatus, S. javus), croppers of red and green macroalgae ( S. argenteus, S. corallinus, S. doliatus, S. spinus) and mixed feeders of diverse algal material, cyanobacteria, detritus and sediment ( S. lineatus, S. punctatissimus, S. punctatus, S. vulpinus). Surprisingly, the diet of the fourth group ( S. puellus) contained very little algal material (22.5 %) and was instead dominated by sponges (69.1 %). Together with this variation in diet, the distribution of rabbitfishes displayed clear cross-shelf variation. Biomass was greatest on inner-shelf reefs (112.7 ± 18.2 kg.ha-1), decreasing markedly on mid- (37.8 ± 4.6 kg.ha-1) and outer-shelf reefs (9.7 ± 2.2 kg.ha-1). This pattern was largely driven by the browsing S. canaliculatus that accounted for 50 % of the biomass on inner-shelf reefs, but was absent in mid- and outer-shelf reefs. Mixed feeders, although primarily restricted to the reef slope and back reef habitats, also decreased in abundance and biomass from inshore to offshore, while algal cropping taxa were the dominant group on mid-shelf reefs. These results clearly demonstrate the extent to which diet and distribution vary within the Siganidae and emphasise the importance of

  18. Interdisciplinary Construction and Implementation of a Human sized Humanoid Robot by master students

    DEFF Research Database (Denmark)

    Helbo, Jan; Svendsen, Mads Sølver

    2009-01-01

    former students. In the last three years three student groups from respectively Department of Mechanical Engineering and Electronic Systems have been working on the project.  The robot AAU-BOT1 is designed, manufactured, assembled, instrumented and the time for walking should be possible in the near......With limited funding it seemed a very good idea to encourage master students to design and construct their own human size biped robot.  Because this task is huge and very interdisciplinary different expertises were covered by students from different departments who in turn took over results from...

  19. Double Motor Coordinated Control Based on Hybrid Genetic Algorithm and CMAC

    Science.gov (United States)

    Cao, Shaozhong; Tu, Ji

    A novel hybrid cerebellar model articulation controller (CMAC) and online adaptive genetic algorithm (GA) controller is introduced to control two Brushless DC motor (BLDCM) which applied in a biped robot. Genetic Algorithm simulates the random learning among the individuals of a group, and CMAC simulates the self-learning of an individual. To validate the ability and superiority of the novel algorithm, experiments have been done in MATLAB/SIMULINK. Analysis among GA, hybrid GA-CMAC and CMAC feed-forward control is also given. The results prove that the torque ripple of the coordinated control system is eliminated by using the hybrid GA-CMAC algorithm.

  20. Modeling Behavior and Variation for Crowd Animation

    Science.gov (United States)

    2009-08-01

    input. Thanks to the faculty and students whom I have interacted with during my time here: Jernej Barbic, Jinxiang Chai, Joel Chestnutt, James Hays...29 (Annual Conference Series):97–104, 1995. 2.2, 3.7 [14] Joel Chestnutt, James Kuffner, Koichi Nishiwaki, and Satoshi Kagami. Planning biped...articulated figure motion. IEEE Computer Graphics and Application, 17(6):39–45, 1997. 2.4, 3.7 [109] Andrew P. Witkin and Zoran Popović. Motion warping. In

  1. The control system for the Honda humanoid robot.

    Science.gov (United States)

    Takenaka, Toru

    2006-09-01

    To avoid tipping over either during walking or on standing up, humans will first push down hard on the ground with a part of the sole of the foot. Then, when the tipping force can no longer be resisted, a change in body position or an extra step (stepping out) may be required to stabilise the posture. Our biped robot's control system attempts to reproduce and execute the same postural control operations carried out by humans. In this article, we present the history of robot development at Honda, fundamental dynamics for robots and the principles of posture control.

  2. Planar jumping with stable landing through foot orientation design and ankle joint control

    Science.gov (United States)

    Yuan, Qilong; Chen, I.-Ming

    2012-06-01

    This paper introduces a method to generate the planar jumping motion for biped robot. In this work, through determining the upper body posture trajectory in the flight phase, the foot landing posture is made to be flat while landing. Together with properly designing the trajectory for local center of gravity and the foot landing velocity, the soft landing trajectory is generated. A controller on the ankle joint is added to avoid significant impact with the ground and stabilize the robot after landing. Jumping motion with stable landing is achieved in a dynamic simulation environment based on this method.

  3. Walking control of small size humanoid robot: HAJIME ROBOT 18

    Science.gov (United States)

    Sakamoto, Hajime; Nakatsu, Ryohei

    2007-12-01

    HAJIME ROBOT 18 is a fully autonomous biped robot. It has been developed for RoboCup which is a worldwide soccer competition of robots. It is necessary for a robot to have high mobility to play soccer. High speed walking and all directional walking are important to approach and to locate in front of a ball. HAJIME ROBOT achieved these walking. This paper describes walking control of a small size humanoid robot 'HAJIME ROBOT 18' and shows the measurement result of ZMP (Zero Moment Point). HAJIME ROBOT won the Robotics Society of Japan Award in RoboCup 2005 and in RoboCup 2006 Japan Open.

  4. Walk-Startup of a Two-Legged Walking Mechanism

    Science.gov (United States)

    Babković, Kalman; Nagy, László; Krklješ, Damir; Borovac, Branislav

    There is a growing interest towards humanoid robots. One of their most important characteristic is the two-legged motion - walk. Starting and stopping of humanoid robots introduce substantial delays. In this paper, the goal is to explore the possibility of using a short unbalanced state of the biped robot to quickly gain speed and achieve the steady state velocity during a period shorter than half of the single support phase. The proposed method is verified by simulation. Maintainig a steady state, balanced gait is not considered in this paper.

  5. Dimension Reduction Near Periodic Orbits of Hybrid Systems: Appendix

    Science.gov (United States)

    2011-09-07

    biped robots : Analysis via systems with impulse effects. IEEE TAC, 46(1):51–64, 2002. [18] S. Collins, A. Ruina, R. Tedrake, and M. Wisse. Efficient... bipedal robots based on passive-dynamic walkers. Science, 307(5712):1082– 1085, 2005. [19] R. M. Ghigliazza, R. Altendorfer, P. Holmes, and D...impulse effects with application to periodic locomotion in bipedal robots . IEEE TAC, 54(8):1751 –1764, aug. 2009. [25] A.S. Shiriaev, L.B. Freidovich, and

  6. Decomposition and Cross-Product-Based Method for Computing the Dynamic Equation of Robots

    Directory of Open Access Journals (Sweden)

    Ching-Long Shih

    2012-08-01

    Full Text Available This paper aims to demonstrate a clear relationship between Lagrange equations and Newton-Euler equations regarding computational methods for robot dynamics, from which we derive a systematic method for using either symbolic or on-line numerical computations. Based on the decomposition approach and cross-product operation, a computing method for robot dynamics can be easily developed. The advantages of this computing framework are that: it can be used for both symbolic and on-line numeric computation purposes, and it can also be applied to biped systems, as well as some simple closed-chain robot systems.

  7. Modeling Dynamics and Exploring Control of a Single-Wheeled Dynamically Stable Mobile Robot with Arms

    Science.gov (United States)

    2006-08-31

    Takahashi, T., and Kawamura, A. "A Study on the Zero Moment Point Measurement for Biped Walking Robots ", Proc. of the 7th International Workshop on...STABLE MOBILE ROBOT WITH ARMS" 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) 5d. PROJECT NUMBER CAPT SCHEARER ERIC M 5e. TASK NUMBER 5f. WORK...Std. Z39.18 Modeling Dynamics and Exploring Control of a Single-Wheeled Dynamically Stable Mobile Robot with Arms Eric M. Schearer CMU-RI-TR-06-37

  8. Present and Future of Nonlinear Dynamics According to a Nonlinear Dynamicist

    Science.gov (United States)

    Yagasaki, Kazuyuki

    The present state and future of “nonlinear dynamics” is explained in this review. First, chaotic vibrations of nonlinear beams are used as a material to demonstrate our present understanding of chaos, compared with the situation of the early stage of its research. Second, two topics, microcantilever dynamics of tapping-mode atomic force microscopy and design of Earth to the Moon transfer trajectories of spacecrafts, are chosen for describing the importance and usefulness of “nonlinear dynamics” in new technologies. Moreover, two applications of “nonlinear dynamics” to biped walking robots and nonlinear optimal control are briefly addressed.

  9. Modelling of dynamically stable AR-601M robot locomotion in Simulink

    Directory of Open Access Journals (Sweden)

    Khusainov Ramil

    2016-01-01

    Full Text Available Humanoid robots will gradually play an important role in our daily lives. Currently, research on anthropomorphic robots and biped locomotion is one of the most important problems in the field of mobile robotics, and the development of reliable control algorithms for them is a challenging task. In this research two algorithms for stable walking of Russian anthropomorphic robot AR-601M with 41 Degrees of Freedom (DoF are investigated. To achieve a human-like dynamically stable locomotion 6 DoF in each robot leg are controlled with Virtual Height Inverted Pendulum and Preview control methods.

  10. Humanoid Robot Balance Control using the Spherical Inverted Pendulum Model

    Directory of Open Access Journals (Sweden)

    Ahmed eElhasairi

    2015-10-01

    Full Text Available Human beings are highly efficient in maintaining standing balance under the influence of different perturbations. However, biped humanoid robots are far from exhibiting similar skills. This is mainly due to the limitations in the current control and modelling techniques used in humanoid robots. Even though approaches using the Linear Inverted Pendulum Model and the Preview Control schemes have shown improved results, they still suffer from shortcomings in the overall generated motion. We propose here a model and control approach that aims to overcome the limiting assumptions in the LIPM models, through using the ankle joint variables in modelling and control of the standing balance of the humanoid robot.

  11. Stereo vision with distance and gradient recognition

    Science.gov (United States)

    Kim, Soo-Hyun; Kang, Suk-Bum; Yang, Tae-Kyu

    2007-12-01

    Robot vision technology is needed for the stable walking, object recognition and the movement to the target spot. By some sensors which use infrared rays and ultrasonic, robot can overcome the urgent state or dangerous time. But stereo vision of three dimensional space would make robot have powerful artificial intelligence. In this paper we consider about the stereo vision for stable and correct movement of a biped robot. When a robot confront with an inclination plane or steps, particular algorithms are needed to go on without failure. This study developed the recognition algorithm of distance and gradient of environment by stereo matching process.

  12. Reinforcement learning: Solving two case studies

    Science.gov (United States)

    Duarte, Ana Filipa; Silva, Pedro; dos Santos, Cristina Peixoto

    2012-09-01

    Reinforcement Learning algorithms offer interesting features for the control of autonomous systems, such as the ability to learn from direct interaction with the environment, and the use of a simple reward signalas opposed to the input-outputs pairsused in classic supervised learning. The reward signal indicates the success of failure of the actions executed by the agent in the environment. In this work, are described RL algorithmsapplied to two case studies: the Crawler robot and the widely known inverted pendulum. We explore RL capabilities to autonomously learn a basic locomotion pattern in the Crawler, andapproach the balancing problem of biped locomotion using the inverted pendulum.

  13. A more desirable balanced polyunsaturated fatty acid composition achieved by heterologous expression of Δ15/Δ4 desaturases in mammalian cells.

    Directory of Open Access Journals (Sweden)

    Guiming Zhu

    Full Text Available Arachidonic (ARA, eicosapentaenoic (EPA and docosahexaenoic (DHA acids are the most biologically active polyunsaturated fatty acids, but their biosyntheses in mammals are very limited. The biosynthesis of DHA is the most difficult, because this undergoes the Sprecher pathway--a further elongation step from docosapentaenoic acid (DPA, a Δ6-desaturase acting on a C24 fatty acid substrate followed by a peroxisomal chain shortening step. This paper reports the successful heterologous expression of two non-mammalian genes (with modification of codon usage, coding for Euglena gracilis Δ4-desaturase and Siganus canaliculatus Δ4-desaturase respectively, in mammalian cells (HEK293 cell line. Both of the Δ4-desaturases can efficiently function, directly converting DPA into DHA. Moreover, the cooperation of the E. gracilis Δ4-desaturase with C. elegans Δ15-desaturase (able to convert a number of n-6 PUFAs to their corresponding n-3 PUFAs in transgenic HEK293 cells made a more desirable fatty acid composition--a drastically reduced n-6/n-3 PUFAs ratio and a high level of DHA as well as EPA and ARA. Our findings provide a basis for potential applications of the gene constructs for expression of Δ15/Δ4-desaturases in transgenic livestock to produce such a fatty acid profile in the related products, which certainly will bring benefit to human health.

  14. Pattern of morphological diversification in the Leptocarabus ground beetles (Coleoptera: Carabidae) as deduced from mitochondrial ND5 gene and nuclear 28S rDNA sequences.

    Science.gov (United States)

    Kim, C G; Zhou, H Z; Imura, Y; Tominaga, O; Su, Z H; Osawa, S

    2000-01-01

    Most of the mitochondrial NADH dehydrogenase subunit 5 (ND5) gene and a part of nuclear 28S ribosomal RNA gene were sequenced for 14 species of ground beetles belonging to the genus Leptocarabus. In both the ND5 and the 28S rDNA phylogenetic trees of Leptocarabus, three major lineages were recognized: (1) L. marcilhaci/L. yokoael/Leptocarabus sp. from China, (2) L. koreanus/L. truncaticollis/L. seishinensis/L. semiopacus/L. canaliculatus/L. kurilensis from the northern Eurasian continent including Korea and Hokkaido, Japan, and (3) all of the Japanese species except L. kurilensis. Clustering of the species in the trees is largely linked to their geographic distribution and does not correlate with morphological characters. The species belonging to different species groups are clustered in the same lineages, and those in the same species group are scattered among the different lineages. One of the possible interpretations of the present results would be that morphological transformations independently took place in the different lineages, sometimes with accompanying parallel morphological evolution, resulting in the occurrence of the morphological species belonging to the same species group (= type) in the different lineages.

  15. Organ-specific accumulation, transportation, and elimination of methylmercury and inorganic mercury in a low Hg accumulating fish.

    Science.gov (United States)

    Peng, Xiaoyan; Liu, Fengjie; Wang, Wen-Xiong

    2016-08-01

    Low mercury (Hg) concentrations down to several nanograms Hg per gram of wet tissue are documented in certain fish species such as herbivorous fish, and the underlying mechanisms remain speculative. In the present study, bioaccumulation and depuration patterns of inorganic Hg(II) and methylmercury (MeHg) in a herbivorous rabbitfish Siganus canaliculatus were investigated at organ and subcellular levels following waterborne or dietary exposures. The results showed that the efflux rate constants of Hg(II) and MeHg were 0.104 d(-1) and 0.024 d(-1) , respectively, and are probably the highest rate constants recorded in fish thus far. The dietary MeHg assimilation efficiency (68%) was much lower than those in other fish species (∼90%). The predominant distribution of MeHg in fish muscle was attributable to negligible elimination of MeHg from muscle (Hg(II) was much more slowly distributed into muscle but was efficiently eliminated by the intestine (0.13 d(-1) ). Subcellular distribution indicated that some specific membrane proteins in muscle were the primary binding pools for MeHg, and both metallothionein-like proteins and Hg-rich granules were the important components in eliminating both MeHg and Hg(II). Overall, the present study's results suggest that the low tissue Hg concentration in the rabbitfish was partly explained by its unique biokinetics. Environ Toxicol Chem 2016;35:2074-2083. © 2016 SETAC. © 2016 SETAC.

  16. Enhanced production of docosahexaenoic acid in mammalian cells.

    Directory of Open Access Journals (Sweden)

    Guiming Zhu

    Full Text Available Docosahexaenoic acid (DHA, one of the important polyunsaturated fatty acids (PUFA with pharmaceutical and nutraceutical effects, may be obtained through diet or synthesized in vivo from dietary a-linolenic acid (ALA. However, the accumulation of DHA in human body or other mammals relies on the intake of high dose of DHA for a certain period of time, and the bioconversion of dietary ALA to DHA is very limited. Therefore the mammalian cells are not rich in DHA. Here, we report a new technology for increased production of DHA in mammalian cells. By using transient transfection method, Siganus canaliculatus Δ4 desaturase was heterologously expressed in chinese hamster ovary (CHO cells, and simultaneously, mouse Δ6-desaturase and Δ5-desaturase were overexpressed. The results demonstrated that the overexpression of Δ6/Δ5-desaturases significantly enhanced the ability of transfected cells to convert the added ALA to docosapentaenoic acid (DPA which in turn get converted into DHA directly and efficiently by the heterologously expressed Δ4 desaturase. This technology provides the basis for potential utility of these gene constructs in the creation of transgenic livestock for increased production of DHA/related products to meet the growing demand of this important PUFA.

  17. Phylogenetic Signal of Threatening Processes among Hylids: The Need for Clade-Level Conservation Planning

    Directory of Open Access Journals (Sweden)

    Sarah J. Corey

    2010-01-01

    Full Text Available Rapid, global declines among amphibians are partly alarming because many occur for apparently unknown or enigmatic reasons. Moreover, the relationship between phylogeny and enigmatic declines in higher clades of the amphibian phylogeny appears at first to be an intractable problem. I present a working solution by assessing threatening processes potentially underlying enigmatic declines in the family, Hylidae. Applying comparative methods that account for various evolutionary scenarios, I find extreme concentrations of threatening processes, including pollution and habitat loss, in the clade Hylini, potentially influenced by traits under selection. The analysis highlights hotspots of declines under phylogenetic influence in the genera Isthmohyla, Plectrohyla and Ptychohyla, and geographically in Mexico and Guatemala. The conservation implications of concentrated phylogenetic influence across multiple threatening processes are twofold: Data Deficient species of threatened clades should be prioritized in future surveys and, perhaps, a greater vulnerability should be assigned to such clades for further consideration of clade-level conservation priorities.

  18. Motion Intention Analysis-Based Coordinated Control for Amputee-Prosthesis Interaction

    Directory of Open Access Journals (Sweden)

    Fei Wang

    2010-01-01

    Full Text Available To study amputee-prosthesis (AP interaction, a novel reconfigurable biped robot was designed and fabricated. In homogeneous configuration, two identical artificial legs (ALs were used to simulate the symmetrical lower limbs of a healthy person. Linear inverted pendulum model combining with ZMP stability criterion was used to generate the gait trajectories of ALs. To acquire interjoint coordination for healthy gait, rate gyroscopes were mounted on CoGs of thigh and shank of both legs. By employing principal component analysis, the measured angular velocities were processed and the motion synergy was obtained in the final. Then, one of two ALs was replaced by a bionic leg (BL, and the biped robot was changed into heterogeneous configuration to simulate the AP coupling system. To realize symmetrical stable walking, master/slave coordinated control strategy is proposed. According to information acquired by gyroscopes, BL recognized the motion intention of AL and reconstructed its kinematic variables based on interjoint coordination. By employing iterative learning control, gait tracking of BL to AL was archived. Real environment robot walking experiments validated the correctness and effectiveness of the proposed scheme.

  19. The functional origin of dinosaur bipedalism: Cumulative evidence from bipedally inclined reptiles and disinclined mammals.

    Science.gov (United States)

    Persons, W Scott; Currie, Philip J

    2017-05-07

    Bipedalism is a trait basal to, and widespread among, dinosaurs. It has been previously argued that bipedalism arose in the ancestors of dinosaurs for the function of freeing the forelimbs to serve as predatory weapons. However, this argument does not explain why bipedalism was retained among numerous herbivorous groups of dinosaurs. We argue that bipedalism arose in the dinosaur line for the purpose of enhanced cursoriality. Modern facultatively bipedal lizards offer an analog for the first stages in the evolution of dinosaurian bipedalism. Many extant lizards assume a bipedal stance while attempting to flee predators at maximum speed. Bipedalism, when combined with a caudofemoralis musculature, has cursorial advantages because the caudofemoralis provides a greater source of propulsion to the hindlimbs than is generally available to the forelimbs. That cursorial advantage explains the relative abundance of cursorial facultative bipeds and obligate bipeds among fossil diapsids and the relative scarcity of either among mammals. Having lost their caudofemoralis in the Permian, perhaps in the context of adapting to a fossorial lifestyle, the mammalian line has been disinclined towards bipedalism, but, having never lost the caudofemoralis of their ancestors, cursorial avemetatarsalians (bird-line archosaurs) were naturally inclined towards bipedalism. Copyright © 2017 Elsevier Ltd. All rights reserved.

  20. An Algorithm for Pedestrian Detection in Multispectral Image Sequences

    Science.gov (United States)

    Kniaz, V. V.; Fedorenko, V. V.

    2017-05-01

    The growing interest for self-driving cars provides a demand for scene understanding and obstacle detection algorithms. One of the most challenging problems in this field is the problem of pedestrian detection. Main difficulties arise from a diverse appearances of pedestrians. Poor visibility conditions such as fog and low light conditions also significantly decrease the quality of pedestrian detection. This paper presents a new optical flow based algorithm BipedDetet that provides robust pedestrian detection on a single-borad computer. The algorithm is based on the idea of simplified Kalman filtering suitable for realization on modern single-board computers. To detect a pedestrian a synthetic optical flow of the scene without pedestrians is generated using slanted-plane model. The estimate of a real optical flow is generated using a multispectral image sequence. The difference of the synthetic optical flow and the real optical flow provides the optical flow induced by pedestrians. The final detection of pedestrians is done by the segmentation of the difference of optical flows. To evaluate the BipedDetect algorithm a multispectral dataset was collected using a mobile robot.

  1. Planning and Control of Stable Walking for a 3D Bipedal Robot

    Directory of Open Access Journals (Sweden)

    Ching-Long Shih

    2012-08-01

    Full Text Available This paper presents a time-invariant feedback controller that simultaneously regulates the ZMP (zero-moment point position and the joint configuration of a 3D biped in order to achieve an asymptotically, periodic walking gait for a 3D bipedal robot with feet. The cyclic walking gait is composed of a successive single-support phase and an impulsive impact with full plane-contact between the feet and the ground. The biped robot has 10 DOFs (degrees of freedom in the single-support phase and 10 actuators. In order to avoid the unexpected rotation of the supporting foot, the position of the ZMP in the horizontal plane has to be controlled. It is also desired that the feedback controller tracks a parameterized reference trajectory to achieve walking stability. We use the method of virtual constraints previously implemented for controlling point-feet bipedal robots to create a set of parameterized reference walking trajectories. By creating the hybrid zero dynamics, an orbital stability study with Poincaré map is evaluated in a reduced space. We then design a supplemental event-based feedback controller to enhance walking stability. The walking gait has an average walking speed of 0.76m/sec (or 0.72 body lengths per second in the simulation study.

  2. Construction of Gait Adaptation Model in Human Splitbelt Treadmill Walking

    Directory of Open Access Journals (Sweden)

    Yuji Otoda

    2009-01-01

    Full Text Available There are a huge number of studies that measure kinematics, dynamics, the oxygen uptake and so on in human walking on the treadmill. Especially in walking on the splitbelt treadmill where the speed of the right and left belt is different, remarkable differences in kinematics are seen between normal and cerebellar disease subjects. In order to construct the gait adaptation model of such human splitbelt treadmill walking, we proposed a simple control model and made a newly developed 2D biped robot walk on the splitbelt treadmill. We combined the conventional limit-cycle based control consisting of joint PD-control, cyclic motion trajectory planning and a stepping reflex with a newly proposed adjustment of P-gain at the hip joint of the stance leg. We showed that the data of robot (normal subject model and cerebellum disease subject model experiments had high similarities with the data of normal subjects and cerebellum disease subjects experiments carried out by Reisman et al. (2005 and Morton and Bastian (2006 in ratios and patterns. We also showed that P-gain at the hip joint of the stance leg was the control parameter of adaptation for symmetric gaits in splitbelt walking and P-gain adjustment corresponded to muscle stiffness adjustment by the cerebellum. Consequently, we successfully proposed the gait adaptation model in human splitbelt treadmill walking and confirmed the validity of our hypotheses and the proposed model using the biped robot.

  3. Painlevé's paradox and dynamic jamming in simple models of passive dynamic walking

    Science.gov (United States)

    Or, Yizhar

    2014-02-01

    Painlevé's paradox occurs in the rigid-body dynamics of mechanical systems with frictional contacts at configurations where the instantaneous solution is either indeterminate or inconsistent. Dynamic jamming is a scenario where the solution starts with consistent slippage and then converges in finite time to a configuration of inconsistency, while the contact force grows unbounded. The goal of this paper is to demonstrate that these two phenomena are also relevant to the field of robotic walking, and can occur in two classical theoretical models of passive dynamic walking — the rimless wheel and the compass biped. These models typically assume sticking contact and ignore the possibility of foot slippage, an assumption which requires sufficiently large ground friction. Nevertheless, even for large friction, a perturbation that involves foot slippage can be kinematically enforced due to external forces, vibrations, or loose gravel on the surface. In this work, the rimless wheel and compass biped models are revisited, and it is shown that the periodic solutions under sticking contact can suffer from both Painlevé's paradox and dynamic jamming when given a perturbation of foot slippage. Thus, avoidance of these phenomena and analysis of orbital stability with respect to perturbations that include slippage are of crucial importance for robotic legged locomotion.

  4. Kinematically stable bipedal locomotion using ionic polymer-metal composite actuators

    Science.gov (United States)

    Hosseinipour, Milad; Elahinia, Mohammad

    2013-08-01

    Ionic conducting polymer-metal composites (abbreviated as IPMCs) are interesting actuators that can act as artificial muscles in robotic and microelectromechanical systems. Various black or gray box models have modeled the electrochemical-mechanical behavior of these materials. In this study, the governing partial differential equation of the behavior of IPMCs is solved using finite element methods to find the critical actuation parameters, such as strain distribution, maximum strain, and response time. One-dimensional results of the FEM solution are then extended to 2D to find the tip displacement of a flap actuator and experimentally verified. A model of a seven-degree-of-freedom biped robot, actuated by IPMC flaps, is then introduced. The possibility of fast and stable bipedal locomotion using IPMC artificial muscles is the main motivation of this study. Considering the actuator limits, joint path trajectories are generated to achieve a fast and smooth motion. The stability of the proposed gait is then evaluated using the ZMP criterion and motion simulation. The fabrication parameters of each actuator, such as length, platinum plating thickness and installation angle, are then determined using the generated trajectories. A discussion on future studies on force-torque generation of IPMCs for biped locomotion concludes this paper.

  5. An Implementation of The Position Controller for Multiple Motors Using CAN

    Energy Technology Data Exchange (ETDEWEB)

    Yi, K.Y. [Kwangwoon University, Seoul (Korea)

    2002-02-01

    This paper presents a controller for the multiple DC motors using the CAN (Controller Area Network). The controller has a benefit of reducing the cable connections and making the controller boards compact through the network including expansibility. CAN, among the field buses, is a serial communication methodology which has the physical layer and the data link layer in the ISO's OSI (Open System Interconnect) 7 layered reference model. It provides the user with many powerful features including multi-master functionality and the ability to broadcast / multicast telegrams. When we use a microprocessor chip embedding the CAN function, the system becomes more economical and reliable to react shortly in the data transmission. The controller, we proposed, is composed of two main controllers and a subcontroller, which have built with a one-chip microprocessor having CAN function. The sub controller is plugged into the Pentium PC to perform a CAN communication, and connected to the main controllers via the CAN. Main controllers are responsible for controlling two motors respectively. Totally four motors, actuators for the biped robot in our laboratory, are controlled in the experiment. We show that the four motors are controlled properly to actuate the biped robot through the network in real time. (author). 14 refs., 10 figs.

  6. Schizophrenia as a psychosomatic illness: An interdisciplinary approach between Lacanian psychoanalysis and the neurosciences.

    Science.gov (United States)

    Dimitriadis, Yorgos

    2017-11-09

    According to Lacan's theory of schizophrenia (as well as other delirious forms of psychosis), under certain conditions the signifying function breaks down, thus turning the schizophrenic individual's world into one in which a number of events become enigmatic and signal him or her. The schizophrenic individual tries to deal with these signs that besiege him or her either by means of an interpretative attitude (a stable delusional mood) or by apathy. These two types of responses correspond with the stereotypical (and mood) processes by which the schizophrenic individual attempts to avoid the distress provoked by the enigmatic desire of the Other, while simultaneously corresponding with psychosomatic processes of the brain organ.

  7. IgM, FcµRs, and malarial immune evasion

    DEFF Research Database (Denmark)

    Czajkowsky, Daniel M; Salanti, Ali; Ditlev, Sisse B

    2010-01-01

    IgM is an ancestral Ab class found in all jawed vertebrates, from sharks to mammals. This ancient ancestry is shared by malaria parasites (genus Plasmodium) that infect all classes of terrestrial vertebrates with whom they coevolved. IgM, the least studied and most enigmatic of the vertebrate Igs...

  8. The Serpent Column : The persistent meanings of a pagan relic in Christian and Islamic Constantinople

    NARCIS (Netherlands)

    Strootman, Rolf

    2014-01-01

    In the heart of Istanbul, on the site of the former Hippodrome, stand the remains of the Serpent Column, one of the most ancient and most enigmatic monuments in the city: a three-headed snake made of bronze to which various sacral and magical properties have been attributed in the past by pagans,

  9. FLOWERING LOCUS C in monocots and the tandem origin of angiosperm specific MADS-box genes

    NARCIS (Netherlands)

    Ruelens, P.; Maagd, de R.A.; Proost, S.; Theissen, G.; Geuten, K.; Kaufmann, K.

    2013-01-01

    MADS-domain transcription factors have been shown to act as key repressors or activators of the transition to flowering and as master regulators of reproductive organ identities. Despite their important roles in plant development, the origin of several MADS-box subfamilies has remained enigmatic so

  10. CRX ChIP-seq reveals the cis-regulatory architecture of mouse photoreceptors

    NARCIS (Netherlands)

    J.C. Corbo (Joseph); K.A. Lawrence (Karen); M. Karlstetter (Marcus); C.A. Myers (Connie); M. Abdelaziz (Musa); W. Dirkes (William); K. Weigelt (Karin); M. Seifert (Martin); V. Benes (Vladimir); L.G. Fritsche (Lars); B.H.F. Weber (Bernhard); T. Langmann (Thomas)

    2010-01-01

    textabstractApproximately 98% of mammalian DNA is noncoding, yet we understand relatively little about the function of this enigmatic portion of the genome. The cis-regulatory elements that control gene expression reside in noncoding regions and can be identified by mapping the binding sites of

  11. Aridification in continental Asia after the Middle Eocene Climatic Optimum (MECO)

    NARCIS (Netherlands)

    Bosboom, R.E.|info:eu-repo/dai/nl/322947359; Abels, H.A.|info:eu-repo/dai/nl/304848018; Hoorn, C.; van den Berg, B.C.J.; Guo, Z.; Dupont-Nivet, G.|info:eu-repo/dai/nl/313092559

    2014-01-01

    Global climate cooling from greenhouse to icehouse conditions occurred across an enigmatic transitional interval during the Eocene epoch characterized by incipient polar ice-sheet formation as well as short-lived warming events, of which the Middle Eocene Climatic Optimum (MECO) is most noticeable.

  12. Die enigmatiese aard van die trieksterfiguur in Ingrid Winterbach se ...

    African Journals Online (AJOL)

    This article explores the enigmatic nature of tricksters in Ingrid Winterbach's Niggie (Cousin, 2002), as manifested in everyday life through the supernatural and the unconscious (for instance in dreams). In this way some of the puzzling aspects of this magisterial novel are clarified. Early in Niggie the reader is confronted with ...

  13. Bee cups: Single-use cages for honey bee experiments

    Science.gov (United States)

    Honey bees face challenges ranging from poor nutrition to exposure to parasites, pathogens, and environmental chemicals. These challenges drain colony resources and have been tied to both subtle and extreme colony declines, including the enigmatic Colony Collapse Disorder (CCD). Understanding how ...

  14. Herman Charles Bosman: A Man of Profound Contradictions | Leff ...

    African Journals Online (AJOL)

    Herman Charles Bosman is best known for his humorous short stories with signature twist endings. He is less well known for his essays and journalistic writing, which illustrate another side of this enigmatic man. This essay focuses on the paradox that Bosman was (and continues to be) and aims to respond to the following ...

  15. Towards gene therapy in amyotrophic lateral sclerosis

    NARCIS (Netherlands)

    Wisman, Liselijn Agatha Barendina

    2004-01-01

    Amyotrophic lateral sclerosis (ALS) is a paralytic neurodegenerative disorder, characterised by a specific loss of motoneurons. Although the exact pathogenesis is largely enigmatic, it is known that glutamate excitotoxicity plays an important role in motoneuron cell death. Glutamate is one of the

  16. Resonance – Journal of Science Education | Indian Academy of ...

    Indian Academy of Sciences (India)

    Home; Journals; Resonance – Journal of Science Education; Volume 13; Issue 12. The Enigmatic Moon. Biman Nath. Book Review Volume 13 Issue 12 December 2008 pp 1173-1175. Fulltext. Click here to view fulltext PDF. Permanent link: https://www.ias.ac.in/article/fulltext/reso/013/12/1173-1175. Author Affiliations.

  17. Defining the Content of the Undergraduate Systems Analysis and Design Course as Measured by a Survey of Instructors

    Science.gov (United States)

    Burns, Timothy J.

    2011-01-01

    There are many factors that make the undergraduate systems analysis and design course somewhat enigmatic in its purpose, and therefore equivocal in its delivery. The purpose of this research is to learn, specifically, what instructors are teaching in their systems analysis and design courses. This paper reports the results of a survey and follow…

  18. Phloem transport in trees

    Science.gov (United States)

    Michael G. Ryan; Shinichi. Asao

    2014-01-01

    Phloem is like an enigmatic central banker: we know how important phloem is to plant function, but very little about how phloem functions as part of a whole-plant economy. Phloem transports carbohydrates, produced by photosynthesis and hydrolysis of reserve compounds, to sink tissues for growth, respiration and storage. At photosynthetic tissues, carbohydrates are...

  19. Paulo Freire's Last Laugh: Rethinking Critical Pedagogy's Funny Bone through Jacques Ranciere

    Science.gov (United States)

    Lewis, Tyson Edward

    2010-01-01

    In several enigmatic passages, Paulo Freire describes the pedagogy of the oppressed as a "pedagogy of laughter". The inclusion of laughter alongside problem-posing dialogue might strike some as ambiguous, considering that the global exploitation of the poor is no laughing matter. And yet, laughter seems to be an important aspect of the pedagogy of…

  20. Black rings with fourth dipole cause less hair loss

    NARCIS (Netherlands)

    Chowdhury, B.D.

    2012-01-01

    An example of entropy enigma with a controlled CFT dual was recently studied in [1]. The enigmatic bulk configurations, considered within the STU model, can be mapped under spectral flow into black rings with three monopole and dipole charges. Even though the bulk and CFT configurations existed in