A Combination of Central Pattern Generator-based and Reflex-based Neural Networks for Dynamic, Adaptive, Robust Bipedal Locomotion

DEFF Research Database (Denmark)

Di Canio, Giuliano; Larsen, Jørgen Christian; Wörgötter, Florentin

2016-01-01

Robotic systems inspired from humans have always been lightening up the curiosity of engineers and scientists. Of many challenges, human locomotion is a very difficult one where a number of different systems needs to interact in order to generate a correct and balanced pattern. To simulate...... the interaction of these systems, implementations with reflexbased or central pattern generator (CPG)-based controllers have been tested on bipedal robot systems. In this paper we will combine the two controller types, into a controller that works with both reflex and CPG signals. We use a reflex-based neural...... network to generate basic walking patterns of a dynamic bipedal walking robot (DACBOT) and then a CPG-based neural network to ensure robust walking behavior...

Development of independent walking in toddlers

NARCIS (Netherlands)

Ivanenko, Yuri P; Dominici, Nadia; Lacquaniti, Francesco

Surprisingly, despite millions of years of bipedal walking evolution, the gravity-related pendulum mechanism of walking does not seem to be implemented at the onset of independent walking, requiring each toddler to develop it. We discuss the precursor of the mature locomotor pattern in infants as an

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.

Human balance, the evolution of bipedalism and dysequilibrium syndrome.

Science.gov (United States)

Skoyles, John R

2006-01-01

A new model of the uniqueness, nature and evolution of human bipedality is presented in the context of the etiology of the balance disorder of dysequilibrium syndrome. Human bipedality is biologically novel in several remarkable respects. Humans are (a) obligate, habitual and diverse in their bipedalism, (b) hold their body carriage spinally erect in a multisegmental "antigravity pole", (c) use their forelimbs exclusively for nonlocomotion, (d) support their body weight exclusively by vertical balance and normally never use prehensile holds. Further, human bipedalism is combined with (e) upper body actions that quickly shift the body's center of mass (e.g. tennis serves, piggy-back carrying of children), (f) use transient unstable erect positions (dance, kicking and fighting), (g) body height that makes falls injurious, (h) stiff gait walking, and (i) endurance running. Underlying these novelties, I conjecture, is a species specific human vertical balance faculty. This faculty synchronizes any action with a skeletomuscular adjustment that corrects its potential destabilizing impact upon the projection of the body's center of mass over its foot support. The balance faculty depends upon internal models of the erect vertical body's geometrical relationship (and its deviations) to its support base. Due to the situation that humans are obligate erect terrestrial animals, two frameworks - the body- and gravity-defined frameworks - are in constant alignment in the vertical z-axis. This alignment allows human balance to adapt egocentric body cognitions to detect body deviations from the gravitational vertical. This link between human balance and the processing of geometrical orientation, I propose, accounts for the close link between balance and spatial cognition found in the cerebral cortex. I argue that cortical areas processing the spatial and other cognitions needed to enable vertical balance was an important reason for brain size expansion of Homo erectus. A novel

First Steps Towards Translating HZD Control of Bipedal Robots to Decentralized Control of Exoskeletons

OpenAIRE

Agrawal, Ayush; Harib, Omar; Hereid, Ayonga; Finet, Sylvain; Masselin, Matthieu; Praly, Laurent; Ames, Aaron D.; Sreenath, Koushil; Grizzle, Jessy W.

2017-01-01

This paper presents preliminary results toward translating gait and control design for bipedal robots to decentralized control of an exoskeleton aimed at restoring mobility to patients with lower limb paralysis, without the need for crutches. A mathematical hybrid dynamical model of the human-exoskeleton system is developed and a library of dynamically feasible periodic walking gaits for different walking speeds is found through nonlinear constrained optimization using the full-order dynamica...

Robust and efficient walking with spring-like legs

Energy Technology Data Exchange (ETDEWEB)

Rummel, J; Blum, Y; Seyfarth, A, E-mail: juergen.rummel@uni-jena.d, E-mail: andre.seyfarth@uni-jena.d [Lauflabor Locomotion Laboratory, University of Jena, Dornburger Strasse 23, 07743 Jena (Germany)

2010-12-15

The development of bipedal walking robots is inspired by human walking. A way of implementing walking could be performed by mimicking human leg dynamics. A fundamental model, representing human leg dynamics during walking and running, is the bipedal spring-mass model which is the basis for this paper. The aim of this study is the identification of leg parameters leading to a compromise between robustness and energy efficiency in walking. It is found that, compared to asymmetric walking, symmetric walking with flatter angles of attack reveals such a compromise. With increasing leg stiffness, energy efficiency increases continuously. However, robustness is the maximum at moderate leg stiffness and decreases slightly with increasing stiffness. Hence, an adjustable leg compliance would be preferred, which is adaptable to the environment. If the ground is even, a high leg stiffness leads to energy efficient walking. However, if external perturbations are expected, e.g. when the robot walks on uneven terrain, the leg should be softer and the angle of attack flatter. In the case of underactuated robots with constant physical springs, the leg stiffness should be larger than k-tilde = 14 in order to use the most robust gait. Soft legs, however, lack in both robustness and efficiency.

Robust and efficient walking with spring-like legs

International Nuclear Information System (INIS)

Rummel, J; Blum, Y; Seyfarth, A

2010-01-01

The development of bipedal walking robots is inspired by human walking. A way of implementing walking could be performed by mimicking human leg dynamics. A fundamental model, representing human leg dynamics during walking and running, is the bipedal spring-mass model which is the basis for this paper. The aim of this study is the identification of leg parameters leading to a compromise between robustness and energy efficiency in walking. It is found that, compared to asymmetric walking, symmetric walking with flatter angles of attack reveals such a compromise. With increasing leg stiffness, energy efficiency increases continuously. However, robustness is the maximum at moderate leg stiffness and decreases slightly with increasing stiffness. Hence, an adjustable leg compliance would be preferred, which is adaptable to the environment. If the ground is even, a high leg stiffness leads to energy efficient walking. However, if external perturbations are expected, e.g. when the robot walks on uneven terrain, the leg should be softer and the angle of attack flatter. In the case of underactuated robots with constant physical springs, the leg stiffness should be larger than k-tilde = 14 in order to use the most robust gait. Soft legs, however, lack in both robustness and efficiency.

Bose and Fermi walk configurations on planar graphs

International Nuclear Information System (INIS)

Arrowsmith, D K; Bhatti, F M; Essam, J W

2012-01-01

The number, f C n (H), of n-walk configurations of type C is investigated on certain two-rooted directed planar graphs H which will be always realized as plane graphs in R 2 . C may be Bose or Fermi as defined by Inui and Katori. Both types of configuration are collections of non-crossing walks which follow the directed paths between the roots of the plane graph H. In the case of configurations of Fermi type each walk may be included only once. The number f Bose n (H) is shown to be a polynomial in n of degree n max − 1 where n max is the maximum number of walks in a Fermi configuration. The coefficient of the highest power of n in this polynomial is simply related to the number of maximal Fermi walk configurations. It is also shown that n max = c(H) + 1 where c(H) is the number of finite faces on H. Extension of these results to multi-rooted graphs is also discussed. When H is the union of paths between two sites of the directed square lattice subject to various boundary conditions Kreweras showed that the number of Bose configurations is equal to the number of n-element multi-chains on segments of Young’s lattice. He expressed this number as a determinant the elements of which are polynomials in n. We evaluate this determinant by the method of LU decomposition in the case of ‘watermelon’ configurations above a wall. In this case the polynomial is a product of linear factors but on introducing a second wall the polynomial does not completely factorize but has a factor which is the number of watermelon configurations on the largest rectangular subgraph. The number of two-rooted ‘star’ configurations is found to be the product of the numbers of watermelon configurations on the three rectangular subgraphs into which it may be partitioned. (paper)

Bipedal gait model for precise gait recognition and optimal triggering in foot drop stimulator: a proof of concept.

Science.gov (United States)

Shaikh, Muhammad Faraz; Salcic, Zoran; Wang, Kevin I-Kai; Hu, Aiguo Patrick

2018-03-10

Electrical stimulators are often prescribed to correct foot drop walking. However, commercial foot drop stimulators trigger inappropriately under certain non-gait scenarios. Past researches addressed this limitation by defining stimulation control based on automaton of a gait cycle executed by foot drop of affected limb/foot only. Since gait is a collaborative activity of both feet, this research highlights the role of normal foot for robust gait detection and stimulation triggering. A novel bipedal gait model is proposed where gait cycle is realized as an automaton based on concurrent gait sub-phases (states) from each foot. The input for state transition is fused information from feet-worn pressure and inertial sensors. Thereafter, a bipedal gait model-based stimulation control algorithm is developed. As a feasibility study, bipedal gait model and stimulation control are evaluated in real-time simulation manner on normal and simulated foot drop gait measurements from 16 able-bodied participants with three speed variations, under inappropriate triggering scenarios and with foot drop rehabilitation exercises. Also, the stimulation control employed in commercial foot drop stimulators and single foot gait-based foot drop stimulators are compared alongside. Gait detection accuracy (98.9%) and precise triggering under all investigations prove bipedal gait model reliability. This infers that gait detection leveraging bipedal periodicity is a promising strategy to rectify prevalent stimulation triggering deficiencies in commercial foot drop stimulators. Graphical abstract Bipedal information-based gait recognition and stimulation triggering.

Foramen magnum position in bipedal mammals.

Science.gov (United States)

Russo, Gabrielle A; Kirk, E Christopher

2013-11-01

The anterior position of the human foramen magnum is often explained as an adaptation for maintaining balance of the head atop the cervical vertebral column during bipedalism and the assumption of orthograde trunk postures. Accordingly, the relative placement of the foramen magnum on the basicranium has been used to infer bipedal locomotion and hominin status for a number of Mio-Pliocene fossil taxa. Nonetheless, previous studies have struggled to validate the functional link between foramen magnum position and bipedal locomotion. Here, we test the hypothesis that an anteriorly positioned foramen magnum is related to bipedalism through a comparison of basicranial anatomy between bipeds and quadrupeds from three mammalian clades: marsupials, rodents and primates. Additionally, we examine whether strepsirrhine primates that habitually assume orthograde trunk postures exhibit more anteriorly positioned foramina magna compared with non-orthograde strepsirrhines. Our comparative data reveal that bipedal marsupials and rodents have foramina magna that are more anteriorly located than those of quadrupedal close relatives. The foramen magnum is also situated more anteriorly in orthograde strepsirrhines than in pronograde or antipronograde strepsirrhines. Among the primates sampled, humans exhibit the most anteriorly positioned foramina magna. The results of this analysis support the utility of foramen magnum position as an indicator of bipedal locomotion in fossil hominins. Copyright © 2013 Elsevier Ltd. All rights reserved.

Port-Based Modeling and Control for Efficient Bipedal Walking Robots

NARCIS (Netherlands)

Duindam, V.

2006-01-01

Research on walking robots has shown that the process of walking, in itself, requires little energy. Indeed, many robots have been built that walk with high efficiency. General analysis and control tools for such efficient walkers, however, are lacking, and many results are based on engineering

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.

Minimally Actuated Walking: Identifying Core Challenges to Economical Legged Locomotion Reveals Novel Solutions

Directory of Open Access Journals (Sweden)

Ryan T Schroeder

2018-05-01

Full Text Available Terrestrial organisms adept at locomotion employ strut-like legs for economical and robust movement across the substrate. Although it is relatively easy to observe and analyze details of the solutions these organic systems have arrived at, it is not as easy to identify the problems these movement strategies have solved. As such, it is useful to investigate fundamental challenges that effective legged locomotion overcomes in order to understand why the mechanisms employed by biological systems provide viable solutions to these challenges. Such insight can inform the design and development of legged robots that may eventually match or exceed animal performance. In the context of human walking, we apply control optimization as a design strategy for simple bipedal walking machines with minimal actuation. This approach is used to discuss key facilitators of energetically efficient locomotion in simple bipedal walkers. Furthermore, we extrapolate the approach to a novel application—a theoretical exoskeleton attached to the trunk of a human walker—to demonstrate how coordinated efforts between bipedal actuation and a machine oscillator can potentially alleviate a meaningful portion of energetic exertion associated with leg function during human walking.

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 RunBot t......Bot to perform more human-like walking and reduce impact force during walking, compared to original neural control. Moreover, it also generates adaptive joint motions of RunBot; thereby allowing it to deal with different terrains...

Analysis, Control and Design of Walking Robots

NARCIS (Netherlands)

van Oort, Gijs

2011-01-01

In this thesis five research questions are discussed that are related to the development of two-legged (bipedal) walking robots. The research questions are categorized in three main topics: analysis, control and actuation and design. The research questions are: - How can we analyze the behavior of a

Scaling of avian bipedal locomotion reveals independent effects of body mass and leg posture on gait.

Science.gov (United States)

Daley, Monica A; Birn-Jeffery, Aleksandra

2018-05-22

Birds provide an interesting opportunity to study the relationships between body size, limb morphology and bipedal locomotor function. Birds are ecologically diverse and span a large range of body size and limb proportions, yet all use their hindlimbs for bipedal terrestrial locomotion, for at least some part of their life history. Here, we review the scaling of avian striding bipedal gaits to explore how body mass and leg morphology influence walking and running. We collate literature data from 21 species, spanning a 2500× range in body mass from painted quail to ostriches. Using dynamic similarity theory to interpret scaling trends, we find evidence for independent effects of body mass, leg length and leg posture on gait. We find no evidence for scaling of duty factor with body size, suggesting that vertical forces scale with dynamic similarity. However, at dynamically similar speeds, large birds use relatively shorter stride lengths and higher stride frequencies compared with small birds. We also find that birds with long legs for their mass, such as the white stork and red-legged seriema, use longer strides and lower swing frequencies, consistent with the influence of high limb inertia on gait. We discuss the observed scaling of avian bipedal gait in relation to mechanical demands for force, work and power relative to muscle actuator capacity, muscle activation costs related to leg cycling frequency, and considerations of stability and agility. Many opportunities remain for future work to investigate how morphology influences gait dynamics among birds specialized for different habitats and locomotor behaviors. © 2018. Published by The Company of Biologists Ltd.

Influence of the swing ankle angle on walking stability for a passive dynamic walking robot with flat feet

Directory of Open Access Journals (Sweden)

Xizhe Zang

2016-03-01

Full Text Available To achieve high walking stability for a passive dynamic walking robot is not easy. In this article, we aim to investigate whether the walking performance for a passive dynamic walking robot can be improved by just simply changing the swing ankle angle before impact. To validate this idea, a passive bipedal walking model with two straight legs, two flat feet, a hip joint, and two ankle joints was built in this study. The walking dynamics that contains double stance phase was derived. By numerical simulation of the walking in MATLAB, we found that the walking performance can be adjusted effectively by only simply changing the swing ankle angle before impact. A bigger swing ankle angle in a reasonable range will lead to a higher walking stability and a lower initial walking speed of the next step. A bigger swing ankle angle before impact leads to a bigger amount of energy lost during impact for the quasi-passive dynamic walking robot which will influence the walking stability of the next step.

The cost of leg forces in bipedal locomotion: a simple optimization study.

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John R Rebula

Full Text Available Simple optimization models show that bipedal locomotion may largely be governed by the mechanical work performed by the legs, minimization of which can automatically discover walking and running gaits. Work minimization can reproduce broad aspects of human ground reaction forces, such as a double-peaked profile for walking and a single peak for running, but the predicted peaks are unrealistically high and impulsive compared to the much smoother forces produced by humans. The smoothness might be explained better by a cost for the force rather than work produced by the legs, but it is unclear what features of force might be most relevant. We therefore tested a generalized force cost that can penalize force amplitude or its n-th time derivative, raised to the p-th power (or p-norm, across a variety of combinations for n and p. A simple model shows that this generalized force cost only produces smoother, human-like forces if it penalizes the rate rather than amplitude of force production, and only in combination with a work cost. Such a combined objective reproduces the characteristic profiles of human walking (R² = 0.96 and running (R² = 0.92, more so than minimization of either work or force amplitude alone (R² = -0.79 and R² = 0.22, respectively, for walking. Humans might find it preferable to avoid rapid force production, which may be mechanically and physiologically costly.

Decoding bipedal locomotion from the rat sensorimotor cortex

Science.gov (United States)

Rigosa, J.; Panarese, A.; Dominici, N.; Friedli, L.; van den Brand, R.; Carpaneto, J.; DiGiovanna, J.; Courtine, G.; Micera, S.

2015-10-01

Objective. Decoding forelimb movements from the firing activity of cortical neurons has been interfaced with robotic and prosthetic systems to replace lost upper limb functions in humans. Despite the potential of this approach to improve locomotion and facilitate gait rehabilitation, decoding lower limb movement from the motor cortex has received comparatively little attention. Here, we performed experiments to identify the type and amount of information that can be decoded from neuronal ensemble activity in the hindlimb area of the rat motor cortex during bipedal locomotor tasks. Approach. Rats were trained to stand, step on a treadmill, walk overground and climb staircases in a bipedal posture. To impose this gait, the rats were secured in a robotic interface that provided support against the direction of gravity and in the mediolateral direction, but behaved transparently in the forward direction. After completion of training, rats were chronically implanted with a micro-wire array spanning the left hindlimb motor cortex to record single and multi-unit activity, and bipolar electrodes into 10 muscles of the right hindlimb to monitor electromyographic signals. Whole-body kinematics, muscle activity, and neural signals were simultaneously recorded during execution of the trained tasks over multiple days of testing. Hindlimb kinematics, muscle activity, gait phases, and locomotor tasks were decoded using offline classification algorithms. Main results. We found that the stance and swing phases of gait and the locomotor tasks were detected with accuracies as robust as 90% in all rats. Decoded hindlimb kinematics and muscle activity exhibited a larger variability across rats and tasks. Significance. Our study shows that the rodent motor cortex contains useful information for lower limb neuroprosthetic development. However, brain-machine interfaces estimating gait phases or locomotor behaviors, instead of continuous variables such as limb joint positions or speeds

Discrete-State-Based Vision Navigation Control Algorithm for One Bipedal Robot

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Dunwen Wei

2015-01-01

Full Text Available Navigation with the specific objective can be defined by specifying desired timed trajectory. The concept of desired direction field is proposed to deal with such navigation problem. To lay down a principled discussion of the accuracy and efficiency of navigation algorithms, strictly quantitative definitions of tracking error, actuator effect, and time efficiency are established. In this paper, one vision navigation control method based on desired direction field is proposed. This proposed method uses discrete image sequences to form discrete state space, which is especially suitable for bipedal walking robots with single camera walking on a free-barrier plane surface to track the specific objective without overshoot. The shortest path method (SPM is proposed to design such direction field with the highest time efficiency. However, one improved control method called canonical piecewise-linear function (PLF is proposed. In order to restrain the noise disturbance from the camera sensor, the band width control method is presented to significantly decrease the error influence. The robustness and efficiency of the proposed algorithm are illustrated through a number of computer simulations considering the error from camera sensor. Simulation results show that the robustness and efficiency can be balanced by choosing the proper controlling value of band width.

Biomechanics of running indicates endothermy in bipedal dinosaurs.

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Herman Pontzer

Full Text Available BACKGROUND: One of the great unresolved controversies in paleobiology is whether extinct dinosaurs were endothermic, ectothermic, or some combination thereof, and when endothermy first evolved in the lineage leading to birds. Although it is well established that high, sustained growth rates and, presumably, high activity levels are ancestral for dinosaurs and pterosaurs (clade Ornithodira, other independent lines of evidence for high metabolic rates, locomotor costs, or endothermy are needed. For example, some studies have suggested that, because large dinosaurs may have been homeothermic due to their size alone and could have had heat loss problems, ectothermy would be a more plausible metabolic strategy for such animals. METHODOLOGY/PRINCIPAL FINDINGS: Here we describe two new biomechanical approaches for reconstructing the metabolic rate of 14 extinct bipedal dinosauriforms during walking and running. These methods, well validated for extant animals, indicate that during walking and slow running the metabolic rate of at least the larger extinct dinosaurs exceeded the maximum aerobic capabilities of modern ectotherms, falling instead within the range of modern birds and mammals. Estimated metabolic rates for smaller dinosaurs are more ambiguous, but generally approach or exceed the ectotherm boundary. CONCLUSIONS/SIGNIFICANCE: Our results support the hypothesis that endothermy was widespread in at least larger non-avian dinosaurs. It was plausibly ancestral for all dinosauriforms (perhaps Ornithodira, but this is perhaps more strongly indicated by high growth rates than by locomotor costs. The polarity of the evolution of endothermy indicates that rapid growth, insulation, erect postures, and perhaps aerobic power predated advanced "avian" lung structure and high locomotor costs.

Biomechanics of running indicates endothermy in bipedal dinosaurs.

Science.gov (United States)

Pontzer, Herman; Allen, Vivian; Hutchinson, John R

2009-11-11

One of the great unresolved controversies in paleobiology is whether extinct dinosaurs were endothermic, ectothermic, or some combination thereof, and when endothermy first evolved in the lineage leading to birds. Although it is well established that high, sustained growth rates and, presumably, high activity levels are ancestral for dinosaurs and pterosaurs (clade Ornithodira), other independent lines of evidence for high metabolic rates, locomotor costs, or endothermy are needed. For example, some studies have suggested that, because large dinosaurs may have been homeothermic due to their size alone and could have had heat loss problems, ectothermy would be a more plausible metabolic strategy for such animals. Here we describe two new biomechanical approaches for reconstructing the metabolic rate of 14 extinct bipedal dinosauriforms during walking and running. These methods, well validated for extant animals, indicate that during walking and slow running the metabolic rate of at least the larger extinct dinosaurs exceeded the maximum aerobic capabilities of modern ectotherms, falling instead within the range of modern birds and mammals. Estimated metabolic rates for smaller dinosaurs are more ambiguous, but generally approach or exceed the ectotherm boundary. Our results support the hypothesis that endothermy was widespread in at least larger non-avian dinosaurs. It was plausibly ancestral for all dinosauriforms (perhaps Ornithodira), but this is perhaps more strongly indicated by high growth rates than by locomotor costs. The polarity of the evolution of endothermy indicates that rapid growth, insulation, erect postures, and perhaps aerobic power predated advanced "avian" lung structure and high locomotor costs.

Another look at the foramen magnum in bipedal mammals.

Science.gov (United States)

Russo, Gabrielle A; Kirk, E Christopher

2017-04-01

A more anteriorly positioned foramen magnum evolved in concert with bipedalism at least four times within Mammalia: once in macropodid marsupials, once in heteromyid rodents, once in dipodid rodents, and once in hominoid primates. Here, we expand upon previous research on the factors influencing mammalian foramen magnum position (FMP) and angle with four new analyses. First, we quantify FMP using a metric (basioccipital ratio) not previously examined in a broad comparative sample of mammals. Second, we evaluate the potential influence of relative brain size on both FMP and foramen magnum angle (FMA). Third, we assess FMP in an additional rodent clade (Anomaluroidea) containing bipedal springhares (Pedetes spp.) and gliding/quadrupedal anomalures (Anomalurus spp.). Fourth, we determine the relationship between measures of FMP and FMA in extant hominoids and an expanded mammalian sample. Our results indicate that bipedal/orthograde mammals have shorter basioccipitals than their quadrupedal/non-orthograde relatives. Brain size alone has no discernible effect on FMP or FMA. Brain size relative to palate size has a weak influence on FMP in some clades, but effects are not evident in all metrics of FMP and are inconsistent among clades. Among anomaluroids, bipedal Pedetes exhibits a more anterior FMP than gliding/quadrupedal Anomalurus. The relationship between FMA and FMP in hominoids depends on the metric chosen for quantifying FMP, and if modern humans are included in the sample. However, the relationship between FMA and FMP is nonexistent or weak across rodents, marsupials, and, to a lesser extent, strepsirrhine primates. These results provide further evidence that bipedal mammals tend to have more anteriorly positioned foramina magna than their quadrupedal close relatives. Our findings also suggest that the evolution of FMP and FMA in hominins may not be closely coupled. Copyright © 2017 Elsevier Ltd. All rights reserved.

Effect of walking speed on the gait of king penguins: An accelerometric approach.

Science.gov (United States)

Willener, Astrid S T; Handrich, Yves; Halsey, Lewis G; Strike, Siobhán

2015-12-21

Little is known about non-human bipedal gaits. This is probably due to the fact that most large animals are quadrupedal and that non-human bipedal animals are mostly birds, whose primary form of locomotion is flight. Very little research has been conducted on penguin pedestrian locomotion with the focus instead on their associated high energy expenditure. In animals, tri-axial accelerometers are frequently used to estimate physiological energy cost, as well as to define the behaviour pattern of a species, or the kinematics of swimming. In this study, we showed how an accelerometer-based technique could be used to determine the biomechanical characteristics of pedestrian locomotion. Eight king penguins, which represent the only family of birds to have an upright bipedal gait, were trained to walk on a treadmill. The trunk tri-axial accelerations were recorded while the bird was walking at four different speeds (1.0, 1.2, 1.4 and 1.6km/h), enabling the amplitude of dynamic body acceleration along the three axes (amplitude of DBAx, DBAy and DBAz), stride frequency, waddling and leaning amplitude, as well as the leaning angle to be defined. The magnitude of the measured variables showed a significant increase with increasing speed, apart from the backwards angle of lean, which decreased with increasing speed. The variability of the measured variables also showed a significant increase with speed apart from the DBAz amplitude, the waddling amplitude, and the leaning angle, where no significant effect of the walking speed was found. This paper is the first approach to describe 3D biomechanics with an accelerometer on wild animals, demonstrating the potential of this technique. Copyright © 2015 Elsevier Ltd. All rights reserved.

Human bipedalism and body-mass index.

Science.gov (United States)

Yi, Su Do; Noh, Jae Dong; Minnhagen, Petter; Song, Mi-Young; Chon, Tae-Soo; Kim, Beom Jun

2017-06-16

Body-mass index, abbreviated as BMI and given by M/H 2 with the mass M and the height H, has been widely used as a useful proxy to measure a general health status of a human individual. We generalise BMI in the form of M/H p and pursue to answer the question of the value of p for populations of animal species including human. We compare values of p for several different datasets for human populations with the ones obtained for other animal populations of fish, whales, and land mammals. All animal populations but humans analyzed in our work are shown to have p ≈ 3 unanimously. In contrast, human populations are different: As young infants grow to become toddlers and keep growing, the sudden change of p is observed at about one year after birth. Infants younger than one year old exhibit significantly larger value of p than two, while children between one and five years old show p ≈ 2, sharply different from other animal species. The observation implies the importance of the upright posture of human individuals. We also propose a simple mechanical model for a human body and suggest that standing and walking upright should put a clear division between bipedal human (p ≈ 2) and other animals (p ≈ 3).

Formation mechanism of a basin of attraction for passive dynamic walking induced by intrinsic hyperbolicity

Science.gov (United States)

Aoi, Shinya; Tsuchiya, Kazuo; Kokubu, Hiroshi

2016-01-01

Passive dynamic walking is a useful model for investigating the mechanical functions of the body that produce energy-efficient walking. The basin of attraction is very small and thin, and it has a fractal-like shape; this explains the difficulty in producing stable passive dynamic walking. The underlying mechanism that produces these geometric characteristics was not known. In this paper, we consider this from the viewpoint of dynamical systems theory, and we use the simplest walking model to clarify the mechanism that forms the basin of attraction for passive dynamic walking. We show that the intrinsic saddle-type hyperbolicity of the upright equilibrium point in the governing dynamics plays an important role in the geometrical characteristics of the basin of attraction; this contributes to our understanding of the stability mechanism of bipedal walking. PMID:27436971

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.

A novel controller for bipedal locomotion integrating feed-forward and feedback mechanisms

NARCIS (Netherlands)

Xiong, Xiaofeng; Sartori, Massimo; Dosen, Strahinja; González-Vargas, José; Wörgötter, Florentin; Farina, Dario; Ibanez, J.; González-Vargas, J.; Azorin, J.M.; Akay, M.; Pons, J.L.

2017-01-01

It has been recognized that bipedal locomotion is controlled using feed-forward (e.g., patterned) and feedback (e.g., reflex) control schemes. However, most current controllers fail to integrate the two schemes to simplify speed control of bipedal locomotion. To solve this problem, we here propose a

Reflex control of robotic gait using human walking data.

Directory of Open Access Journals (Sweden)

Catherine A Macleod

Full Text Available Control of human walking is not thoroughly understood, which has implications in developing suitable strategies for the retraining of a functional gait following neurological injuries such as spinal cord injury (SCI. Bipedal robots allow us to investigate simple elements of the complex nervous system to quantify their contribution to motor control. RunBot is a bipedal robot which operates through reflexes without using central pattern generators or trajectory planning algorithms. Ground contact information from the feet is used to activate motors in the legs, generating a gait cycle visually similar to that of humans. Rather than developing a more complicated biologically realistic neural system to control the robot's stepping, we have instead further simplified our model by measuring the correlation between heel contact and leg muscle activity (EMG in human subjects during walking and from this data created filter functions transferring the sensory data into motor actions. Adaptive filtering was used to identify the unknown transfer functions which translate the contact information into muscle activation signals. Our results show a causal relationship between ground contact information from the heel and EMG, which allows us to create a minimal, linear, analogue control system for controlling walking. The derived transfer functions were applied to RunBot II as a proof of concept. The gait cycle produced was stable and controlled, which is a positive indication that the transfer functions have potential for use in the control of assistive devices for the retraining of an efficient and effective gait with potential applications in SCI rehabilitation.

Stable walking with asymmetric legs

International Nuclear Information System (INIS)

Merker, Andreas; Rummel, Juergen; Seyfarth, Andre

2011-01-01

Asymmetric leg function is often an undesired side-effect in artificial legged systems and may reflect functional deficits or variations in the mechanical construction. It can also be found in legged locomotion in humans and animals such as after an accident or in specific gait patterns. So far, it is not clear to what extent differences in the leg function of contralateral limbs can be tolerated during walking or running. Here, we address this issue using a bipedal spring-mass model for simulating walking with compliant legs. With the help of the model, we show that considerable differences between contralateral legs can be tolerated and may even provide advantages to the robustness of the system dynamics. A better understanding of the mechanisms and potential benefits of asymmetric leg operation may help to guide the development of artificial limbs or the design novel therapeutic concepts and rehabilitation strategies.

Does bipedality predict the group-level manual laterality in mammals?

Science.gov (United States)

Giljov, Andrey; Karenina, Karina; Malashichev, Yegor

2012-01-01

Factors determining patterns of laterality manifestation in mammals remain unclear. In primates, the upright posture favours the expression of manual laterality across species, but may have little influence within a species. Whether the bipedalism acts the same in non-primate mammals is unknown. Our recent findings in bipedal and quadrupedal marsupials suggested that differences in laterality pattern, as well as emergence of manual specialization in evolution might depend on species-specific body posture. Here, we evaluated the hypothesis that the postural characteristics are the key variable shaping the manual laterality expression across mammalian species. We studied forelimb preferences in a most bipedal marsupial, brush-tailed bettong, Bettongia penicillata in four different types of unimanual behavior. The significant left-forelimb preference at the group level was found in all behaviours studied. In unimanual feeding on non-living food, catching live prey and nest-material collecting, all or most subjects were lateralized, and among lateralized bettongs a significant majority displayed left-forelimb bias. Only in unimanual supporting of the body in the tripedal stance the distribution of lateralized and non-lateralized individuals did not differ from chance. Individual preferences were consistent across all types of behaviour. The direction or the strength of forelimb preferences were not affected by the animals' sex. Our findings support the hypothesis that the expression of manual laterality depends on the species-typical postural habit. The interspecies comparison illustrates that in marsupials the increase of bipedality corresponds with the increase of the degree of group-level forelimb preference in a species. Thus, bipedalism can predict pronounced manual laterality at both intra- and interspecific levels in mammals. We also conclude that quadrupedal position in biped species can slightly hinder the expression of manual laterality, but the evoked biped

Dynamic walking stability of the TUlip robot by means of the extrapolated center of mass

NARCIS (Netherlands)

Bouwman, W.M.; van Oort, Gijs; Dertien, Edwin Christian; Broenink, Johannes F.; Carloni, Raffaella

The TUlip robot was created to participate in the teensize league of Robocup. The TUlip robot is a bipedal robot intended for dynamic walking. It has six degrees of freedom for each leg: three for the hip, one for the knee and two for the ankle. This paper elaborates on the algorithm for the

Mechanosensing Potentials Gate Fuel Consumption in a Bipedal DNA Nanowalker

Science.gov (United States)

Tee, Shern Ren; Hu, Xinpeng; Loh, Iong Ying; Wang, Zhisong

2018-03-01

A bipedal DNA nanowalker was recently reported to convert chemical energy into directional motion autonomously and efficiently. To elucidate its chemomechanical coupling mechanisms, three-dimensional molecular modeling is used to obtain coarse-grained foot-track binding potentials of the DNA nanowalker via unbiased and biased sampling techniques (for the potentials' basin and high-energy edges, respectively). The binding state that is protected against fuel-induced dissociation responds asymmetrically to forward versus backward forces, unlike the unprotected state, demonstrating a mechanosensing capability to gate fuel binding. Despite complex DNA mechanics, the foot-track potential exhibits a surprisingly neat three-part profile, offering some general guidelines to rationally design efficient nanowalkers. Subsequent modeling of the bipedal walker attached to the track gives estimates of the free energy for each bipedal state, showing how the mechanosensing foot-track binding breaks the symmetry between the rear and front feet, enabling the rear foot to be selectively dissociated by fuel and generating efficient chemomechanical coupling.

Growth control of the cranial base. A study with experimentally bipedal male rats

Energy Technology Data Exchange (ETDEWEB)

Smit-Vis, J.H.

1981-01-01

In a cross-sectional study the postnatal development of the skull, particularly that of the cranial base, was studied in experimentally bipedal male rats, up to the age of 46 weeks. A total of 81 bipedal rats and a control group of 90 animals were studied. It was found that, as compared with control rats, the bipedal rats had a definitely more spherical skull. This was the result of an increased height and a stronger dorsal flexion of the anterior cranial base. As to the chondrocranial elements, the basi-occipital bone reached, on the average, the same length in bipedal rats as in controls. However, the basisphenoid bone was significantly shorter. Arguments are given to relate the latter phenomenon to the altered shape of the neurocranium. The conclusion is drawn that, in this experimental approach, chondrocranial growth at the intersphenoidal synchondrosis is controlled not only by intrinsic genetic factors but also by local epigenetic and/or environmental factors.

Bipedal tool use strengthens chimpanzee hand preferences

DEFF Research Database (Denmark)

Braccini, Stephanie; Lambeth, Susan; Schapiro, Steve

2010-01-01

The degree to which non-human primate behavior is lateralized, at either individual or population levels, remains controversial. We investigated the relationship between hand preference and posture during tool use in chimpanzees (Pan troglodytes) during bipedal tool use. We experimentally induced...

Foot trajectory approximation using the pendulum model of walking.

Science.gov (United States)

Fang, Juan; Vuckovic, Aleksandra; Galen, Sujay; Conway, Bernard A; Hunt, Kenneth J

2014-01-01

Generating a natural foot trajectory is an important objective in robotic systems for rehabilitation of walking. Human walking has pendular properties, so the pendulum model of walking has been used in bipedal robots which produce rhythmic gait patterns. Whether natural foot trajectories can be produced by the pendulum model needs to be addressed as a first step towards applying the pendulum concept in gait orthosis design. This study investigated circle approximation of the foot trajectories, with focus on the geometry of the pendulum model of walking. Three able-bodied subjects walked overground at various speeds, and foot trajectories relative to the hip were analysed. Four circle approximation approaches were developed, and best-fit circle algorithms were derived to fit the trajectories of the ankle, heel and toe. The study confirmed that the ankle and heel trajectories during stance and the toe trajectory in both the stance and the swing phases during walking at various speeds could be well modelled by a rigid pendulum. All the pendulum models were centred around the hip with pendular lengths approximately equal to the segment distances from the hip. This observation provides a new approach for using the pendulum model of walking in gait orthosis design.

Walking dynamics of the passive compass-gait model under OGY-based state-feedback control: Analysis of local bifurcations via the hybrid Poincaré map

International Nuclear Information System (INIS)

Gritli, Hassène; Belghith, Safya

2017-01-01

Highlights: • We study the passive walking dynamics of the compass-gait model under OGY-based state-feedback control. • We analyze local bifurcations via a hybrid Poincaré map. • We show exhibition of the super(sub)-critical flip bifurcation, the saddle-node(saddle) bifurcation and a saddle-flip bifurcation. • An analysis via a two-parameter bifurcation diagram is presented. • Some new hidden attractors in the controlled passive walking dynamics are displayed. - Abstract: In our previous work, we have analyzed the passive dynamic walking of the compass-gait biped model under the OGY-based state-feedback control using the impulsive hybrid nonlinear dynamics. Such study was carried out through bifurcation diagrams. It was shown that the controlled bipedal gait exhibits attractive nonlinear phenomena such as the cyclic-fold (saddle-node) bifurcation, the period-doubling (flip) bifurcation and chaos. Moreover, we revealed that, using the controlled continuous-time dynamics, we encountered a problem in finding, identifying and hence following branches of (un)stable solutions in order to characterize local bifurcations. The present paper solves such problem and then provides a further investigation of the controlled bipedal walking dynamics using the developed analytical expression of the controlled hybrid Poincaré map. Thus, we show that analysis via such Poincaré map allows to follow branches of both stable and unstable fixed points in bifurcation diagrams and hence to explore the complete dynamics of the controlled compass-gait biped model. We demonstrate the generation, other than the conventional local bifurcations in bipedal walking, i.e. the flip bifurcation and the saddle-node bifurcation, of a saddle-saddle bifurcation, a subcritical flip bifurcation and a new type of a local bifurcation, the saddle-flip bifurcation. In addition, to further understand the occurrence of the local bifurcations, we present an analysis with a two-parameter bifurcation

Kinesiology-Based Robot Foot Design for Human-Like Walking

Directory of Open Access Journals (Sweden)

SangJoo Kwon

2012-12-01

Full Text Available Compared with the conventional flat foot, the flexible foot is advantageous in implementing human-like walking and much reduces energy consumption. In this paper, from an anatomical and kinesiological point of view, a flexible foot with toes and heels is investigated for a bipedal robot and three critical design parameters for walking stability are drawn, which include stiffness of toes and heels, frontal toe position, and ankle joint position. In addition, a human-like walking trajectory compatible with the flexible foot is proposed by mimicking a human walking pattern. First of all, the zero moment point (ZMP trajectory continuously moves forward without stopping, even in the single support phase. Secondly, the centre of mass (CoM trajectory includes vertical motion similar to that seen in human beings. Thirdly, the ankle trajectory follows the rotational motion of a human foot while being lifted from and landing on the ground. Through the simulation study, it is shown that the suggested design parameters can be applied as useful indices for the mechanical design of biped feet; interestingly, the vertical motion of the centre of mass tends to compensate for the transient response in the initial walking step.

Fossils, feet and the evolution of human bipedal locomotion.

Science.gov (United States)

Harcourt-Smith, W E H; Aiello, L C

2004-05-01

We review the evolution of human bipedal locomotion with a particular emphasis on the evolution of the foot. We begin in the early twentieth century and focus particularly on hypotheses of an ape-like ancestor for humans and human bipedal locomotion put forward by a succession of Gregory, Keith, Morton and Schultz. We give consideration to Morton's (1935) synthesis of foot evolution, in which he argues that the foot of the common ancestor of modern humans and the African apes would be intermediate between the foot of Pan and Hylobates whereas the foot of a hypothetical early hominin would be intermediate between that of a gorilla and a modern human. From this base rooted in comparative anatomy of living primates we trace changing ideas about the evolution of human bipedalism as increasing amounts of postcranial fossil material were discovered. Attention is given to the work of John Napier and John Robinson who were pioneers in the interpretation of Plio-Pleistocene hominin skeletons in the 1960s. This is the period when the wealth of evidence from the southern African australopithecine sites was beginning to be appreciated and Olduvai Gorge was revealing its first evidence for Homo habilis. In more recent years, the discovery of the Laetoli footprint trail, the AL 288-1 (A. afarensis) skeleton, the wealth of postcranial material from Koobi Fora, the Nariokotome Homo ergaster skeleton, Little Foot (Stw 573) from Sterkfontein in South Africa, and more recently tantalizing material assigned to the new and very early taxa Orrorin tugenensis, Ardipithecus ramidus and Sahelanthropus tchadensis has fuelled debate and speculation. The varying interpretations based on this material, together with changing theoretical insights and analytical approaches, is discussed and assessed in the context of new three-dimensional morphometric analyses of australopithecine and Homo foot bones, suggesting that there may have been greater diversity in human bipedalism in the earlier phases

Neural Computation Scheme of Compound Control: Tacit Learning for Bipedal Locomotion

Science.gov (United States)

Shimoda, Shingo; Kimura, Hidenori

The growing need for controlling complex behaviors of versatile robots working in unpredictable environment has revealed the fundamental limitation of model-based control strategy that requires precise models of robots and environments before their operations. This difficulty is fundamental and has the same root with the well-known frame problem in artificial intelligence. It has been a central long standing issue in advanced robotics, as well as machine intelligence, to find a prospective clue to attack this fundamental difficulty. The general consensus shared by many leading researchers in the related field is that the body plays an important role in acquiring intelligence that can conquer unknowns. In particular, purposeful behaviors emerge during body-environment interactions with the help of an appropriately organized neural computational scheme that can exploit what the environment can afford. Along this line, we propose a new scheme of neural computation based on compound control which represents a typical feature of biological controls. This scheme is based on classical neuron models with local rules that can create macroscopic purposeful behaviors. This scheme is applied to a bipedal robot and generates the rhythm of walking without any model of robot dynamics and environments.

Application of the Method of Maximum Likelihood to Identification of Bipedal Walking Robots

Czech Academy of Sciences Publication Activity Database

Dolinský, Kamil; Čelikovský, Sergej

(2017) ISSN 1063-6536 R&D Projects: GA ČR(CZ) GA17-04682S Institutional support: RVO:67985556 Keywords : Control * identification * maximum likelihood (ML) * walking robots Subject RIV: BC - Control Systems Theory Impact factor: 3.882, year: 2016 http://ieeexplore.ieee.org/document/7954032/

Robots in human biomechanics--a study on ankle push-off in walking.

Science.gov (United States)

Renjewski, Daniel; Seyfarth, André

2012-09-01

In biomechanics, explanatory template models are used to identify the basic mechanisms of human locomotion. However, model predictions often lack verification in a realistic environment. We present a method that uses template model mechanics as a blueprint for a bipedal robot and a corresponding computer simulation. The hypotheses derived from template model studies concerning the function of heel-off in walking are analysed and discrepancies between the template model and its real-world anchor are pointed out. Neither extending the ground clearance of the swinging leg nor an impact reduction at touch-down as an effect of heel lifting was supported by the experiments. To confirm the relevance of the experimental findings, a comparison of robot data to human walking data is discussed and we speculate on an alternative explanation of heel-off in human walking, i.e. that the push-off powers the following leg swing.

Robots in human biomechanics—a study on ankle push-off in walking

International Nuclear Information System (INIS)

Renjewski, Daniel; Seyfarth, André

2012-01-01

In biomechanics, explanatory template models are used to identify the basic mechanisms of human locomotion. However, model predictions often lack verification in a realistic environment. We present a method that uses template model mechanics as a blueprint for a bipedal robot and a corresponding computer simulation. The hypotheses derived from template model studies concerning the function of heel-off in walking are analysed and discrepancies between the template model and its real-world anchor are pointed out. Neither extending the ground clearance of the swinging leg nor an impact reduction at touch-down as an effect of heel lifting was supported by the experiments. To confirm the relevance of the experimental findings, a comparison of robot data to human walking data is discussed and we speculate on an alternative explanation of heel-off in human walking, i.e. that the push-off powers the following leg swing. (paper)

Dynamic optimization of a biped model: Energetic walking gaits with different mechanical and gait parameters

Directory of Open Access Journals (Sweden)

Kang An

2015-05-01

Full Text Available Energy consumption is one of the problems for bipedal robots walking. For the purpose of studying the parameter effects on the design of energetic walking bipeds with strong adaptability, we use a dynamic optimization method on our new walking model to first investigate the effects of the mechanical parameters, including mass and length distribution, on the walking efficiency. Then, we study the energetic walking gait features with the combinations of walking speed and step length. Our walking model is designed upon Srinivasan’s model. Dynamic optimization is used for a free search with minimal constraints. The results show that the cost of transport of a certain gait increases with the increase in the mass and length distribution parameters, except for that the cost of transport decreases with big length distribution parameter and long step length. We can also find a corresponding range of walking speed and step length, in which the variation in one of the two parameters has no obvious effect on the cost of transport. With fixed mechanical parameters, the cost of transport increases with the increase in the walking speed. There is a speed–step length relationship for walking with minimal cost of transport. The hip torque output strategy is adjusted in two situations to meet the walking requirements.

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.

An inverse dynamics model for the analysis, reconstruction and prediction of bipedal walking

NARCIS (Netherlands)

Koopman, Hubertus F.J.M.; Grootenboer, H.J.; de Jongh, Henk J.; Huijing, P.A.J.B.M.; de Vries, J.

1995-01-01

Walking is a constrained movement which may best be observed during the double stance phase when both feet contact the floor. When analyzing a measured movement with an inverse dynamics model, a violation of these constrains will always occur due to measuring errors and deviations of the segments

The relative cost of bent-hip bent-knee walking is reduced in water.

Science.gov (United States)

Kuliukas, Algis V; Milne, Nick; Fournier, Paul

2009-01-01

The debate about how early hominids walked may be characterised as two competing hypotheses: They moved with a fully upright (FU) gait, like modern humans, or with a bent-hip, bent-knee (BK) gait, like apes. Both have assumed that this bipedalism was almost exclusively on land, in trees or a combination of the two. Recent findings favoured the FU hypothesis by showing that the BK gait is 50-60% more energetically costly than a FU human gait on land. We confirm these findings but show that in water this cost differential is markedly reduced, especially in deeper water, at slower speeds and with greater knee flexion. These data suggest that the controversy about australopithecine locomotion may be eased if it is assumed that wading was a component of their locomotor repertoire and supports the idea that shallow water might have been an environment favourable to the evolution of early forms of "non-optimal" hominid bipedalism.

Steroid-associated hip joint collapse in bipedal emus.

Directory of Open Access Journals (Sweden)

Li-Zhen Zheng

Full Text Available In this study we established a bipedal animal model of steroid-associated hip joint collapse in emus for testing potential treatment protocols to be developed for prevention of steroid-associated joint collapse in preclinical settings. Five adult male emus were treated with a steroid-associated osteonecrosis (SAON induction protocol using combination of pulsed lipopolysaccharide (LPS and methylprednisolone (MPS. Additional three emus were used as normal control. Post-induction, emu gait was observed, magnetic resonance imaging (MRI was performed, and blood was collected for routine examination, including testing blood coagulation and lipid metabolism. Emus were sacrificed at week 24 post-induction, bilateral femora were collected for micro-computed tomography (micro-CT and histological analysis. Asymmetric limping gait and abnormal MRI signals were found in steroid-treated emus. SAON was found in all emus with a joint collapse incidence of 70%. The percentage of neutrophils (Neut % and parameters on lipid metabolism significantly increased after induction. Micro-CT revealed structure deterioration of subchondral trabecular bone. Histomorphometry showed larger fat cell fraction and size, thinning of subchondral plate and cartilage layer, smaller osteoblast perimeter percentage and less blood vessels distributed at collapsed region in SAON group as compared with the normal controls. Scanning electron microscope (SEM showed poor mineral matrix and more osteo-lacunae outline in the collapsed region in SAON group. The combination of pulsed LPS and MPS developed in the current study was safe and effective to induce SAON and deterioration of subchondral bone in bipedal emus with subsequent femoral head collapse, a typical clinical feature observed in patients under pulsed steroid treatment. In conclusion, bipedal emus could be used as an effective preclinical experimental model to evaluate potential treatment protocols to be developed for prevention of

Simulating an elastic bipedal robot based on musculoskeletal modeling

NARCIS (Netherlands)

Bortoletto, Roberto; Sartori, Massimo; He, Fuben; Pagello, Enrico

2012-01-01

Many of the processes involved into the synthesis of human motion have much in common with problems found in robotics research. This paper describes the modeling and the simulation of a novel bipedal robot based on series elastic actuators [1]. The robot model takes in- spiration from the human

Three-Axis Ground Reaction Force Distribution during Straight Walking.

Science.gov (United States)

Hori, Masataka; Nakai, Akihito; Shimoyama, Isao

2017-10-24

We measured the three-axis ground reaction force (GRF) distribution during straight walking. Small three-axis force sensors composed of rubber and sensor chips were fabricated and calibrated. After sensor calibration, 16 force sensors were attached to the left shoe. The three-axis force distribution during straight walking was measured, and the local features of the three-axis force under the sole of the shoe were analyzed. The heel area played a role in receiving the braking force, the base area of the fourth and fifth toes applied little vertical or shear force, the base area of the second and third toes generated a portion of the propulsive force and received a large vertical force, and the base area of the big toe helped move the body's center of mass to the other foot. The results demonstrate that measuring the three-axis GRF distribution is useful for a detailed analysis of bipedal locomotion.

[Walking abnormalities in children].

Science.gov (United States)

Segawa, Masaya

2010-11-01

Walking is a spontaneous movement termed locomotion that is promoted by activation of antigravity muscles by serotonergic (5HT) neurons. Development of antigravity activity follows 3 developmental epochs of the sleep-wake (S-W) cycle and is modulated by particular 5HT neurons in each epoch. Activation of antigravity activities occurs in the first epoch (around the age of 3 to 4 months) as restriction of atonia in rapid eye movement (REM) stage and development of circadian S-W cycle. These activities strengthen in the second epoch, with modulation of day-time sleep and induction of crawling around the age of 8 months and induction of walking by 1 year. Around the age of 1 year 6 months, absence of guarded walking and interlimb cordination is observed along with modulation of day-time sleep to once in the afternoon. Bipedal walking in upright position occurs in the third epoch, with development of a biphasic S-W cycle by the age of 4-5 years. Patients with infantile autism (IA), Rett syndrome (RTT), or Tourette syndrome (TS) show failure in the development of the first, second, or third epoch, respectively. Patients with IA fail to develop interlimb coordination; those with RTT, crawling and walking; and those with TS, walking in upright posture. Basic pathophysiology underlying these condition is failure in restricting atonia in REM stage; this induces dysfunction of the pedunculopontine nucleus and consequently dys- or hypofunction of the dopamine (DA) neurons. DA hypofunction in the developing brain, associated with compensatory upward regulation of the DA receptors causes psychobehavioral disorders in infancy (IA), failure in synaptogenesis in the frontal cortex and functional development of the motor and associate cortexes in late infancy through the basal ganglia (RTT), and failure in functional development of the prefrontal cortex through the basal ganglia (TS). Further, locomotion failure in early childhood causes failure in development of functional

[Descending control of quiet standing and walking: a plausible neurophysiological basis of falls in elderly people].

Science.gov (United States)

Nakajima, Masashi

2011-03-01

Quiet standing and walking are generally considered to be an automatic process regulated by sensory feedback. In our report "Astasia without abasia due to peripheral neuropathy," which was published in 1994, we proposed that forced stepping in patients lacking the ankle torque is a compensatory motor control in order to maintain an upright posture. A statistical-biomechanics approach to the human postural control system has revealed open-loop (descending) control as well as closed-loop (feedback) control in quiet standing, and fractal dynamics in stride-to-stride fluctuations of walking. The descending control system of bipedal upright posture and gait may have a functional link to cognitive domains. Increasing dependence on the descending control system with aging may play a role in falls in elderly people.

Mechanical design and optimal control of humanoid robot (TPinokio

Directory of Open Access Journals (Sweden)

Teck Chew Wee

2014-04-01

Full Text Available The mechanical structure and the control of the locomotion of bipedal humanoid is an important and challenging domain of research in bipedal robots. Accurate models of the kinematics and dynamics of the robot are essential to achieve bipedal locomotion. Toe-foot walking produces a more natural and faster walking speed and it is even possible to perform stretch knee walking. This study presents the mechanical design of a toe-feet bipedal, TPinokio and the implementation of some optimal walking gait generation methods. The optimality in the gait trajectory is achieved by applying augmented model predictive control method and the pole-zero cancellation method, taken into consideration of a trade-off between walking speed and stability. The mechanism of the TPinokio robot is designed in modular form, so that its kinematics can be modelled accurately into a multiple point-mass system, its dynamics is modelled using the single and double mass inverted pendulum model and zero-moment-point concept. The effectiveness of the design and control technique is validated by simulation testing with the robot walking on flat surface and climbing stairs.

Level-Ground Walking for 3D Quasi-Passive Walker with Flat Feet - Lateral-plane Input using McKibben-Type Artificial Muscle -

Directory of Open Access Journals (Sweden)

Yamamoto Akihiro

2016-01-01

Full Text Available Currently, many bipedal robots have been proposed to realize the high energy efficiency walking. The passive dynamic walking does not require control input. Generally, a foot of passive dynamic walking robot is an arc foot. In this paper, it is intended to establish a control method and control mechanism to achieve energy efficient and stable gate. Therefore, we developed 3D quasi-passive walker with flat feet driven by an antagonistic pneumatic artificial muscle. An antagonistic mechanism is constituted by a pair of McKibben muscle. And an antagonistic pneumatic system is used as joint actuators of linkage mechanisms which control the torque, joint stiffness and position simultaneously. Finally, this report shows that the 3D quasi-passive walking in the level ground can realize by the swinging (simple input of the frontal direction, and the stride of the robot is proportional to lateral-plane input.

Effect of expertise in shooting and Taekwondo on bipedal and unipedal postural control isolated or concurrent with a reaction-time task.

Science.gov (United States)

Negahban, Hossein; Aryan, Najmolhoda; Mazaheri, Masood; Norasteh, Ali Asghar; Sanjari, Mohammad Ali

2013-06-01

It was hypothesized that training in 'static balance' or 'dynamic balance' sports has differential effects on postural control and its attention demands during quiet standing. In order to test this hypothesis, two groups of female athletes practicing shooting, as a 'static balance' sport, and Taekwondo, as a 'dynamic balance' sport, and a control group of non-physically active females voluntarily participated in this study. Postural control was assessed during bipedal and unipedal stance with and without performing a Go/No-go reaction time task. Visual and/or support surface conditions were manipulated in bipedal and unipedal stances in order to modify postural difficulty. Mixed model analysis of variance was used to determine the effects of dual tasking on postural and cognitive performance. Similar pattern of results were found in bipedal and unipedal stances, with Taekwondo practitioners displaying larger sway, shooters displaying lower sway and non-athletes displaying sway characteristics intermediate to Taekwondo and shooting athletes. Larger effect was found in bipedal stance. Single to dual-task comparison of postural control showed no significant effect of mental task on sway velocity in shooters, indicating less cognitive effort invested in balance control during bipedal stance. We suggest that expertise in shooting has a more pronounced effect on decreased sway in static balance conditions. Furthermore, shooters invest less attention in postures that are more specific to their training, i.e. bipedal stance. Copyright © 2012 Elsevier B.V. All rights reserved.

Mechatronic Wearable Exoskeletons for Bionic Bipedal Standing and Walking: A New Synthetic Approach

Science.gov (United States)

Onose, Gelu; Cârdei, Vladimir; Crăciunoiu, Ştefan T.; Avramescu, Valeriu; Opriş, Ioan; Lebedev, Mikhail A.; Constantinescu, Marian Vladimir

2016-01-01

During the last few years, interest has been growing to mechatronic and robotic technologies utilized in wearable powered exoskeletons that assist standing and walking. The available literature includes single-case reports, clinical studies conducted in small groups of subjects, and several recent systematic reviews. These publications have fulfilled promotional and marketing objectives but have not yet resulted in a fully optimized, practical wearable exoskeleton. Here we evaluate the progress and future directions in this field from a joint perspective of health professionals, manufacturers, and consumers. We describe the taxonomy of existing technologies and highlight the main improvements needed for the development and functional optimization of the practical exoskeletons. PMID:27746711

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

Knuckle-walking anteater: a convergence test of adaptation for purported knuckle-walking features of African Hominidae.

Science.gov (United States)

Orr, Caley M

2005-11-01

distal radius in the hominin lineage might be indicative of a knuckle-walking ancestry for bipedal hominins if interpreted within the biomechanical and phylogenetic context of hominid locomotor evolution. Copyright 2005 Wiley-Liss, Inc

Comparative analysis between radiographic views for knee osteoarthrosis (bipedal AP versus monopedal AP

Directory of Open Access Journals (Sweden)

Rodrigo Pires e Albuquerque

2013-08-01

Full Text Available OBJECTIVE: A comparative analysis by applying the criteria of the original classification Ahlbäck in the anteroposterior (AP bipedal knee in extension and anteroposterior (AP monopodal knee in symptomatic knee arthrosis. With this analysis we intend to observe the agreement, any advantage or difference between the incidence and degree of joint involvement between the orthopedic surgeons and radiologists with the referring physician. METHODS: From January 2012 to March 2012, was a prospective study of 60 symptomatic arthrosis knees (60 patients, clinically selected group of outpatient knee and radiographic proposals submitted to the search. Of the 60 patients, 39 were female and 21 male, mean age 64 years (ranging from 50 to 84 years. Of the 60 knees studied, 37 corresponded to the right side and 23 on the left side. Statistical analysis was performed by Kappa statistics, which evaluates the interobserver agreement for qualitative data. RESULTS: According to the scale of Ahlbäck, there was a significant agreement (p < 0.0001 intra-observer in the classification of knee osteoarthritis among the five evaluators. There was a significant agreement (p < 0.0001 with inter-observer referring physician in the incidence of AP monopodal and AP bipedal for the four raters. CONCLUSION: The study found no difference between the incidence in the AP monopodal versus AP bipedal in osteoarthritis of the knee.

A bipedal mammalian model for spinal cord injury research: The tammar wallaby [version 1; referees: 2 approved

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Norman R. Saunders

2017-06-01

Full Text Available Background: Most animal studies of spinal cord injury are conducted in quadrupeds, usually rodents. It is unclear to what extent functional results from such studies can be translated to bipedal species such as humans because bipedal and quadrupedal locomotion involve very different patterns of spinal control of muscle coordination. Bipedalism requires upright trunk stability and coordinated postural muscle control; it has been suggested that peripheral sensory input is less important in humans than quadrupeds for recovery of locomotion following spinal injury. Methods: We used an Australian macropod marsupial, the tammar wallaby (Macropus eugenii, because tammars exhibit an upright trunk posture, human-like alternating hindlimb movement when swimming and bipedal over-ground locomotion. Regulation of their muscle movements is more similar to humans than quadrupeds. At different postnatal (P days (P7–60 tammars received a complete mid-thoracic spinal cord transection. Morphological repair, as well as functional use of hind limbs, was studied up to the time of their pouch exit. Results: Growth of axons across the lesion restored supraspinal innervation in animals injured up to 3 weeks of age but not in animals injured after 6 weeks of age. At initial pouch exit (P180, the young injured at P7-21 were able to hop on their hind limbs similar to age-matched controls and to swim albeit with a different stroke. Those animals injured at P40-45 appeared to be incapable of normal use of hind limbs even while still in the pouch. Conclusions: Data indicate that the characteristic over-ground locomotion of tammars provides a model in which regrowth of supraspinal connections across the site of injury can be studied in a bipedal animal. Forelimb weight-bearing motion and peripheral sensory input appear not to compensate for lack of hindlimb control, as occurs in quadrupeds. Tammars may be a more appropriate model for studies of therapeutic interventions

Decentralized Feedback Controllers for Exponential Stabilization of Hybrid Periodic Orbits: Application to Robotic Walking*

Science.gov (United States)

Hamed, Kaveh Akbari; Gregg, Robert D.

2016-01-01

This paper presents a systematic algorithm to design time-invariant decentralized feedback controllers to exponentially stabilize periodic orbits for a class of hybrid dynamical systems arising from bipedal walking. The algorithm assumes a class of parameterized and nonlinear decentralized feedback controllers which coordinate lower-dimensional hybrid subsystems based on a common phasing variable. The exponential stabilization problem is translated into an iterative sequence of optimization problems involving bilinear and linear matrix inequalities, which can be easily solved with available software packages. A set of sufficient conditions for the convergence of the iterative algorithm to a stabilizing decentralized feedback control solution is presented. The power of the algorithm is demonstrated by designing a set of local nonlinear controllers that cooperatively produce stable walking for a 3D autonomous biped with 9 degrees of freedom, 3 degrees of underactuation, and a decentralization scheme motivated by amputee locomotion with a transpelvic prosthetic leg. PMID:27990059

Laughter as an approach to vocal evolution: The bipedal theory.

Science.gov (United States)

Provine, Robert R

2017-02-01

Laughter is a simple, stereotyped, innate, human play vocalization that is ideal for the study of vocal evolution. The basic approach of describing the act of laughter and when we do it has revealed a variety of phenomena of social, linguistic, and neurological significance. Findings include the acoustic structure of laughter, the minimal voluntary control of laughter, the punctuation effect (which describes the placement of laughter in conversation and indicates the dominance of speech over laughter), and the role of laughter in human matching and mating. Especially notable is the use of laughter to discover why humans can speak and other apes cannot. Quadrupeds, including our primate ancestors, have a 1:1 relation between breathing and stride because their thorax must absorb forelimb impacts during running. The direct link between breathing and locomotion limits vocalizations to short, simple utterances, such as the characteristic panting chimpanzee laugh (one sound per inward or outward breath). The evolution of bipedal locomotion freed the respiration system of its support function during running, permitting greater breath control and the selection for human-type laughter (a parsed exhalation), and subsequently the virtuosic, sustained, expiratory vocalization of speech. This is the basis of the bipedal theory of speech evolution.

A Study on Bipedal and Mobile Robot Behavior Through Modeling and Simulation

Directory of Open Access Journals (Sweden)

Nirmala Nirmala

2015-05-01

Full Text Available The purpose of this work is to study and analyze mobile robot behavior. In performing this, a framework is adopted and developed for mobile and bipedal robot. The robots are design, build, and run as proceed from the development of mechanical structure, electronics and control integration, and control software application. The behavior of those robots are difficult to be observed and analyzed qualitatively. To evaluate the design and behavior quality, modeling and simulation of robot structure and its task capability is performed. The stepwise procedure to robot behavior study is explained. Behavior cases study are experimented to bipedal robots, transporter robot and Autonomous Guided Vehicle (AGV developed at our institution. The experimentation are conducted on those robots by adjusting their dynamic properties and/or surrounding environment. Validation is performed by comparing the simulation result and the real robot execution. The simulation gives a more idealistic behavior execution rather than realistic one. Adjustments are performed to fine tuning simulation's parameters to provide a more realistic performance.

Planar Covariation of Hindlimb and Forelimb Elevation Angles during Terrestrial and Aquatic Locomotion of Dogs.

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Giovanna Catavitello

Full Text Available The rich repertoire of locomotor behaviors in quadrupedal animals requires flexible inter-limb and inter-segmental coordination. Here we studied the kinematic coordination of different gaits (walk, trot, gallop, and swim of six dogs (Canis lupus familiaris and, in particular, the planar covariation of limb segment elevation angles. The results showed significant variations in the relative duration of rearward limb movement, amplitude of angular motion, and inter-limb coordination, with gait patterns ranging from a lateral sequence of footfalls during walking to a diagonal sequence in swimming. Despite these differences, the planar law of inter-segmental coordination was maintained across different gaits in both forelimbs and hindlimbs. Notably, phase relationships and orientation of the covariation plane were highly limb specific, consistent with the functional differences in their neural control. Factor analysis of published muscle activity data also demonstrated differences in the characteristic timing of basic activation patterns of the forelimbs and hindlimbs. Overall, the results demonstrate that the planar covariation of inter-segmental coordination has emerged for both fore- and hindlimbs and all gaits, although in a limb-specific manner.

Bio-Inspired Optimal Control Framework to Generate Walking Motions for the Humanoid Robot iCub Using Whole Body Models

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Yue Hu

2018-02-01

Full Text Available Bipedal locomotion remains one of the major open challenges of humanoid robotics. The common approaches are based on simple reduced model dynamics to generate walking trajectories, often neglecting the whole-body dynamics of the robots. As motions in nature are often considered as optimal with respect to certain criteria, in this work, we present an optimal control-based approach that allows us to generate optimized walking motions using a precise whole-body dynamic model of the robot, in contrast with the common approaches. The optimal control problem is formulated to minimize a set of desired objective functions with respect to physical constraints of the robot and contact constraints of the walking phases; the problem is then solved with a direct multiple shooting method. We apply the formulation with combinations of different objective criteria to the model of a reduced version of the iCub humanoid robot of 15 internal DOF. The obtained trajectories are executed on the real robot, and we carry out a discussion on the differences between the outcomes of this approach with the classic approaches.

Random walks of a quantum particle on a circle

International Nuclear Information System (INIS)

Fjeldsoe, N.; Midtdal, J.; Ravndal, F.

1987-07-01

When the quantum planar rotor is put on a lattice, its dynamics can be approximated by random walks on a circle. This allows for fast and accurate Monto Carlo simulations to determine the topological charge of different configurations of the system and thereby the Θ-dependency of the lowest energy levels

Self-reported walking ability predicts functional mobility performance in frail older adults.

Science.gov (United States)

Alexander, N B; Guire, K E; Thelen, D G; Ashton-Miller, J A; Schultz, A B; Grunawalt, J C; Giordani, B

2000-11-01

To determine how self-reported physical function relates to performance in each of three mobility domains: walking, stance maintenance, and rising from chairs. Cross-sectional analysis of older adults. University-based laboratory and community-based congregate housing facilities. Two hundred twenty-one older adults (mean age, 79.9 years; range, 60-102 years) without clinical evidence of dementia (mean Folstein Mini-Mental State score, 28; range, 24-30). We compared the responses of these older adults on a questionnaire battery used by the Established Populations for the Epidemiologic Study of the Elderly (EPESE) project, to performance on mobility tasks of graded difficulty. Responses to the EPESE battery included: (1) whether assistance was required to perform seven Katz activities of daily living (ADL) items, specifically with walking and transferring; (2) three Rosow-Breslau items, including the ability to walk up stairs and walk a half mile; and (3) five Nagi items, including difficulty stooping, reaching, and lifting objects. The performance measures included the ability to perform, and time taken to perform, tasks in three summary score domains: (1) walking ("Walking," seven tasks, including walking with an assistive device, turning, stair climbing, tandem walking); (2) stance maintenance ("Stance," six tasks, including unipedal, bipedal, tandem, and maximum lean); and (3) chair rise ("Chair Rise," six tasks, including rising from a variety of seat heights with and without the use of hands for assistance). A total score combines scores in each Walking, Stance, and Chair Rise domain. We also analyzed how cognitive/ behavioral factors such as depression and self-efficacy related to the residuals from the self-report and performance-based ANOVA models. Rosow-Breslau items have the strongest relationship with the three performance domains, Walking, Stance, and Chair Rise (eta-squared ranging from 0.21 to 0.44). These three performance domains are as strongly

Possible biomechanical origins of the long-range correlations in stride intervals of walking

Science.gov (United States)

Gates, Deanna H.; Su, Jimmy L.; Dingwell, Jonathan B.

2007-07-01

When humans walk, the time duration of each stride varies from one stride to the next. These temporal fluctuations exhibit long-range correlations. It has been suggested that these correlations stem from higher nervous system centers in the brain that control gait cycle timing. Existing proposed models of this phenomenon have focused on neurophysiological mechanisms that might give rise to these long-range correlations, and generally ignored potential alternative mechanical explanations. We hypothesized that a simple mechanical system could also generate similar long-range correlations in stride times. We modified a very simple passive dynamic model of bipedal walking to incorporate forward propulsion through an impulsive force applied to the trailing leg at each push-off. Push-off forces were varied from step to step by incorporating both “sensory” and “motor” noise terms that were regulated by a simple proportional feedback controller. We generated 400 simulations of walking, with different combinations of sensory noise, motor noise, and feedback gain. The stride time data from each simulation were analyzed using detrended fluctuation analysis to compute a scaling exponent, α. This exponent quantified how each stride interval was correlated with previous and subsequent stride intervals over different time scales. For different variations of the noise terms and feedback gain, we obtained short-range correlations (α1.0). Our results indicate that a simple biomechanical model of walking can generate long-range correlations and thus perhaps these correlations are not a complex result of higher level neuronal control, as has been previously suggested.

A Novel Design for Adjustable Stiffness Artificial Tendon for the Ankle Joint of a Bipedal Robot: Modeling & Simulation

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Aiman Omer

2015-12-01

Full Text Available Bipedal humanoid robots are expected to play a major role in the future. Performing bipedal locomotion requires high energy due to the high torque that needs to be provided by its legs’ joints. Taking the WABIAN-2R as an example, it uses harmonic gears in its joint to increase the torque. However, using such a mechanism increases the weight of the legs and therefore increases energy consumption. Therefore, the idea of developing a mechanism with adjustable stiffness to be connected to the leg joint is introduced here. The proposed mechanism would have the ability to provide passive and active motion. The mechanism would be attached to the ankle pitch joint as an artificial tendon. Using computer simulations, the dynamical performance of the mechanism is analytically evaluated.

Regularity of Center of Pressure Trajectories in Expert Gymnasts during Bipedal Closed-Eyes Quiet Standing

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Brice Isableu

2017-06-01

Full Text Available We compared postural control of expert gymnasts (G to that of non-gymnasts (NG during bipedal closed-eyes quiet standing using conventional and nonlinear dynamical measures of center of foot pressure (COP trajectories. Earlier findings based on COP classical variables showed that gymnasts exhibited a better control of postural balance but only in demanding stances. We examined whether the effect of expertise in Gymnastic can be uncovered in less demanding stances, from the analysis of the dynamic patterns of COP trajectories. Three dependent variables were computed to describe the subject’s postural behavior: the variability of COP displacements (ACoP, the variability of the COP velocities (VCoP and the sample entropy of COP (SEnCoP to quantify COP regularity (i.e., predictability. Conventional analysis of COP trajectories showed that NG and G exhibited similar amount and control of postural sway, as indicated by similar ACoP and VCoP values observed in NG and G, respectively. These results suggest that the specialized balance training received by G may not transfer to less challenging balance conditions such as the bipedal eyes-closed stance condition used in the present experiment. Interestingly, nonlinear dynamical analysis of COP trajectories regarding COP regularity showed that G exhibited more irregular COP fluctuations relative to NG, as indicated by the higher SEnCoP values observed for the G than for the NG. The present results showed that a finer-grained analysis of the dynamic patterns of the COP displacements is required to uncover an effect of gymnastic expertise on postural control in nondemanding postural stance. The present findings shed light on the surplus value in the nonlinear dynamical analysis of COP trajectories to gain further insight into the mechanisms involved in the control of bipedal posture.

Oreopithecus was a bipedal ape after all: Evidence from the iliac cancellous architecture

Science.gov (United States)

Rook, Lorenzo; Bondioli, Luca; Köhler, Meike; Moyà-Solà, Salvador; Macchiarelli, Roberto

1999-01-01

Textural properties and functional morphology of the hip bone cancellous network of Oreopithecus bambolii, a 9- to 7-million-year-old Late Miocene hominoid from Italy, provide insights into the postural and locomotor behavior of this fossil ape. Digital image processing of calibrated hip bone radiographs reveals the occurrence of trabecular features, which, in humans and fossil hominids, are related to vertical support of the body weight, i.e., to bipedality. PMID:10411955

Advanced robot locomotion.

Energy Technology Data Exchange (ETDEWEB)

Neely, Jason C.; Sturgis, Beverly Rainwater; Byrne, Raymond Harry; Feddema, John Todd; Spletzer, Barry Louis; Rose, Scott E.; Novick, David Keith; Wilson, David Gerald; Buerger, Stephen P.

2007-01-01

This report contains the results of a research effort on advanced robot locomotion. The majority of this work focuses on walking robots. Walking robot applications include delivery of special payloads to unique locations that require human locomotion to exo-skeleton human assistance applications. A walking robot could step over obstacles and move through narrow openings that a wheeled or tracked vehicle could not overcome. It could pick up and manipulate objects in ways that a standard robot gripper could not. Most importantly, a walking robot would be able to rapidly perform these tasks through an intuitive user interface that mimics natural human motion. The largest obstacle arises in emulating stability and balance control naturally present in humans but needed for bipedal locomotion in a robot. A tracked robot is bulky and limited, but a wide wheel base assures passive stability. Human bipedal motion is so common that it is taken for granted, but bipedal motion requires active balance and stability control for which the analysis is non-trivial. This report contains an extensive literature study on the state-of-the-art of legged robotics, and it additionally provides the analysis, simulation, and hardware verification of two variants of a proto-type leg design.

The hominins: a very conservative tribe? Last common ancestors, plasticity and ecomorphology in Hominidae. Or, What's in a name?

Science.gov (United States)

Crompton, Robin Huw

2016-04-01

In the early 20th century the dominant paradigm for the ecological context of the origins of human bipedalism was arboreal suspension. In the 1960s, however, with recognition of the close genetic relationship of humans, chimpanzees and bonobos, and with the first field studies of mountain gorillas and common chimpanzees, it was assumed that locomotion similar to that of common chimpanzees and mountain gorillas, which appeared to be dominated by terrestrial knuckle-walking, must have given rise to human bipedality. This paradigm has been popular, if not universally dominant, until very recently. However, evidence that neither the knuckle-walking or vertical climbing of these apes is mechanically similar to human bipedalism, as well as the hand-assisted bipedality and orthograde clambering of orang-utans, has cast doubt on this paradigm. It now appears that the dominance of terrestrial knuckle-walking in mountain gorillas is an artefact seen only in the extremes of their range, and that both mountain and lowland gorillas have a generalized orthogrady similar to that seen in orang-utans. These data, together with evidence for continued arboreal competence in humans, mesh well with an increasing weight of fossil evidence suggesting that a mix of orang-utan and gorilla-like arboreal locomotion and upright terrestrial bipedalism characterized most australopiths. The late split date of the panins, corresponding to dates for separation of Homo and Australopithecus, leads to the speculation that competition with chimpanzees, as appears to exist today with gorillas, may have driven ecological changes in hominins and perhaps cladogenesis. However, selection for ecological plasticity and morphological conservatism is a core characteristic of Hominidae as a whole, including Hominini. © 2015 Anatomical Society.

Introducing Aesthetic Features in Gymnastic Skills

Science.gov (United States)

Pollatou, Elisana; Savrami, Katia; Karadimou, Konstanding

2004-01-01

This paper focuses on an aesthetic approach that takes the simplest functional skill, such as walking, and develops it into an artistic skill. The aim then is to identify aesthetic characteristics and examine ways to apply them in gymnastic classes. Because walking is the child's first experience with bipedal locomotion, the initial walking action…

Chemical Distances for Percolation of Planar Gaussian Free Fields and Critical Random Walk Loop Soups

Science.gov (United States)

Ding, Jian; Li, Li

2018-06-01

We initiate the study on chemical distances of percolation clusters for level sets of two-dimensional discrete Gaussian free fields as well as loop clusters generated by two-dimensional random walk loop soups. One of our results states that the chemical distance between two macroscopic annuli away from the boundary for the random walk loop soup at the critical intensity is of dimension 1 with positive probability. Our proof method is based on an interesting combination of a theorem of Makarov, isomorphism theory, and an entropic repulsion estimate for Gaussian free fields in the presence of a hard wall.

A bipedal DNA motor that travels back and forth between two DNA origami tiles.

Science.gov (United States)

Liber, Miran; Tomov, Toma E; Tsukanov, Roman; Berger, Yaron; Nir, Eyal

2015-02-04

In this work, the successful operation of a dynamic DNA device constructed from two DNA origami building blocks is reported. The device includes a bipedal walker that strides back and forth between the two origami tiles. Two different DNA origami tiles are first prepared separately; they are then joined together in a controlled manner by a set of DNA strands to form a stable track in high yield as confirmed by single-molecule fluorescence (SMF). Second, a bipedal DNA motor, initially attached to one of the two origami units and operated by sequential interaction with "fuel" and "antifuel" DNA strands, moves from one origami tile to another and then back again. The operational yield, measured by SMF, was similar to that of a motor operating on a similar track embedded in a single origami tile, confirming that the transfer across the junction from one tile to the other does not result in dissociation that is any more than that of steps on a single tile. These results demonstrate that moving parts can reliably travel from one origami unit to another, and it demonstrates the feasibility of dynamic DNA molecular machines that are made of more than a single origami building block. This study is a step toward the development of motors that can stride over micrometer distances. © 2014 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Bipedality and hair loss in human evolution revisited: The impact of altitude and activity scheduling.

Science.gov (United States)

Dávid-Barrett, Tamás; Dunbar, Robin I M

2016-05-01

Bipedality evolved early in hominin evolution, and at some point was associated with hair loss over most of the body. One classic explanation (Wheeler 1984: J. Hum. Evol. 13, 91-98) was that these traits evolved to reduce heat overload when australopiths were foraging in more open tropical habitats where they were exposed to the direct effects of sunlight at midday. A recent critique of this model (Ruxton & Wilkinson 2011a: Proc. Natl. Acad. Sci. USA 108, 20965-20969) argued that it ignored the endogenous costs of heat generated by locomotion, and concluded that only hair loss provided a significant reduction in heat load. We add two crucial corrections to this model (the altitude at which australopiths actually lived and activity scheduling) and show that when these are included there are substantial reductions in heat load for bipedal locomotion even for furred animals. In addition, we add one further consideration to the model: we extend the analysis across the full 24 h day, and show that fur loss could not have evolved until much later because of the thermoregulatory costs this would have incurred at the altitudes where australopiths actually lived. Fur loss is most likely associated with the exploitation of open habitats at much lower altitudes at a much later date by the genus Homo. Copyright © 2016 The Authors. Published by Elsevier Ltd.. All rights reserved.

Numerical and experimental study of the virtual quadrupedal walking robot-semiquad

International Nuclear Information System (INIS)

Aoustin, Yannick; Chevallereau, Christine; Formal'sky, Alexander

2006-01-01

SemiQuad is a prototyped walking robot with a platform and two double-link legs. Thus, it is a five-link mechanism. The front leg models identical motions of two quadruped's front legs, the back leg models identical motions of two quadruped's back legs. The legs have passive (uncontrolled) feet that extend in the frontal plane. Due to this the robot is stable in the frontal plane. This robot can be viewed as a 'virtual' quadruped. Four DC motors drive the mechanism. Its control system comprises a computer, hardware servo-systems and power amplifiers. The locomotion of the prototype is planar curvet gait. In the double support our prototype is statically stable and over actuated. In the single support it is unstable and under actuated system. There is no flight phase. We describe here the scheme of the mechanism, the characteristics of the drives and the control strategy. The dynamic model of the planar walking is recalled for the double, single support phases and for the impact instant. An intuitive control strategy is detailed. The designed control strategy overcomes the difficulties appeared due to unstable and under actuated motion in the single support. Due to the control algorithm the walking regime consists of the alternating different phases. The sequence of these phases is the following. A double support phase begins. A fast bend and unbend of the front leg allows a lift-off of the front leg. During the single support on the back leg the distance between the two leg tips increases. Then an impact occurs and a new double support phase begins. A fast bend and unbend of the back leg allows the lift-off of the back leg. During the single support on the front leg the distance between the two leg tips decreases to form a cyclic walking gait. The experiments give results that are close to those of the simulation

Development of pendulum mechanism and kinematic coordination from the first unsupported steps in toddlers

NARCIS (Netherlands)

Ivanenko, Yuri P; Dominici, Nadia; Cappellini, Germana; Dan, Bernard; Cheron, Guy; Lacquaniti, Francesco

2004-01-01

The inverted pendulum model in which the centre of mass of the body vaults over the stance leg in an arc represents a basic mechanism of bipedal walking. Is the pendulum mechanism innate, or is it learnt through walking experience? We studied eight toddlers (about 1 year old) at their first

Quantum quincunx for walk on circles in phase space with indirect coin flip

International Nuclear Information System (INIS)

Xue Peng; Sanders, Barry C

2008-01-01

The quincunx, or Galton board, has a long history as a tool for demonstrating and investigating random walk processes, but a quantum quincunx (QQ) for demonstrating a coined quantum walk (QW) is yet to be realized experimentally. We propose a variant of the QQ in cavity quantum electrodynamics, designed to eliminate the onerous requirement of directly flipping the coin. Instead, we propose driving the cavity in such a way that cavity field displacements are minimized and the coin is effectively flipped via this indirect process. An effect of this indirect flipping is that the walker's location is no longer confined to a single circle in the planar phase space, but we show that the phase distribution nonetheless shows quadratic enhancement of phase diffusion for the quantum versus classical walk despite this small complication. Thus our scheme leads to coined QW behaviour in cavity quantum electrodynamics without the need to flip the coin directly

Does motor expertise facilitate amplitude differentiation of lower limb-movements in an asymmetrical bipedal coordination task?

Science.gov (United States)

Roelofsen, Eefje G J; Brown, Derrick D; Nijhuis-van der Sanden, Maria W G; Staal, J Bart; Meulenbroek, Ruud G J

2018-04-30

The motor system's natural tendency is to move the limbs over equal amplitudes, for example in walking. However, in many situations in which people must perform complex movements, a certain degree of amplitude differentiation of the limbs is required. Visual and haptic feedback have recently been shown to facilitate such independence of limb movements. However, it is unknown whether motor expertise moderates the extent to which individuals are able to differentiate the amplitudes of their limb-movements while being supported with visual and haptic feedback. To answer this question 14 pre-professional dancers were compared to 14 non-dancers on simultaneously generating a small displacement with one foot, and a larger one with the other foot, in four different feedback conditions. In two conditions, haptic guidance was offered, either in a passive or active mode. In the other two conditions, veridical and enhanced visual feedback were provided. Surprisingly, no group differences were found regarding the degree to which the visual or haptic feedback assisted the generation of the different target amplitudes of the feet (mean amplitude difference between the feet). The correlation between the displacements of the feet and the standard deviation of the continuous relative phase between the feet, reflecting the degree of independence of the feet movements, also failed to show between-group differences. Sample entropy measures, indicating the predictability of the foot movements, did show a group difference. In the haptically-assisted conditions, the dancers demonstrated more predictable coordination patterns than the non-dancers as reflected by lower sample entropy values whereas the reverse was true in the visual-feedback conditions. The results demonstrate that motor expertise does not moderate the extent to which haptic tracking facilitates the differentiation of the amplitudes of the lower limb movements in an asymmetrical bipedal coordination task. Copyright © 2018

Synthesis of adaptive impedance control for bipedal robot mechanisms

OpenAIRE

Petrović Milena; Rodić Aleksandar

2008-01-01

The paper describes the impedance algorithm in locomotion of humanoid robot with proposed parameter modulation depending on the gate phase. The analysis shows influence of walking speed and foot elevation on regulator's parameters. Chosen criterion cares for footpath tracking and needed energy for that way of walking. The experiments give recommendation for impedance regulator tuning.

First Detailed Anatomical Study of Bonobos Reveals Intra-Specific Variations and Exposes Just-So Stories of Human Evolution, Bipedalism, and Tool Use

Directory of Open Access Journals (Sweden)

Rui Diogo

2018-04-01

Full Text Available Just-so stories are prominent in human evolution literature because of our tendency to create simple progressionist narratives about our “special” place in nature, despite the fact that these stories are almost exclusively based on hard tissue data. How can we be so certain about the evolution of human facial communication, bipedalism, tool use, or speech without detailed knowledge of the internal anatomy of for instance, one of the two extant species more closely related to us, the bonobos? Here I show how many of these stories now become obsolete, after such a comprehensive knowledge on the anatomy of bonobos and other primates is finally put together. Each and every muscle that has been long accepted to be “uniquely human” and to provide “crucial singular functional adaptations” for our bipedalism, tool use and/or vocal/facial communication, is actually present as an intra-specific variant or even as normal phenotype in bonobos and/or other apes.

The quadruped robot adaptive control in trotting gait walking on slopes

Science.gov (United States)

Zhang, Shulong; Ma, Hongxu; Yang, Yu; Wang, Jian

2017-10-01

The quadruped robot can be decomposed into a planar seven-link closed kinematic chain in the direction of supporting line and a linear inverted pendulum in normal direction of supporting line. The ground slope can be estimated by using the body attitude information and supporting legs length. The slope degree is used in feedback, to achieve the point of quadruped robot adaptive control walking on slopes. The simulation results verify that the quadruped robot can achieves steady locomotion on the slope with the control strategy proposed in this passage.

Control of walking robots using virtual springs

NARCIS (Netherlands)

van Oort, Gijs; Stramigioli, Stefano; Gevers, M.; Sepulchre, R.

2009-01-01

At the Control Engineering group of the University of Twente, we are conducting research on control of bipedal robots. In our search for robust and energy efficient control, we are making extensive use of simulation. In order to facil- itate the development of algorithms, we want to design con-

Random walk on random walks

NARCIS (Netherlands)

Hilário, M.; Hollander, den W.Th.F.; Sidoravicius, V.; Soares dos Santos, R.; Teixeira, A.

2014-01-01

In this paper we study a random walk in a one-dimensional dynamic random environment consisting of a collection of independent particles performing simple symmetric random walks in a Poisson equilibrium with density ¿¿(0,8). At each step the random walk performs a nearest-neighbour jump, moving to

Why is walker-assisted gait metabolically expensive?

Science.gov (United States)

Priebe, Jonathon R; Kram, Rodger

2011-06-01

Walker-assisted gait is reported to be ∼200% more metabolically expensive than normal bipedal walking. However, previous studies compared different walking speeds. Here, we compared the metabolic power consumption and basic stride temporal-spatial parameters for 10 young, healthy adults walking without assistance and using 2-wheeled (2W), 4-wheeled (4W) and 4-footed (4F) walker devices, all at the same speed, 0.30m/s. We also measured the metabolic power demand for walking without any assistive device using a step-to gait at 0.30m/s, walking normally at 1.25m/s, and for repeated lifting of the 4F walker mimicking the lifting pattern used during 4F walker-assisted gait. Similar to previous studies, we found that the cost per distance walked was 217% greater with a 4F walker at 0.30m/s compared to unassisted, bipedal walking at 1.25m/s. Compared at the same speed, 0.30m/s, using a 4F walker was still 82%, 74%, and 55% energetically more expensive than walking unassisted, with a 4W walker and a 2W walker respectively. The sum of the metabolic cost of step-to walking plus the cost of lifting itself was equivalent to the cost of walking with a 4F walker. Thus, we deduce that the high cost of 4F walker assisted gait is due to three factors: the slow walking speed, the step-to gait pattern and the repeated lifting of the walker. Copyright © 2011 Elsevier B.V. All rights reserved.

Motor patterns during walking on a slippery walkway

NARCIS (Netherlands)

Cappellini, Germana; Ivanenko, Yuri P; Dominici, Nadia; Poppele, Richard E; Lacquaniti, Francesco

Friction and gravity represent two basic physical constraints of terrestrial locomotion that affect both motor patterns and the biomechanics of bipedal gait. To provide insights into the spatiotemporal organization of the motor output in connection with ground contact forces, we studied adaptation

LCP method for a planar passive dynamic walker based on an event-driven scheme

Science.gov (United States)

Zheng, Xu-Dong; Wang, Qi

2018-06-01

The main purpose of this paper is to present a linear complementarity problem (LCP) method for a planar passive dynamic walker with round feet based on an event-driven scheme. The passive dynamic walker is treated as a planar multi-rigid-body system. The dynamic equations of the passive dynamic walker are obtained by using Lagrange's equations of the second kind. The normal forces and frictional forces acting on the feet of the passive walker are described based on a modified Hertz contact model and Coulomb's law of dry friction. The state transition problem of stick-slip between feet and floor is formulated as an LCP, which is solved with an event-driven scheme. Finally, to validate the methodology, four gaits of the walker are simulated: the stance leg neither slips nor bounces; the stance leg slips without bouncing; the stance leg bounces without slipping; the walker stands after walking several steps.

[Evolutionary history of human locomotor system--from walking to long-distance running].

Science.gov (United States)

Viranta-Kovanen, Suvi

2015-01-01

Bipedality evolved in hominids more than 4 million years ago. Bipedals were a diverse group including the lineage of obligatory walkers that finally lead to humans. Important anatomical changes in this group were: enhanced lumbar lordosis, shortening of the ilium, and emphasize on the parasagittal movements. Long-distance running evolved much later and it was associated with well-developed plantar arches, strengthening of muscles supporting the erect trunk, and decoupling of the pectoral girdle and head. In addition to anatomical changes, humans have many physiological adaptations to long-distance running. It is likely that the ability to run long-distance has been important for the survival of our species.

Spinal lordosis optimizes the requirements for a stable erect posture.

Science.gov (United States)

Wagner, Heiko; Liebetrau, Anne; Schinowski, David; Wulf, Thomas; de Lussanet, Marc H E

2012-04-16

Lordosis is the bending of the lumbar spine that gives the vertebral column of humans its characteristic ventrally convex curvature. Infants develop lordosis around the time when they acquire bipedal locomotion. Even macaques develop a lordosis when they are trained to walk bipedally. The aim of this study was to investigate why humans and some animals develop a lumbar lordosis while learning to walk bipedally. We developed a musculoskeletal model of the lumbar spine, that includes an asymmetric, dorsally shifted location of the spinal column in the body, realistic moment arms, and physiological cross-sectional areas (PCSA) of the muscles as well as realistic force-length and force-velocity relationships. The model was used to analyze the stability of an upright body posture. According to our results, lordosis reduces the local joint torques necessary for an equilibrium of the vertebral column during an erect posture. At the same time lordosis increases the demands on the global muscles to provide stability. We conclude that the development of a spinal lordosis is a compromise between the stability requirements of an erect posture and the necessity of torque equilibria at each spinal segment.

Spinal lordosis optimizes the requirements for a stable erect posture

Directory of Open Access Journals (Sweden)

Wagner Heiko

2012-04-01

Full Text Available Abstract Background Lordosis is the bending of the lumbar spine that gives the vertebral column of humans its characteristic ventrally convex curvature. Infants develop lordosis around the time when they acquire bipedal locomotion. Even macaques develop a lordosis when they are trained to walk bipedally. The aim of this study was to investigate why humans and some animals develop a lumbar lordosis while learning to walk bipedally. Results We developed a musculoskeletal model of the lumbar spine, that includes an asymmetric, dorsally shifted location of the spinal column in the body, realistic moment arms, and physiological cross-sectional areas (PCSA of the muscles as well as realistic force-length and force-velocity relationships. The model was used to analyze the stability of an upright body posture. According to our results, lordosis reduces the local joint torques necessary for an equilibrium of the vertebral column during an erect posture. At the same time lordosis increases the demands on the global muscles to provide stability. Conclusions We conclude that the development of a spinal lordosis is a compromise between the stability requirements of an erect posture and the necessity of torque equilibria at each spinal segment.

Comparison of the effect of selected muscle groups fatigue on postural control during bipedal stance in healthy young women.

Science.gov (United States)

Shirazi, Zahra Rojhani; Jahromi, Fatemeh Nikhalat

2013-09-01

The maintenance of balance is an essential requirement for the performance of daily tasks and sporting activities and muscular fatigue is a factor to impair postural control, so this study was done to compare the effect of selected muscle groups fatigue on postural control during bipedal stance in healthy subjects. Fifteen healthy female students (24.3 ± 2.6 years) completed three testing session with a break period of at least 2 days. During each session, postural control was assessed during two 30-s trials of bipedal stance with eyes close before and after the fatigue protocol. Fatigue protocols were performed by 60% of their unfatigued Maximum Voluntary Contraction of unilateral ankle plantar flexors, bilateral lumbar extensors and bilateral neck extensors. One of the three fatigue protocols was performed on each session. The result showed that fatigue had a significant effect on COP velocity and it increase COP velocity but there was not found any difference in postural sway between muscle groups. Localized muscle fatigue caused deficits in postural control regardless of the location of fatigue. Authors suggest the possibility of the contributions of central mechanisms to postural deficits due to fatigue and it seems that difference was not between muscle groups due to central fatigue.

Relation between random walks and quantum walks

Science.gov (United States)

Boettcher, Stefan; Falkner, Stefan; Portugal, Renato

2015-05-01

Based on studies of four specific networks, we conjecture a general relation between the walk dimensions dw of discrete-time random walks and quantum walks with the (self-inverse) Grover coin. In each case, we find that dw of the quantum walk takes on exactly half the value found for the classical random walk on the same geometry. Since walks on homogeneous lattices satisfy this relation trivially, our results for heterogeneous networks suggest that such a relation holds irrespective of whether translational invariance is maintained or not. To develop our results, we extend the renormalization-group analysis (RG) of the stochastic master equation to one with a unitary propagator. As in the classical case, the solution ρ (x ,t ) in space and time of this quantum-walk equation exhibits a scaling collapse for a variable xdw/t in the weak limit, which defines dw and illuminates fundamental aspects of the walk dynamics, e.g., its mean-square displacement. We confirm the collapse for ρ (x ,t ) in each case with extensive numerical simulation. The exact values for dw themselves demonstrate that RG is a powerful complementary approach to study the asymptotics of quantum walks that weak-limit theorems have not been able to access, such as for systems lacking translational symmetries beyond simple trees.

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, Robotics 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, Robotics

Fire-Walking

Science.gov (United States)

Willey, David

2010-01-01

This article gives a brief history of fire-walking and then deals with the physics behind fire-walking. The author has performed approximately 50 fire-walks, took the data for the world's hottest fire-walk and was, at one time, a world record holder for the longest fire-walk (www.dwilley.com/HDATLTW/Record_Making_Firewalks.html). He currently…

The evolution of the upright posture and gait—a review and a new synthesis

Science.gov (United States)

Niemitz, Carsten

2010-03-01

During the last century, approximately 30 hypotheses have been constructed to explain the evolution of the human upright posture and locomotion. The most important and recent ones are discussed here. Meanwhile, it has been established that all main hypotheses published until the last decade of the past century are outdated, at least with respect to some of their main ideas: Firstly, they were focused on only one cause for the evolution of bipedality, whereas the evolutionary process was much more complex. Secondly, they were all placed into a savannah scenario. During the 1990s, the fossil record allowed the reconstruction of emerging bipedalism more precisely in a forested habitat (e.g., as reported by Clarke and Tobias (Science 269:521-524, 1995) and WoldeGabriel et al. (Nature 412:175-178, 2001)). Moreover, the fossil remains revealed increasing evidence that this part of human evolution took place in a more humid environment than previously assumed. The Amphibian Generalist Theory, presented first in the year 2000, suggests that bipedalism began in a wooded habitat. The forests were not far from a shore, where our early ancestor, along with its arboreal habits, walked and waded in shallow water finding rich food with little investment. In contrast to all other theories, wading behaviour not only triggers an upright posture, but also forces the individual to maintain this position and to walk bipedally. So far, this is the only scenario suitable to overcome the considerable anatomical and functional threshold from quadrupedalism to bipedalism. This is consistent with paleoanthropological findings and with functional anatomy as well as with energetic calculations, and not least, with evolutionary psychology. The new synthesis presented here is able to harmonise many of the hitherto competing theories.

Randomized random walk on a random walk

International Nuclear Information System (INIS)

Lee, P.A.

1983-06-01

This paper discusses generalizations of the model introduced by Kehr and Kunter of the random walk of a particle on a one-dimensional chain which in turn has been constructed by a random walk procedure. The superimposed random walk is randomised in time according to the occurrences of a stochastic point process. The probability of finding the particle in a particular position at a certain instant is obtained explicitly in the transform domain. It is found that the asymptotic behaviour for large time of the mean-square displacement of the particle depends critically on the assumed structure of the basic random walk, giving a diffusion-like term for an asymmetric walk or a square root law if the walk is symmetric. Many results are obtained in closed form for the Poisson process case, and these agree with those given previously by Kehr and Kunter. (author)

Nine Walks

DEFF Research Database (Denmark)

2013-01-01

Based on studies of, among others, the Situationists and their theories regarding walks as an artistic method and expression nine master students from “Studio Constructing an Archive”, Aarhus School of Architecture, Denmark performed nine walks as part of the exhibition. These walks relate...... to the students’ individual mappings of Behind the Green Door, its structure and content. They highlight a number of motifs found in the exhibition which are of particular interest to the students. The walks represented reflections on the walk as an artistic method and expression. Each walk is an individual...

The Planar Sandwich and Other 1D Planar Heat Flow Test Problems in ExactPack

Energy Technology Data Exchange (ETDEWEB)

Singleton, Jr., Robert [Los Alamos National Lab. (LANL), Los Alamos, NM (United States)

2017-01-24

This report documents the implementation of several related 1D heat flow problems in the verification package ExactPack [1]. In particular, the planar sandwich class defined in Ref. [2], as well as the classes PlanarSandwichHot, PlanarSandwichHalf, and other generalizations of the planar sandwich problem, are defined and documented here. A rather general treatment of 1D heat flow is presented, whose main results have been implemented in the class Rod1D. All planar sandwich classes are derived from the parent class Rod1D.

Proposal of limit moment equation applicable to planar/non-planar flaw in wall thinned pipes under bending

International Nuclear Information System (INIS)

Tsuji, Masataka; Meshii, Toshiyuki

2011-01-01

Highlights: → A limit moment equation applicable to planar/non-planar flaw of 0 ≤ θ ≤ π found in wall thinned straight pipes was proposed. → An idea to rationally classify planar/non-planar flaw in wall thinned pipes was proposed. → The equation based on the experimental observation focused on the fracture mode. - Abstract: In this paper, a limit bending moment equation applicable to all types of planar and non-planar flaws in wall-thinned straight pipes under bending was proposed. A system to rationally classify the planar/non-planar flaws in wall-thinned pipes was suggested based on experimental observations focused on the fracture mode. The results demonstrate the importance of distinguishing between axial and circumferential long flaws in wall-thinned pipes.

Walk Score(TM), Perceived Neighborhood Walkability, and walking in the US.

Science.gov (United States)

Tuckel, Peter; Milczarski, William

2015-03-01

To investigate both the Walk Score(TM) and a self-reported measure of neighborhood walkability ("Perceived Neighborhood Walkability") as estimators of transport and recreational walking among Americans. The study is based upon a survey of a nationally-representative sample of 1224 American adults. The survey gauged walking for both transport and recreation and included a self-reported measure of neighborhood walkability and each respondent's Walk Score(TM). Binary logistic and linear regression analyses were performed on the data. The Walk Score(TM) is associated with walking for transport, but not recreational walking nor total walking. Perceived Neighborhood Walkability is associated with transport, recreational and total walking. Perceived Neighborhood Walkability captures the experiential nature of walking more than the Walk Score(TM).

Walking pattern classification and walking distance estimation algorithms using gait phase information.

Science.gov (United States)

Wang, Jeen-Shing; Lin, Che-Wei; Yang, Ya-Ting C; Ho, Yu-Jen

2012-10-01

This paper presents a walking pattern classification and a walking distance estimation algorithm using gait phase information. A gait phase information retrieval algorithm was developed to analyze the duration of the phases in a gait cycle (i.e., stance, push-off, swing, and heel-strike phases). Based on the gait phase information, a decision tree based on the relations between gait phases was constructed for classifying three different walking patterns (level walking, walking upstairs, and walking downstairs). Gait phase information was also used for developing a walking distance estimation algorithm. The walking distance estimation algorithm consists of the processes of step count and step length estimation. The proposed walking pattern classification and walking distance estimation algorithm have been validated by a series of experiments. The accuracy of the proposed walking pattern classification was 98.87%, 95.45%, and 95.00% for level walking, walking upstairs, and walking downstairs, respectively. The accuracy of the proposed walking distance estimation algorithm was 96.42% over a walking distance.

Variability in DMSA reporting following urinary tract infection in children: pinhole, planar, and pinhole with planar

International Nuclear Information System (INIS)

Rossleigh, M.A.; Christian, C.L.; Craig, J.C.; Howman-Giles, R.B.; Grunewald, S.

2004-01-01

Purpose: To determine whether the provision of DMSA images obtained by pinhole collimation reduces inter-observer variability of reporting compared with planar DMSA images alone. Methods: One hundred consecutive DMSA images were independently interpreted three times (pinhole alone, planar alone, pinhole and planar) by four participating nuclear medicine specialists from different departments and in random order. The presence or absence of renal parenchymal abnormality was classified using the modified four level grading system of Goldraich with mean values for the 6 comparisons reported. Results: The proportion of DMSA images interpreted as abnormal was 31% for planar, 34% for pinhole and 33% for planar with pinhole. Agreement was 89% for planar alone, 89% for pinhole alone and 90% for planar with pinhole, with kappa values 0.74, 0.75 and 0.80 respectively for the normal-abnormal scan classification of individual children. These results did not vary appreciably whether interpretation of patients, kidneys or kidney zones was compared. Reasons for disagreement in reporting included different interpretations of 'abnormalities' as normal anatomical variations (splenic impression, fetal lobulation, duplex collecting systems, column of Bertin) or true parenchymal abnormalities, different adjustments in thresholds for reporting abnormality when images were technically suboptimal, different weighting given to pinhole and planar images when both were provided, and error. Conclusion: Four experienced nuclear medicine physicians showed substantial agreement in the interpretation of planar alone, pinhole alone and planar with pinhole DMSA images, but the provision of both sets of images, planar and pinhole, did not reduce variability. (authors)

Kinematic control of walking.

Science.gov (United States)

Lacquaniti, F; Ivanenko, Y P; Zago, M

2002-10-01

The planar law of inter-segmental co-ordination we described may emerge from the coupling of neural oscillators between each other and with limb mechanical oscillators. Muscle contraction intervenes at variable times to re-excite the intrinsic oscillations of the system when energy is lost. The hypothesis that a law of coordinative control results from a minimal active tuning of the passive inertial and viscoelastic coupling among limb segments is congruent with the idea that movement has evolved according to minimum energy criteria (1, 8). It is known that multi-segment motion of mammals locomotion is controlled by a network of coupled oscillators (CPGs, see 18, 33, 37). Flexible combination of unit oscillators gives rise to different forms of locomotion. Inter-oscillator coupling can be modified by changing the synaptic strength (or polarity) of the relative spinal connections. As a result, unit oscillators can be coupled in phase, out of phase, or with a variable phase, giving rise to different behaviors, such as speed increments or reversal of gait direction (from forward to backward). Supra-spinal centers may drive or modulate functional sets of coordinating interneurons to generate different walking modes (or gaits). Although it is often assumed that CPGs control patterns of muscle activity, an equally plausible hypothesis is that they control patterns of limb segment motion instead (22). According to this kinematic view, each unit oscillator would directly control a limb segment, alternately generating forward and backward oscillations of the segment. Inter-segmental coordination would be achieved by coupling unit oscillators with a variable phase. Inter-segmental kinematic phase plays the role of global control variable previously postulated for the network of central oscillators. In fact, inter-segmental phase shifts systematically with increasing speed both in man (4) and cat (38). Because this phase-shift is correlated with the net mechanical power

Who walks? Factors associated with walking behavior in disabled older women with and without self-reported walking difficulty.

Science.gov (United States)

Simonsick, E M; Guralnik, J M; Fried, L P

1999-06-01

To determine how severity of walking difficulty and sociodemographic, psychosocial, and health-related factors influence walking behavior in disabled older women. Cross-sectional analyses of baseline data from the Women's Health and Aging Study (WHAS). An urban community encompassing 12 contiguous zip code areas in the eastern portion of Baltimore City and part of Baltimore County, Maryland. A total of 920 moderately to severely disabled community-resident women, aged 65 years and older, identified from an age-stratified random sample of Medicare beneficiaries. Walking behavior was defined as minutes walked for exercise and total blocks walked per week. Independent variables included self-reported walking difficulty, sociodemographic factors, psychological status (depression, mastery, anxiety, and cognition), and health-related factors (falls and fear of falling, fatigue, vision and balance problems, weight, smoking, and cane use). Walking at least 8 blocks per week was strongly negatively related to severity of walking difficulty. Independent of difficulty level, older age, black race, fatigue, obesity, and cane use were also negatively associated with walking; living alone and high mastery had a positive association with walking. Even among functionally limited women, sociocultural, psychological, and health-related factors were independently associated with walking behavior. Thus, programs aimed at improving walking ability need to address these factors in addition to walking difficulties to maximize participation and compliance.

Variant insertion of the fibularis tertius muscle is an evidence of the progressive evolutionary adaptation for the bipedal gait

Directory of Open Access Journals (Sweden)

Rashmoni Jana

2011-10-01

Full Text Available Fibularis tertius (FT is often considered as part of extensor digitorum longus (EDL muscle. The muscle is absent in hominoid apes and with the acquisition of the bipedal gait; the muscle emerged as a recent addition in the human foot. From its various modes of insertions, it is evident that the muscles of the sole are in search of its distal attachment, which can best support the relatively weak human midfoot. We describe an unusual insertion of the muscle in support of this hypothesis.

How to draw a planarization

NARCIS (Netherlands)

Bläsius, T.; Radermacher, M.; Rutter, I.; Steffen, B.; Baier, C.; van den Brand, M.; Eder, J.; Hinchey, M.; Margaria, T.

2017-01-01

We study the problem of computing straight-line drawings of non-planar graphs with few crossings. We assume that a crossing-minimization algorithm is applied first, yielding a planarization, i.e., a planar graph with a dummy vertex for each crossing, that fixes the topology of the resulting drawing.

Feeding strategies as revealed by the section moduli of the humerus bones in bipedal theropod dinosaurs

Science.gov (United States)

Lee, Scott; Richards, Zachary

2015-03-01

The section modulus of a bone is a measure of its ability to resist bending torques. Carnivorous dinosaurs presumably had strong arm bones to hold struggling prey during hunting. Some theropods are believed to have become herbivorous and such animals would not have needed such strong arms. In this work, the section moduli of the humerus bones of bipedal theropod dinosaurs (from Microvenator celer to Tyrannosaurus rex) are studied to determine the maximum bending loads their arms could withstand. The results show that bending strength is not of uniform importance to these magnificent animals. The predatory theropods had strong arms for use in hunting. In contrast, the herbivorous dinosaurs had weaker arms.

Design of special planar linkages

CERN Document Server

Zhao, Jing-Shan; Ma, Ning; Chu, Fulei

2013-01-01

Planar linkages play a very important role in mechanical engineering. As the simplest closed chain mechanisms, planar four-bar linkages are widely used in mechanical engineering, civil engineering and aerospace engineering.Design of Special Planar Linkages proposes a uniform design theory for planar four-bar linkages. The merit of the method proposed in this book is that it allows engineers to directly obtain accurate results when there are such solutions for the specified n precise positions; otherwise, the best approximate solutions will be found. This book discusses the kinematics and reach

A ratiometric electrochemical biosensor for the exosomal microRNAs detection based on bipedal DNA walkers propelled by locked nucleic acid modified toehold mediate strand displacement reaction.

Science.gov (United States)

Zhang, Jing; Wang, Liang-Liang; Hou, Mei-Feng; Xia, Yao-Kun; He, Wen-Hui; Yan, An; Weng, Yun-Ping; Zeng, Lu-Peng; Chen, Jing-Hua

2018-04-15

Sensitive and selective detection of microRNAs (miRNAs) in cancer cells derived exosomes have attracted rapidly growing interest owing to their potential in diagnostic and prognostic applications. Here, we design a ratiometric electrochemical biosensor based on bipedal DNA walkers for the attomolar detection of exosomal miR-21. In the presence of miR-21, DNA walkers are activated to walk continuously along DNA tracks, resulting in conformational changes as well as considerable increases of the signal ratio produced by target-respond and target-independent reporters. With the signal cascade amplification of DNA walkers, the biosensor exhibits ultrahigh sensitivity with the limit of detection (LOD) down to 67 aM. Furthermore, owing to the background-correcting function of target-independent reporters termed as reference reporters, the biosensor is robust and stable enough to be applied in the detection of exosomal miR-21 extracted from breast cancer cell lines and serums. In addition, because locked nucleic acid (LNA) modified toehold mediate strand displacement reaction (TMSDR) has extraordinary discriminative ability, the biosensor displays excellent selectivity even against the single-base-mismatched target. It is worth mentioning that our sensor is regenerative and stable for at least 5 cycles without diminution in sensitivity. In brief, the high sensitivity, selectivity and reproducibility, together with cheap, make the proposed biosensor a promising approach for exosomal miRNAs detection, in conjunction with early point-of-care testing (POCT) of cancer. Copyright © 2017 Elsevier B.V. All rights reserved.

Kinematically stable bipedal locomotion using ionic polymer–metal composite actuators

International Nuclear Information System (INIS)

Hosseinipour, Milad; Elahinia, Mohammad

2013-01-01

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. (paper)

Shared and task-specific muscle synergies of Nordic walking and conventional walking.

Science.gov (United States)

Boccia, G; Zoppirolli, C; Bortolan, L; Schena, F; Pellegrini, B

2018-03-01

Nordic walking is a form of walking that includes a poling action, and therefore an additional subtask, with respect to conventional walking. The aim of this study was to assess whether Nordic walking required a task-specific muscle coordination with respect to conventional walking. We compared the electromyographic (EMG) activity of 15 upper- and lower-limb muscles of 9 Nordic walking instructors, while executing Nordic walking and conventional walking at 1.3 ms -1 on a treadmill. Non-negative matrix factorization method was applied to identify muscle synergies, representing the spatial and temporal organization of muscle coordination. The number of muscle synergies was not different between Nordic walking (5.2 ± 0.4) and conventional walking (5.0 ± 0.7, P = .423). Five muscle synergies accounted for 91.2 ± 1.1% and 92.9 ± 1.2% of total EMG variance in Nordic walking and conventional walking, respectively. Similarity and cross-reconstruction analyses showed that 4 muscle synergies, mainly involving lower-limb and trunk muscles, are shared between Nordic walking and conventional walking. One synergy acting during upper limb propulsion is specific to Nordic walking, modifying the spatial organization and the magnitude of activation of upper limb muscles compared to conventional walking. The inclusion of the poling action in Nordic walking does not increase the complexity of movement control and does not change the coordination of lower limb muscles. This makes Nordic walking a physical activity suitable also for people with low motor skill. © 2017 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.

A novel approach to gait synchronization and transition for reconfigurable walking platforms

Directory of Open Access Journals (Sweden)

Shunsuke Nansai

2015-04-01

Full Text Available Legged robots based on one degree-of-freedom reconfigurable planar leg mechanisms, that are capable of generating multiple useful gaits, are highly desired due to the possibility of handling environments and tasks of high complexity while maintaining simple control schemes. An essential consideration in these reconfigurable legged robots is to attain stability in motion, at rest as well as while transforming from one configuration to another with the minimum number of legs as long as the full range of their walking patterns, resulting from the different gait cycles of their legs, is achieved. To this end, in this paper, we present a method for the generation of input joint trajectories to properly synchronize the movement of quadruped robots with reconfigurable legs. The approach is exemplified in a four-legged robot with reconfigurable Jansen legs capable of generating up to six useful different gait cycles. The proposed technique is validated through simulated results that show the platform׳s stability across its six feasible walking patterns and during gait transition phases, thus considerably extending the capabilities of the non-reconfigurable design.

Geometrically biased random walks in bacteria-driven micro-shuttles

International Nuclear Information System (INIS)

Angelani, Luca; Di Leonardo, Roberto

2010-01-01

Micron-sized objects having asymmetric boundaries can rectify the chaotic motions of an active bacterial suspension and perform geometrically biased random walks. Using numerical simulations in a planar geometry, we show that arrow-shaped micro-shuttles, constrained to move in one dimension (1D) in a bath of self-propelled micro-organisms, spontaneously perform unidirectional translational motions with a strongly shape-dependent speed. Relaxing the 1D constraint, a random motion in the whole plane sets in at long times, due to random changes in shuttle orientation caused by bacterial collisions. The complex dynamics arising from the mechanical interactions between bacteria and the object boundaries can be described by a Gaussian stochastic force with a shape-dependent mean and a self-correlation decaying exponentially on the timescale of seconds.

Non-planar ABJ theory and parity

International Nuclear Information System (INIS)

Caputa, Pawel; Kristjansen, Charlotte; Zoubos, Konstantinos

2009-01-01

While the ABJ Chern-Simons-matter theory and its string theory dual manifestly lack parity invariance, no sign of parity violation has so far been observed on the weak coupling spin chain side. In particular, the planar two-loop dilatation generator of ABJ theory is parity invariant. In this Letter we derive the non-planar part of the two-loop dilatation generator of ABJ theory in its SU(2)xSU(2) sub-sector. Applying the dilatation generator to short operators, we explicitly demonstrate that, for operators carrying excitations on both spin chains, the non-planar part breaks parity invariance. For operators with only one type of excitation, however, parity remains conserved at the non-planar level. We furthermore observe that, as for ABJM theory, the degeneracy between planar parity pairs is lifted when non-planar corrections are taken into account.

Non-planar ABJ Theory and Parity

DEFF Research Database (Denmark)

Caputa, Pawel; Kristjansen, Charlotte; Zoubos, Konstantinos

2009-01-01

we derive the non-planar part of the two-loop dilatation generator of ABJ theory in its SU(2)xSU(2) sub-sector. Applying the dilatation generator to short operators, we explicitly demonstrate that, for operators carrying excitations on both spin chains, the non-planar part breaks parity invariance......While the ABJ Chern-Simons-matter theory and its string theory dual manifestly lack parity invariance, no sign of parity violation has so far been observed on the weak coupling spin chain side. In particular, the planar two-loop dilatation generator of ABJ theory is parity invariant. In this letter....... For operators with only one type of excitation, however, parity remains conserved at the non-planar level. We furthermore observe that, as for ABJM theory, the degeneracy between planar parity pairs is lifted when non-planar corrections are taken into account....

On extracting design principles from biology: II. Case study—the effect of knee direction on bipedal robot running efficiency

International Nuclear Information System (INIS)

Haberland, M; Kim, S

2015-01-01

Comparing the leg of an ostrich to that of a human suggests an important question to legged robot designers: should a robot's leg joint bend in the direction of running (‘forwards’) or opposite (‘backwards’)? Biological studies cannot answer this question for engineers due to significant differences between the biological and engineering domains. Instead, we investigated the inherent effect of joint bending direction on bipedal robot running efficiency by comparing energetically optimal gaits of a wide variety of robot designs sampled at random from a design space. We found that the great majority of robot designs have several locally optimal gaits with the knee bending backwards that are more efficient than the most efficient gait with the knee bending forwards. The most efficient backwards gaits do not exhibit lower touchdown losses than the most efficient forward gaits; rather, the improved efficiency of backwards gaits stems from lower torque and reduced motion at the hip. The reduced hip use of backwards gaits is enabled by the ability of the backwards knee, acting alone, to (1) propel the robot upwards and forwards simultaneously and (2) lift and protract the foot simultaneously. In the absence of other information, designers interested in building efficient bipedal robots with two-segment legs driven by electric motors should design the knee to bend backwards rather than forwards. Compared to common practices for choosing robot knee direction, application of this principle would have a strong tendency to improve robot efficiency and save design resources. (paper)

Influence of an infant walker on onset and quality of walking pattern of locomotion:an electromyographic investigation.

Science.gov (United States)

Kauffman, I B; Ridenour, M

1977-12-01

Acquisition of bipedal locomotor skill in human infants was studied electromyographically with regard to the deprivation or enrichment behavior resulting from the frequent and regular use of an infant walker. Subjects were six sets of male, fraternal twins. One randomly selected sibling from each set underwent a training program, commencing at the age of 300 days, spending a total of 2 hr. per day in a walker. Siblings not included in this group were subjected to no special training. EMG recordings were taken of all subjects at specified intervals in order to establish a model of the typical motor pattern at various stages of skill development. These data were then contrasted with EMG data similarly obtained from the walker-trained subjects. Use of an infant walker modified the mechanics of the infant's locomotion in a number of important ways. It was shown that use of the walker enables an infant to commit substantial mechanical errors yet succeed in bipedal locomotion. Inasmuch as the mechanics of walker-assisted and non-assisted bipedal locomotion are dissimilar in so many important ways, positive transfer from walker-training appears questionable.

KidsWalk-to-School: A Guide To Promote Walking to School.

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Center for Chronic Disease Prevention and Health Promotion (DHHS/CDC), Atlanta, GA.

This guide encourages people to create safe walking and biking routes to school, promoting four issues: physically active travel, safe and walkable routes to school, crime prevention, and health environments. The chapters include: "KidsWalk-to-School: A Guide to Promote Walking to School" (Is there a solution? Why is walking to school important?…

Walking training with cueing of cadence improves walking speed and stride length after stroke more than walking training alone: a systematic review.

Science.gov (United States)

Nascimento, Lucas R; de Oliveira, Camila Quel; Ada, Louise; Michaelsen, Stella M; Teixeira-Salmela, Luci F

2015-01-01

After stroke, is walking training with cueing of cadence superior to walking training alone in improving walking speed, stride length, cadence and symmetry? Systematic review with meta-analysis of randomised or controlled trials. Adults who have had a stroke. Walking training with cueing of cadence. Four walking outcomes were of interest: walking speed, stride length, cadence and symmetry. This review included seven trials involving 211 participants. Because one trial caused substantial statistical heterogeneity, meta-analyses were conducted with and without this trial. Walking training with cueing of cadence improved walking speed by 0.23 m/s (95% CI 0.18 to 0.27, I(2)=0%), stride length by 0.21 m (95% CI 0.14 to 0.28, I(2)=18%), cadence by 19 steps/minute (95% CI 14 to 23, I(2)=40%), and symmetry by 15% (95% CI 3 to 26, random effects) more than walking training alone. This review provides evidence that walking training with cueing of cadence improves walking speed and stride length more than walking training alone. It may also produce benefits in terms of cadence and symmetry of walking. The evidence appears strong enough to recommend the addition of 30 minutes of cueing of cadence to walking training, four times a week for 4 weeks, in order to improve walking in moderately disabled individuals with stroke. PROSPERO (CRD42013005873). Copyright © 2014 Australian Physiotherapy Association. Published by Elsevier B.V. All rights reserved.

Complementarity and quantum walks

International Nuclear Information System (INIS)

Kendon, Viv; Sanders, Barry C.

2005-01-01

We show that quantum walks interpolate between a coherent 'wave walk' and a random walk depending on how strongly the walker's coin state is measured; i.e., the quantum walk exhibits the quintessentially quantum property of complementarity, which is manifested as a tradeoff between knowledge of which path the walker takes vs the sharpness of the interference pattern. A physical implementation of a quantum walk (the quantum quincunx) should thus have an identifiable walker and the capacity to demonstrate the interpolation between wave walk and random walk depending on the strength of measurement

Planar graphs theory and algorithms

CERN Document Server

Nishizeki, T

1988-01-01

Collected in this volume are most of the important theorems and algorithms currently known for planar graphs, together with constructive proofs for the theorems. Many of the algorithms are written in Pidgin PASCAL, and are the best-known ones; the complexities are linear or 0(nlogn). The first two chapters provide the foundations of graph theoretic notions and algorithmic techniques. The remaining chapters discuss the topics of planarity testing, embedding, drawing, vertex- or edge-coloring, maximum independence set, subgraph listing, planar separator theorem, Hamiltonian cycles, and single- or multicommodity flows. Suitable for a course on algorithms, graph theory, or planar graphs, the volume will also be useful for computer scientists and graph theorists at the research level. An extensive reference section is included.

Physiological aspect walking and Nordic walking as adequate kinetic activities.

OpenAIRE

BENEŠ, Václav

2010-01-01

This bachelor thesis on the topic of The Physiological Aspect of Walking and Nordic Walking as an adequate physical activity focuses on chosen physiological changes of an organism during a five-month training cycle. In the theoretical part I describe the physiological changes of organism during a regularly repeated strain, and also the technique of walking, Nordic walking and health benefits of these activities are defined here. The research part of the thesis describes the measurement method...

Walking Beliefs in Women With Fibromyalgia: Clinical Profile and Impact on Walking Behavior.

Science.gov (United States)

Peñacoba, Cecilia; Pastor, María-Ángeles; López-Roig, Sofía; Velasco, Lilian; Lledo, Ana

2017-10-01

Although exercise is essential for the treatment of fibromyalgia, adherence is low. Walking, as a form of physical exercise, has significant advantages. The aim of this article is to describe, in 920 women with fibromyalgia, the prevalence of certain walking beliefs and analyze their effects both on the walking behavior itself and on the associated symptoms when patients walk according to a clinically recommended way. The results highlight the high prevalence of beliefs related to pain and fatigue as walking-inhibitors. In the whole sample, beliefs are associated with an increased perception that comorbidity prevents walking, and with higher levels of pain and fatigue. In patients who walk regularly, beliefs are only associated with the perception that comorbidity prevents them from walking. It is necessary to promote walking according to the established way (including breaks to prevent fatigue) and to implement interventions on the most prevalent beliefs that inhibit walking.

Bipedal hopping timed to a metronome to detect impairments in anticipatory motor control in people with mild multiple sclerosis.

Science.gov (United States)

Kirkland, Megan C; Chen, Alice; Downer, Matthew B; Holloway, Brett J; Wallack, Elizabeth M; Lockyer, Evan J; Buckle, Natasha C M; Abbott, Courtney L; Ploughman, Michelle

2018-06-01

People with mild multiple sclerosis (MS) often report subtle deficits in balance and cognition but display no measurable impairment on clinical assessments. We examined whether hopping to a metronome beat had the potential to detect anticipatory motor control deficits among people with mild MS (Expanded Disability Status Scale ≤ 3.5). Participants with MS (n = 13), matched controls (n = 9), and elderly subjects (n = 13) completed tests of cognition (Montreal Cognitive Assessment (MoCA)) and motor performance (Timed 25 Foot Walk Test (T25FWT)). Participants performed two bipedal hopping tasks: at 40 beats/min (bpm) and 60-bpm in random order. Hop characteristics (length, symmetry, variability) and delay from the metronome beat were extracted from an instrumented walkway and compared between groups. The MS group became more delayed from the metronome beat over time whereas elderly subjects tended to hop closer to the beat (F = 4.52, p = 0.02). Delay of the first hop during 60-bpm predicted cognition in people with MS (R = 0.55, β = 4.64 (SD 4.63), F = 4.85, p = 0.05) but not among control (R = 0.07, p = 0.86) or elderly subjects (R = 0.17, p = 0.57). In terms of hopping characteristics, at 60-bpm, people with MS and matched controls were significantly different from the elderly group. However, at 40-bpm, the MS group was no longer significantly different from the elderly group, even though matched controls and elderly still differed significantly. This new timed hopping test may be able to detect both physical ability, and feed-forward anticipatory control impairments in people with mild MS. Hopping at a frequency of 40-bpm seemed more challenging. Several aspects of anticipatory motor control can be measured: including reaction time to the first metronome cue and the ability to adapt and anticipate the beat over time. Crown Copyright © 2018. Published by Elsevier Ltd. All rights reserved.

Effects of Nordic walking and walking on spatiotemporal gait parameters and ground reaction force.

Science.gov (United States)

Park, Seung Kyu; Yang, Dae Jung; Kang, Yang Hun; Kim, Je Ho; Uhm, Yo Han; Lee, Yong Seon

2015-09-01

[Purpose] The purpose of this study was to investigate the effects of Nordic walking and walking on spatiotemporal gait parameters and ground reaction force. [Subjects] The subjects of this study were 30 young adult males, who were divided into a Nordic walking group of 15 subjects and a walking group of 15 subjects. [Methods] To analyze the spatiotemporal parameters and ground reaction force during walking in the two groups, the six-camera Vicon MX motion analysis system was used. The subjects were asked to walk 12 meters using the more comfortable walking method for them between Nordic walking and walking. After they walked 12 meters more than 10 times, their most natural walking patterns were chosen three times and analyzed. To determine the pole for Nordic walking, each subject's height was multiplied by 0.68. We then measured the spatiotemporal gait parameters and ground reaction force. [Results] Compared with the walking group, the Nordic walking group showed an increase in cadence, stride length, and step length, and a decrease in stride time, step time, and vertical ground reaction force. [Conclusion] The results of this study indicate that Nordic walking increases the stride and can be considered as helping patients with diseases affecting their gait. This demonstrates that Nordic walking is more effective in improving functional capabilities by promoting effective energy use and reducing the lower limb load, because the weight of the upper and lower limbs is dispersed during Nordic walking.

Walking drawings and walking ability in children with cerebral palsy.

Science.gov (United States)

Chong, Jimmy; Mackey, Anna H; Stott, N Susan; Broadbent, Elizabeth

2013-06-01

To investigate whether drawings of the self walking by children with cerebral palsy (CP) were associated with walking ability and illness perceptions. This was an exploratory study in 52 children with CP (M:F = 28:24), mean age 11.1 years (range 5-18), who were attending tertiary level outpatient clinics. Children were asked to draw a picture of themselves walking. Drawing size and content was used to investigate associations with clinical walk tests and children's own perceptions of their CP assessed using a CP version of the Brief Illness Perception Questionnaire. Larger drawings of the self were associated with less distance traveled, higher emotional responses to CP, and lower perceptions of pain or discomfort, independent of age. A larger self-to-overall drawing height ratio was related to walking less distance. Drawings of the self confined within buildings and the absence of other figures were also associated with reduced walking ability. Drawing size and content can reflect walking ability, as well as symptom perceptions and distress. Drawings may be useful for clinicians to use with children with cerebral palsy to aid discussion about their condition. PsycINFO Database Record (c) 2013 APA, all rights reserved.

Walking performance: correlation between energy cost of walking and walking participation. new statistical approach concerning outcome measurement.

Directory of Open Access Journals (Sweden)

Marco Franceschini

Full Text Available Walking ability, though important for quality of life and participation in social and economic activities, can be adversely affected by neurological disorders, such as Spinal Cord Injury, Stroke, Multiple Sclerosis or Traumatic Brain Injury. The aim of this study is to evaluate if the energy cost of walking (CW, in a mixed group of chronic patients with neurological diseases almost 6 months after discharge from rehabilitation wards, can predict the walking performance and any walking restriction on community activities, as indicated by Walking Handicap Scale categories (WHS. One hundred and seven subjects were included in the study, 31 suffering from Stroke, 26 from Spinal Cord Injury and 50 from Multiple Sclerosis. The multivariable binary logistical regression analysis has produced a statistical model with good characteristics of fit and good predictability. This model generated a cut-off value of.40, which enabled us to classify correctly the cases with a percentage of 85.0%. Our research reveal that, in our subjects, CW is the only predictor of the walking performance of in the community, to be compared with the score of WHS. We have been also identifying a cut-off value of CW cost, which makes a distinction between those who can walk in the community and those who cannot do it. In particular, these values could be used to predict the ability to walk in the community when discharged from the rehabilitation units, and to adjust the rehabilitative treatment to improve the performance.

In vitro quantification of the performance of model-based mono-planar and bi-planar fluoroscopy for 3D joint kinematics estimation.

Science.gov (United States)

Tersi, Luca; Barré, Arnaud; Fantozzi, Silvia; Stagni, Rita

2013-03-01

Model-based mono-planar and bi-planar 3D fluoroscopy methods can quantify intact joints kinematics with performance/cost trade-off. The aim of this study was to compare the performances of mono- and bi-planar setups to a marker-based gold-standard, during dynamic phantom knee acquisitions. Absolute pose errors for in-plane parameters were lower than 0.6 mm or 0.6° for both mono- and bi-planar setups. Mono-planar setups resulted critical in quantifying the out-of-plane translation (error bi-planar in quantifying the rotation along bone longitudinal axis (error bi-planar (error comparable to bi-planar, but with halved computational costs, halved segmentation time and halved ionizing radiation dose. Bi-planar analysis better compensated for the out-of-plane uncertainty that is differently propagated to relative kinematics depending on the setup. To take its full benefits, the motion task to be investigated should be designed to maintain the joint inside the visible volume introducing constraints with respect to mono-planar analysis.

Nordic walking versus walking without poles for rehabilitation with cardiovascular disease: Randomized controlled trial.

Science.gov (United States)

Girold, Sébastien; Rousseau, Jérome; Le Gal, Magalie; Coudeyre, Emmanuel; Le Henaff, Jacqueline

2017-07-01

With Nordic walking, or walking with poles, one can travel a greater distance and at a higher rate than with walking without poles, but whether the activity is beneficial for patients with cardiovascular disease is unknown. This randomized controlled trial was undertaken to determine whether Nordic walking was more effective than walking without poles on walk distance to support rehabilitation training for patients with acute coronary syndrome (ACS) and peripheral arterial occlusive disease (PAOD). Patients were recruited in a private specialized rehabilitation centre for cardiovascular diseases. The entire protocol, including patient recruitment, took place over 2 months, from September to October 2013. We divided patients into 2 groups: Nordic Walking Group (NWG, n=21) and Walking Group without poles (WG, n=21). All patients followed the same program over 4 weeks, except for the walk performed with or without poles. The main outcome was walk distance on the 6-min walk test. Secondary outcomes were maximum heart rate during exercise and walk distance and power output on a treadmill stress test. We included 42 patients (35 men; mean age 57.2±11 years and BMI 26.5±4.5kg/m 2 ). At the end of the training period, both groups showed improved walk distance on the 6-min walk test and treatment stress test as well as power on the treadmill stress test (PNordic walking training appeared more efficient than training without poles for increasing walk distance on the 6-min walk test for patients with ACS and PAOD. Copyright © 2017. Published by Elsevier Masson SAS.

Alzheimer random walk

Science.gov (United States)

Odagaki, Takashi; Kasuya, Keisuke

2017-09-01

Using the Monte Carlo simulation, we investigate a memory-impaired self-avoiding walk on a square lattice in which a random walker marks each of sites visited with a given probability p and makes a random walk avoiding the marked sites. Namely, p = 0 and p = 1 correspond to the simple random walk and the self-avoiding walk, respectively. When p> 0, there is a finite probability that the walker is trapped. We show that the trap time distribution can well be fitted by Stacy's Weibull distribution b(a/b){a+1}/{b}[Γ({a+1}/{b})]-1x^a\\exp(-a/bx^b)} where a and b are fitting parameters depending on p. We also find that the mean trap time diverges at p = 0 as p- α with α = 1.89. In order to produce sufficient number of long walks, we exploit the pivot algorithm and obtain the mean square displacement and its Flory exponent ν(p) as functions of p. We find that the exponent determined for 1000 step walks interpolates both limits ν(0) for the simple random walk and ν(1) for the self-avoiding walk as [ ν(p) - ν(0) ] / [ ν(1) - ν(0) ] = pβ with β = 0.388 when p ≪ 0.1 and β = 0.0822 when p ≫ 0.1. Contribution to the Topical Issue "Continuous Time Random Walk Still Trendy: Fifty-year History, Current State and Outlook", edited by Ryszard Kutner and Jaume Masoliver.

Walking like dinosaurs: chickens with artificial tails provide clues about non-avian theropod locomotion.

Science.gov (United States)

Grossi, Bruno; Iriarte-Díaz, José; Larach, Omar; Canals, Mauricio; Vásquez, Rodrigo A

2014-01-01

Birds still share many traits with their dinosaur ancestors, making them the best living group to reconstruct certain aspects of non-avian theropod biology. Bipedal, digitigrade locomotion and parasagittal hindlimb movement are some of those inherited traits. Living birds, however, maintain an unusually crouched hindlimb posture and locomotion powered by knee flexion, in contrast to the inferred primitive condition of non-avian theropods: more upright posture and limb movement powered by femur retraction. Such functional differences, which are associated with a gradual, anterior shift of the centre of mass in theropods along the bird line, make the use of extant birds to study non-avian theropod locomotion problematic. Here we show that, by experimentally manipulating the location of the centre of mass in living birds, it is possible to recreate limb posture and kinematics inferred for extinct bipedal dinosaurs. Chickens raised wearing artificial tails, and consequently with more posteriorly located centre of mass, showed a more vertical orientation of the femur during standing and increased femoral displacement during locomotion. Our results support the hypothesis that gradual changes in the location of the centre of mass resulted in more crouched hindlimb postures and a shift from hip-driven to knee-driven limb movements through theropod evolution. This study suggests that, through careful experimental manipulations during the growth phase of ontogeny, extant birds can potentially be used to gain important insights into previously unexplored aspects of bipedal non-avian theropod locomotion.

Walking like dinosaurs: chickens with artificial tails provide clues about non-avian theropod locomotion.

Directory of Open Access Journals (Sweden)

Bruno Grossi

Full Text Available Birds still share many traits with their dinosaur ancestors, making them the best living group to reconstruct certain aspects of non-avian theropod biology. Bipedal, digitigrade locomotion and parasagittal hindlimb movement are some of those inherited traits. Living birds, however, maintain an unusually crouched hindlimb posture and locomotion powered by knee flexion, in contrast to the inferred primitive condition of non-avian theropods: more upright posture and limb movement powered by femur retraction. Such functional differences, which are associated with a gradual, anterior shift of the centre of mass in theropods along the bird line, make the use of extant birds to study non-avian theropod locomotion problematic. Here we show that, by experimentally manipulating the location of the centre of mass in living birds, it is possible to recreate limb posture and kinematics inferred for extinct bipedal dinosaurs. Chickens raised wearing artificial tails, and consequently with more posteriorly located centre of mass, showed a more vertical orientation of the femur during standing and increased femoral displacement during locomotion. Our results support the hypothesis that gradual changes in the location of the centre of mass resulted in more crouched hindlimb postures and a shift from hip-driven to knee-driven limb movements through theropod evolution. This study suggests that, through careful experimental manipulations during the growth phase of ontogeny, extant birds can potentially be used to gain important insights into previously unexplored aspects of bipedal non-avian theropod locomotion.

System overview and walking dynamics of a passive dynamic walking robot with flat feet

Directory of Open Access Journals (Sweden)

Xinyu Liu

2015-12-01

Full Text Available The concept of “passive dynamic walking robot” refers to the robot that can walk down a shallow slope stably without any actuation and control which shows a limit cycle during walking. By adding actuation at some joints, the passive dynamic walking robot can walk stably on level ground and exhibit more versatile gaits than fully passive robot, namely, the “limit cycle walker.” In this article, we present the mechanical structures and control system design for a passive dynamic walking robot with series elastic actuators at hip joint and ankle joints. We built a walking model that consisted of an upper body, knee joints, and flat feet and derived its walking dynamics that involve double stance phases in a walking cycle based on virtual power principle. The instant just before impact was chosen as the start of one step to reduce the number of independent state variables. A numerical simulation was implemented by using MATLAB, in which the proposed passive dynamic walking model could walk stably down a shallow slope, which proves that the derived walking dynamics are correct. A physical passive robot prototype was built finally, and the experiment results show that by only simple control scheme the passive dynamic robot could walk stably on level ground.

Using the Functional Reach Test for Probing the Static Stability of Bipedal Standing in Humanoid Robots Based on the Passive Motion Paradigm

Directory of Open Access Journals (Sweden)

Jacopo Zenzeri

2013-01-01

Full Text Available The goal of this paper is to analyze the static stability of a computational architecture, based on the Passive Motion Paradigm, for coordinating the redundant degrees of freedom of a humanoid robot during whole-body reaching movements in bipedal standing. The analysis is based on a simulation study that implements the Functional Reach Test, originally developed for assessing the danger of falling in elderly people. The study is carried out in the YARP environment that allows realistic simulations with the iCub humanoid robot.

Walking modality, but not task difficulty, influences the control of dual-task walking.

Science.gov (United States)

Wrightson, J G; Smeeton, N J

2017-10-01

During dual-task gait, changes in the stride-to-stride variability of stride time (STV) are suggested to represent the allocation of cognitive control to walking [1]. However, contrasting effects have been reported for overground and treadmill walking, which may be due to differences in the relative difficulty of the dual task. Here we compared the effect of overground and treadmill dual-task walking on STV in 18 healthy adults. Participants walked overground and on a treadmill for 120s during single-task (walking only) and dual-task (walking whilst performing serial subtractions in sevens) conditions. Dual-task effects on STV, cognitive task (serial subtraction) performance and perceived task difficulty were compared between walking modalities. STV was increased during overground dual-task walking, but was unchanged during treadmill dual-task walking. There were no differences in cognitive task performance or perceived task difficulty. These results show that gait is controlled differently during overground and treadmill dual-task walking. However, these differences are not solely due to differences in task difficulty, and may instead represent modality dependent control strategies. Copyright © 2017 Elsevier B.V. All rights reserved.

Biomechanical analysis of rollator walking

DEFF Research Database (Denmark)

Alkjaer, T; Larsen, Peter K; Pedersen, Gitte

2006-01-01

The rollator is a very popular walking aid. However, knowledge about how a rollator affects the walking patterns is limited. Thus, the purpose of the study was to investigate the biomechanical effects of walking with and without a rollator on the walking pattern in healthy subjects.......The rollator is a very popular walking aid. However, knowledge about how a rollator affects the walking patterns is limited. Thus, the purpose of the study was to investigate the biomechanical effects of walking with and without a rollator on the walking pattern in healthy subjects....

Lévy walks

Science.gov (United States)

Zaburdaev, V.; Denisov, S.; Klafter, J.

2015-04-01

Random walk is a fundamental concept with applications ranging from quantum physics to econometrics. Remarkably, one specific model of random walks appears to be ubiquitous across many fields as a tool to analyze transport phenomena in which the dispersal process is faster than dictated by Brownian diffusion. The Lévy-walk model combines two key features, the ability to generate anomalously fast diffusion and a finite velocity of a random walker. Recent results in optics, Hamiltonian chaos, cold atom dynamics, biophysics, and behavioral science demonstrate that this particular type of random walk provides significant insight into complex transport phenomena. This review gives a self-consistent introduction to Lévy walks, surveys their existing applications, including latest advances, and outlines further perspectives.

Adults' Daily Walking for Travel and Leisure: Interaction Between Attitude Toward Walking and the Neighborhood Environment.

Science.gov (United States)

Yang, Yong; Diez-Roux, Ana V

2017-09-01

Studies on how the interaction of psychological and environmental characteristics influences walking are limited, and the results are inconsistent. Our aim is to examine how the attitude toward walking and neighborhood environments interacts to influence walking. Cross-sectional phone and mail survey. Participants randomly sampled from 6 study sites including Los Angeles, Chicago, Baltimore, Minneapolis, Manhattan, and Bronx Counties in New York City, and Forsyth and Davidson Counties in North Carolina. The final sample consisted of 2621 persons from 2011 to 2012. Total minutes of walking for travel or leisure, attitude toward walking, and perceptions of the neighborhood environments were self-reported. Street Smart (SS) Walk Score (a measure of walkability derived from a variety of geographic data) was obtained for each residential location. Linear regression models adjusting for age, gender, race/ethnicity, education, and income. Attitude toward walking was positively associated with walking for both purposes. Walking for travel was significantly associated with SS Walk Score, whereas walking for leisure was not. The SS Walk Score and selected perceived environment characteristics were associated with walking in people with a very positive attitude toward walking but were not associated with walking in people with a less positive attitude. Attitudes toward walking and neighborhood environments interact to affect walking behavior.

Modeling the planar configuration of extraordinary magnetoresistance

International Nuclear Information System (INIS)

El-Ahmar, S; Pozniak, A A

2015-01-01

Recently the planar version of the extraordinary magnetoresistance (EMR) magnetic field sensor has been constructed and verified in practice. Planar configuration of the EMR device gives many technological advantages, it is simpler than the classic and allows one to build the sensor using electric materials of the new type (such as graphene or topological insulators) much easier. In this work the planar configuration of the EMR sensor is investigated by performing computational simulations using the finite element method (FEM). The computational comparison of the planar and classic configurations of EMR is presented using three-dimensional models. Various variants of the geometry of EMR sensor components are pondered and compared in the planar and classic version. Size of the metal overlap is considered for sensor optimization as well as various semiconductor-metal contact resistance dependences of the EMR signal. Based on computational simulations, a method for optimal placement of electric terminals in a planar EMR device is proposed. (paper)

Contracting a planar graph efficiently

DEFF Research Database (Denmark)

Holm, Jacob; Italiano, Giuseppe F.; Karczmarz, Adam

2017-01-01

the data structure, we can achieve optimal running times for decremental bridge detection, 2-edge connectivity, maximal 3-edge connected components, and the problem of finding a unique perfect matching for a static planar graph. Furthermore, we improve the running times of algorithms for several planar...

Inkjet-based adaptive planarization (Conference Presentation)

Science.gov (United States)

Singhal, Shrawan; Grigas, Michelle M.; Khusnatdinov, Niyaz; Sreenivasan, Srinivasan V.

2017-03-01

Planarization is a critical unit step in the lithography process because it enables patterning of surfaces with versatile pattern density without compromising on the stringent planarity and depth-of-focus requirements. In addition to nanoscale pattern density variation, parasitics such as pre-existing wafer topography, can corrupt the desired process output after planarization. The topography of any surface can be classified in three broad categories, depending upon the amplitude and spatial wavelength of the same [1], [2]: (i) nominal shape, (ii) nanotopography and (iii) roughness. The nominal shape is given by the largest spatial wavelengths, typically back is one technique used for micron scale device manufacturing [3]. As the name implies, a glass dielectric is spin-coated on the substrate followed by etching in a chemistry that ensures equal etching rates for both the sacrificial glass and the underlying film or substrate material. Photoresists may also be used instead of glass. However, the global planarity that can be achieved by this technique is limited. Also, planarization over a large isolated topographical feature has been studied for the reverse-tone Jet-and-Flash Imprint Lithography process, also known as JFIL-R [4]. This relies on surface tension and capillary effects to smoothen a spin-coated Si containing film that can be etched to obtain a smooth profile. To meet the stringent requirement of planarity in submicron device technologies Chemical Mechanical Planarization (CMP) is the most widely used planarization technology [5], [6]. It uses a combination of abrasive laden chemical slurry and a mechanical pad for achieving planar profiles. The biggest concern with CMP is the dependence of material removal rate on the pattern density of material, leading to the formation of a step between the high density and low-density. The step shows up as a long-range thickness variation in the planarized film, similar in scale to pre-existing substrate topography

Walking, sustainability and health: findings from a study of a Walking for Health group.

Science.gov (United States)

Grant, Gordon; Machaczek, Kasia; Pollard, Nick; Allmark, Peter

2017-05-01

Not only is it tacitly understood that walking is good for health and well-being but there is also now robust evidence to support this link. There is also growing evidence that regular short walks can be a protective factor for a range of long-term health conditions. Walking in the countryside can bring additional benefits, but access to the countryside brings complexities, especially for people with poorer material resources and from different ethnic communities. Reasons for people taking up walking as a physical activity are reasonably well understood, but factors linked to sustained walking, and therefore sustained benefit, are not. Based on an ethnographic study of a Walking for Health group in Lincolnshire, UK, this paper considers the motivations and rewards of group walks for older people. Nineteen members of the walking group, almost all with long-term conditions, took part in tape-recorded interviews about the personal benefits of walking. The paper provides insights into the links between walking as a sustainable activity and health, and why a combination of personal adaptive capacities, design elements of the walks and relational achievements of the walking group are important to this understanding. The paper concludes with some observations about the need to reframe conventional thinking about adherence to physical activity programmes. © 2017 John Wiley & Sons Ltd.

Quantum walk computation

International Nuclear Information System (INIS)

Kendon, Viv

2014-01-01

Quantum versions of random walks have diverse applications that are motivating experimental implementations as well as theoretical studies. Recent results showing quantum walks are “universal for quantum computation” relate to algorithms, to be run on quantum computers. We consider whether an experimental implementation of a quantum walk could provide useful computation before we have a universal quantum computer

Walking to health.

Science.gov (United States)

Morris, J N; Hardman, A E

1997-05-01

Walking is a rhythmic, dynamic, aerobic activity of large skeletal muscles that confers the multifarious benefits of this with minimal adverse effects. Walking, faster than customary, and regularly in sufficient quantity into the 'training zone' of over 70% of maximal heart rate, develops and sustains physical fitness: the cardiovascular capacity and endurance (stamina) for bodily work and movement in everyday life that also provides reserves for meeting exceptional demands. Muscles of the legs, limb girdle and lower trunk are strengthened and the flexibility of their cardinal joints preserved; posture and carriage may improve. Any amount of walking, and at any pace, expends energy. Hence the potential, long term, of walking for weight control. Dynamic aerobic exercise, as in walking, enhances a multitude of bodily processes that are inherent in skeletal muscle activity, including the metabolism of high density lipoproteins and insulin/glucose dynamics. Walking is also the most common weight-bearing activity, and there are indications at all ages of an increase in related bone strength. The pleasurable and therapeutic, psychological and social dimensions of walking, whilst evident, have been surprisingly little studied. Nor has an economic assessment of the benefits and costs of walking been attempted. Walking is beneficial through engendering improved fitness and/or greater physiological activity and energy turnover. Two main modes of such action are distinguished as: (i) acute, short term effects of the exercise; and (ii) chronic, cumulative adaptations depending on habitual activity over weeks and months. Walking is often included in studies of exercise in relation to disease but it has seldom been specifically tested. There is, nevertheless, growing evidence of gains in the prevention of heart attack and reduction of total death rates, in the treatment of hypertension, intermittent claudication and musculoskeletal disorders, and in rehabilitation after heart

Increasing Walking in the Hartsfield-Jackson Atlanta International Airport: The Walk to Fly Study.

Science.gov (United States)

Fulton, Janet E; Frederick, Ginny M; Paul, Prabasaj; Omura, John D; Carlson, Susan A; Dorn, Joan M

2017-07-01

To test the effectiveness of a point-of-decision intervention to prompt walking, versus motorized transport, in a large metropolitan airport. We installed point-of-decision prompt signage at 4 locations in the airport transportation mall at Hartsfield-Jackson Atlanta International Airport (Atlanta, GA) at the connecting corridor between airport concourses. Six ceiling-mounted infrared sensors counted travelers entering and exiting the study location. We collected traveler counts from June 2013 to May 2016 when construction was present and absent (preintervention period: June 2013-September 2014; postintervention period: September 2014-May 2016). We used a model that incorporated weekly walking variation to estimate the intervention effect on walking. There was an 11.0% to 16.7% relative increase in walking in the absence of airport construction where 580 to 810 more travelers per day chose to walk. Through May 2016, travelers completed 390 000 additional walking trips. The Walk to Fly study demonstrated a significant and sustained increase in the number of airport travelers choosing to walk. Providing signage about options to walk in busy locations where reasonable walking options are available may improve population levels of physical activity and therefore improve public health.

Piecewise planar Möbius bands

DEFF Research Database (Denmark)

Gravesen, Jens

2005-01-01

t is shown that a closed polygon with an odd number of vertices is the median of exactly one piecewise planar cylinder and one piecewise planar Möbius band, intersecting each other orthogonally. A closed polygon with an even number of vertices is in the generic case neither the median...

Walk Score® and Transit Score® and Walking in the Multi-Ethnic Study of Atherosclerosis

Science.gov (United States)

Hirsch, Jana A.; Moore, Kari A.; Evenson, Kelly R.; Rodriguez, Daniel A; Diez Roux, Ana V.

2013-01-01

Background Walk Score® and Transit Score® are open-source measures of the neighborhood built environment to support walking (“walkability”) and access to transportation. Purpose To investigate associations of Street Smart Walk Score and Transit Score with self-reported transport and leisure walking using data from a large multi-city and diverse population-based sample of adults. Methods Data from a sample of 4552 residents of Baltimore MD; Chicago IL; Forsyth County NC; Los Angeles CA; New York NY; and St. Paul MN from the Multi-Ethnic Study of Atherosclerosis (2010–2012) were linked to Walk Score and Transit Score (collected in 2012). Logistic and linear regression models estimated ORs of not walking and mean differences in minutes walked, respectively, associated with continuous and categoric Walk Score and Transit Score. All analyses were conducted in 2012. Results After adjustment for site, key sociodemographic, and health variables, a higher Walk Score was associated with lower odds of not walking for transport and more minutes/week of transport walking. Compared to those in a “walker’s paradise,” lower categories of Walk Score were associated with a linear increase in odds of not transport walking and a decline in minutes of leisure walking. An increase in Transit Score was associated with lower odds of not transport walking or leisure walking, and additional minutes/week of leisure walking. Conclusions Walk Score and Transit Score appear to be useful as measures of walkability in analyses of neighborhood effects. PMID:23867022

Effects of walking and strength training on walking capacity in individuals with claudication: meta-analysis

Directory of Open Access Journals (Sweden)

Alessandra de Souza Miranda

2013-06-01

Full Text Available CONTEXT: Over the past few years, several clinical trials have been performed to analyze the effects of exercise training on walking ability in patients with intermittent claudication (IC. However, it remains unclear which type of physical exercise provides the maximum benefits in terms of walking ability. OBJECTIVE: To analyze, by means of a meta-analysis, the effects of walking and strength training on the walking capacity in patients with IC. METHODS: Papers analyzing the effects of walking and strength training programs in patients with IC were browsed on the Medline, Lilacs, and Cochrane databases. Randomized clinical trials scoring >4 on the Physiotherapy Evidence Database (PEDro scale and assessing claudication distance (CD and total walking distance (TWD were included in the review. RESULTS: Walking and strength training yielded increases in CD and TWD (P < 0.05. However, walking training yielded greater increases than strength training (P = 0.02. CONCLUSION: Walking and strength training improve walking capacity in patients with IC. However, greater improvements in TWD are obtained with walking training.

Walking economy during cued versus non-cued self-selected treadmill walking in persons with Parkinson's disease.

Science.gov (United States)

Gallo, Paul M; McIsaac, Tara L; Garber, Carol Ewing

2014-01-01

Gait impairments related to Parkinson's disease (PD) include variable step length and decreased walking velocity, which may result in poorer walking economy. Auditory cueing is a common method used to improve gait mechanics in PD that has been shown to worsen walking economy at set treadmill walking speeds. It is unknown if auditory cueing has the same effects on walking economy at self-selected treadmill walking speeds. To determine if auditory cueing will affect walking economy at self-selected treadmill walking speeds and at speeds slightly faster and slower than self-selected. Twenty-two participants with moderate PD performed three, 6-minute bouts of treadmill walking at three speeds (self-selected and ± 0.22 m·sec-1). One session used cueing and the other without cueing. Energy expenditure was measured and walking economy was calculated (energy expenditure/power). Poorer walking economy and higher energy expenditure occurred during cued walking at a self-selected and a slightly faster walking speed, but there was no apparent difference at the slightly slower speed. These results suggest that potential gait benefits of auditory cueing may come at an energy cost and poorer walking economy for persons with PD at least at some treadmill walking speeds.

Biomechanical parameters in lower limbs during natural walking and Nordic walking at different speeds.

Science.gov (United States)

Dziuba, Alicja K; Żurek, Grzegorz; Garrard, Ian; Wierzbicka-Damska, Iwona

2015-01-01

Nordic Walking (NW) is a sport that has a number of benefits as a rehabilitation method. It is performed with specially designed poles and has been often recommended as a physical activity that helps reduce the load to limbs. However, some studies have suggested that these findings might be erroneous. The aim of this paper was to compare the kinematic, kinetic and dynamic parameters of lower limbs between Natural Walking (W) and Nordic Walking (NW) at both low and high walking speeds. The study used a registration system, BTS Smart software and Kistler platform. Eleven subjects walked along a 15-metre path at low (below 2 m⋅s-1) and high (over 2 m⋅s-1) walking speeds. The Davis model was employed for calculations of kinematic, kinetic and dynamic parameters of lower limbs. With constant speed, the support given by Nordic Walking poles does not make the stroke longer and there is no change in pelvic rotation either. The only change observed was much bigger pelvic anteversion in the sagittal plane during fast NW. There were no changes in forces, power and muscle torques in lower limbs. The study found no differences in kinematic, kinetic and dynamic parameters between Natural Walking (W) and Nordic Walking (NW). Higher speeds generate greater ground reaction forces and muscle torques in lower limbs. Gait parameters depend on walking speed rather than on walking style.

Improved Dynamic Planar Point Location

DEFF Research Database (Denmark)

Brodal, Gerth Stølting; Arge, Lars; Georgiadis, Loukas

2006-01-01

We develop the first linear-space data structures for dynamic planar point location in general subdivisions that achieve logarithmic query time and poly-logarithmic update time.......We develop the first linear-space data structures for dynamic planar point location in general subdivisions that achieve logarithmic query time and poly-logarithmic update time....

Toe Walking in Children

Science.gov (United States)

... prone to damage and weaken over time. This diagnosis might be more likely if your child initially walked normally before starting to toe walk. Autism. Toe walking has been linked to autism spectrum ...

Feedback control of Zero Moment Point for stable bipedal walking

NARCIS (Netherlands)

Looij, van de R.M.A.; Nijmeijer, H.; Kostic, D.

2014-01-01

In order to prevent the humanoid robot TUlip from falling a start has been made with a Zero Moment Point (ZMP) based controller. The chosen controller, which is called the Linear Inverted Pendulum Tracker (LIPT) controller, is based upon a lag between the real and reference ZMP and is used in

Planar impact experiments for EOS measurements

International Nuclear Information System (INIS)

Furnish, M.D.

1993-01-01

The community concerned with the numerical modeling of groundshock produced by underground nuclear tests must have access to materials data to benchmark models of rock behavior. Historically the primary source of these data has been planar impact experiments. These experiments have involved gun, explosive and electrical launchers. Other methods of introducing planar shocks include shock driving by in-contact explosives or laser bursts. This paper briefly describes gun launcher-based planar impact methods used to characterize geological materials at Sandia National Laboratories

Contact planarization of ensemble nanowires

Science.gov (United States)

Chia, A. C. E.; LaPierre, R. R.

2011-06-01

The viability of four organic polymers (S1808, SC200, SU8 and Cyclotene) as filling materials to achieve planarization of ensemble nanowire arrays is reported. Analysis of the porosity, surface roughness and thermal stability of each filling material was performed. Sonication was used as an effective method to remove the tops of the nanowires (NWs) to achieve complete planarization. Ensemble nanowire devices were fully fabricated and I-V measurements confirmed that Cyclotene effectively planarizes the NWs while still serving the role as an insulating layer between the top and bottom contacts. These processes and analysis can be easily implemented into future characterization and fabrication of ensemble NWs for optoelectronic device applications.

Quality control on planar n-in-n pixel sensors — Recent progress of ATLAS planar pixel sensors

International Nuclear Information System (INIS)

Klingenberg, R.

2013-01-01

To extend the physics reach of the Large Hadron Collider (LHC), upgrades to the accelerator are planned which will increase the peak luminosity by a factor 5–10. To cope with the increased occupancy and radiation damage, the ATLAS experiment plans to introduce an all-silicon inner tracker with the high luminosity upgrade (HL-LHC). To investigate the suitability of pixel sensors using the proven planar technology for the upgraded tracker, the ATLAS Upgrade Planar Pixel Sensor (PPS) R and D Project was established. Main areas of research are the performance of planar pixel sensors at highest fluences, the exploration of possibilities for cost reduction to enable the instrumentation of large areas, the achievement of slim or active edges to provide low geometric inefficiencies without the need for shingling of modules and the investigation of the operation of highly irradiated sensors at low thresholds to increase the efficiency. The Insertable b-layer (IBL) is the first upgrade project within the ATLAS experiment and will employ a new detector layer consisting of silicon pixel sensors, which were improved and prototyped in the framework of the planar pixel sensor R and D project. A special focus of this paper is the status of the development and testing of planar n-in-n pixel sensors including the quality control of the on-going series production and postprocessing of sensor wafers. A high yield of produced planar sensor wafers and FE-I4 double chip sensors after first steps of post-processing including under bump metallization and dicing is observed. -- Highlights: ► Prototypes of irradiated planar n-in-n sensors have been successfully tested under laboratory conditions. ► A quality assurance programme on the series production of planar sensors for the IBL has started. ► A high yield of double chip sensors during the series production is observed which are compatible to the specifications to this detector component.

Talk the Walk: Does Socio-Cognitive Resource Reallocation Facilitate the Development of Walking?

Science.gov (United States)

Geva, Ronny; Orr, Edna

2016-01-01

Walking is of interest to psychology, robotics, zoology, neuroscience and medicine. Human's ability to walk on two feet is considered to be one of the defining characteristics of hominoid evolution. Evolutionary science propses that it emerged in response to limited environmental resources; yet the processes supporting its emergence are not fully understood. Developmental psychology research suggests that walking elicits cognitive advancements. We postulate that the relationship between cognitive development and walking is a bi-directional one; and further suggest that the initiation of novel capacities, such as walking, is related to internal socio-cognitive resource reallocation. We shed light on these notions by exploring infants' cognitive and socio-communicative outputs prospectively from 6-18 months of age. Structured bi/tri weekly evaluations of symbolic and verbal development were employed in an urban cohort (N = 9) for 12 months, during the transition from crawling to walking. Results show links between preemptive cognitive changes in socio-communicative output, symbolic-cognitive tool-use processes, and the age of emergence of walking. Plots of use rates of lower symbolic play levels before and after emergence of new skills illustrate reductions in use of previously attained key behaviors prior to emergence of higher symbolic play, language and walking. Further, individual differences in age of walking initiation were strongly related to the degree of reductions in complexity of object-use (r = .832, p developments, form an integrated adaptable composite, which possibly enables proactive internal resource reallocation, designed to support the emergence of new developmental milestones, such as walking.

Allegheny County Walk Scores

Data.gov (United States)

Allegheny County / City of Pittsburgh / Western PA Regional Data Center — Walk Score measures the walkability of any address using a patented system developed by the Walk Score company. For each 2010 Census Tract centroid, Walk Score...

Talk the Walk: Does Socio-Cognitive Resource Reallocation Facilitate the Development of Walking?

Directory of Open Access Journals (Sweden)

Ronny Geva

Full Text Available Walking is of interest to psychology, robotics, zoology, neuroscience and medicine. Human's ability to walk on two feet is considered to be one of the defining characteristics of hominoid evolution. Evolutionary science propses that it emerged in response to limited environmental resources; yet the processes supporting its emergence are not fully understood. Developmental psychology research suggests that walking elicits cognitive advancements. We postulate that the relationship between cognitive development and walking is a bi-directional one; and further suggest that the initiation of novel capacities, such as walking, is related to internal socio-cognitive resource reallocation. We shed light on these notions by exploring infants' cognitive and socio-communicative outputs prospectively from 6-18 months of age. Structured bi/tri weekly evaluations of symbolic and verbal development were employed in an urban cohort (N = 9 for 12 months, during the transition from crawling to walking. Results show links between preemptive cognitive changes in socio-communicative output, symbolic-cognitive tool-use processes, and the age of emergence of walking. Plots of use rates of lower symbolic play levels before and after emergence of new skills illustrate reductions in use of previously attained key behaviors prior to emergence of higher symbolic play, language and walking. Further, individual differences in age of walking initiation were strongly related to the degree of reductions in complexity of object-use (r = .832, p < .005, along with increases, counter to the general reduction trend, in skills that serve recruitment of external resources [socio-communication bids before speech (r = -.696, p < .01, and speech bids before walking; r = .729, p < .01]. Integration of these proactive changes using a computational approach yielded an even stronger link, underscoring internal resource reallocation as a facilitator of walking initiation (r = .901, p<0

Quantum walks with entangled coins

International Nuclear Information System (INIS)

Venegas-Andraca, S E; Ball, J L; Burnett, K; Bose, S

2005-01-01

We present a mathematical formalism for the description of un- restricted quantum walks with entangled coins and one walker. The numerical behaviour of such walks is examined when using a Bell state as the initial coin state, with two different coin operators, two different shift operators, and one walker. We compare and contrast the performance of these quantum walks with that of a classical random walk consisting of one walker and two maximally correlated coins as well as quantum walks with coins sharing different degrees of entanglement. We illustrate that the behaviour of our walk with entangled coins can be very different in comparison to the usual quantum walk with a single coin. We also demonstrate that simply by changing the shift operator, we can generate widely different distributions. We also compare the behaviour of quantum walks with maximally entangled coins with that of quantum walks with non-entangled coins. Finally, we show that the use of different shift operators on two and three qubit coins leads to different position probability distributions in one- and two-dimensional graphs

Walking for Well-Being: Are Group Walks in Certain Types of Natural Environments Better for Well-Being than Group Walks in Urban Environments?

Directory of Open Access Journals (Sweden)

Sara L. Warber

2013-10-01

Full Text Available The benefits of walking in natural environments for well-being are increasingly understood. However, less well known are the impacts different types of natural environments have on psychological and emotional well-being. This cross-sectional study investigated whether group walks in specific types of natural environments were associated with greater psychological and emotional well-being compared to group walks in urban environments. Individuals who frequently attended a walking group once a week or more (n = 708 were surveyed on mental well-being (Warwick Edinburgh Mental Well-being Scale, depression (Major Depressive Inventory, perceived stress (Perceived Stress Scale and emotional well-being (Positive and Negative Affect Schedule. Compared to group walks in urban environments, group walks in farmland were significantly associated with less perceived stress and negative affect, and greater mental well-being. Group walks in green corridors were significantly associated with less perceived stress and negative affect. There were no significant differences between the effect of any environment types on depression or positive affect. Outdoor walking group programs could be endorsed through “green prescriptions” to improve psychological and emotional well-being, as well as physical activity.

Modified planar functions and their components

DEFF Research Database (Denmark)

Anbar Meidl, Nurdagül; Meidl, Wilfried Meidl

2017-01-01

functions in odd characteristic as a vectorial bent function. We finally point out that though these components behave somewhat different than the multivariate bent4 functions, they are bent or semibent functions shifted by a certain quadratic term, a property which they share with their multivariate......Zhou ([20]) introduced modified planar functions in order to describe (2n; 2n; 2n; 1) relative difference sets R as a graph of a function on the finite field F2n, and pointed out that projections of R are difference sets that can be described by negabent or bent4 functions, which are Boolean...... functions given in multivariate form. One of the objectives of this paper is to contribute to the understanding of these component functions of modified planar functions. Moreover, we obtain a description of modified planar functions by their components which is similar to that of the classical planar...

Orientifold Planar Equivalence: The Chiral Condensate

DEFF Research Database (Denmark)

Armoni, Adi; Lucini, Biagio; Patella, Agostino

2008-01-01

The recently introduced orientifold planar equivalence is a promising tool for solving non-perturbative problems in QCD. One of the predictions of orientifold planar equivalence is that the chiral condensates of a theory with $N_f$ flavours of Dirac fermions in the symmetric (or antisymmetric...

Beam walking can detect differences in walking balance proficiency across a range of sensorimotor abilities.

Science.gov (United States)

Sawers, Andrew; Ting, Lena H

2015-02-01

The ability to quantify differences in walking balance proficiency is critical to curbing the rising health and financial costs of falls. Current laboratory-based approaches typically focus on successful recovery of balance while clinical instruments often pose little difficulty for all but the most impaired patients. Rarely do they test motor behaviors of sufficient difficulty to evoke failures in balance control limiting their ability to quantify balance proficiency. Our objective was to test whether a simple beam-walking task could quantify differences in walking balance proficiency across a range of sensorimotor abilities. Ten experts, ten novices, and five individuals with transtibial limb loss performed six walking trials across three different width beams. Walking balance proficiency was quantified as the ratio of distance walked to total possible distance. Balance proficiency was not significantly different between cohorts on the wide-beam, but clear differences between cohorts on the mid and narrow-beams were identified. Experts walked a greater distance than novices on the mid-beam (average of 3.63±0.04m verus 2.70±0.21m out of 3.66m; p=0.009), and novices walked further than amputees (1.52±0.20m; p=0.03). Amputees were unable to walk on the narrow-beam, while experts walked further (3.07±0.14m) than novices (1.55±0.26m; p=0.0005). A simple beam-walking task and an easily collected measure of distance traveled detected differences in walking balance proficiency across sensorimotor abilities. This approach provides a means to safely study and evaluate successes and failures in walking balance in the clinic or lab. It may prove useful in identifying mechanisms underlying falls versus fall recoveries. Copyright © 2015 Elsevier B.V. All rights reserved.

Walking on high heels changes muscle activity and the dynamics of human walking significantly

DEFF Research Database (Denmark)

Simonsen, Erik B; Svendsen, Morten Bo Søndergaard; Nørreslet, Andreas

2012-01-01

The aim of the study was to investigate the distribution of net joint moments in the lower extremities during walking on high-heeled shoes compared with barefooted walking at identical speed. Fourteen female subjects walked at 4 km/h across three force platforms while they were filmed by five...... digital video cameras operating at 50 frames/second. Both barefooted walking and walking on high-heeled shoes (heel height: 9 cm) were recorded. Net joint moments were calculated by 3D inverse dynamics. EMG was recorded from eight leg muscles. The knee extensor moment peak in the first half of the stance...... phase was doubled when walking on high heels. The knee joint angle showed that high-heeled walking caused the subjects to flex the knee joint significantly more in the first half of the stance phase. In the frontal plane a significant increase was observed in the knee joint abductor moment and the hip...

Overview of Planar Magnetic Technology — Fundamental Properties

DEFF Research Database (Denmark)

Ouyang, Ziwei; Andersen, Michael A. E.

2014-01-01

The momentum towards high efficiency, high frequency, and high power density in power supplies limits wide use of conventional wire-wound magnetic components. This article gives an overview of planar magnetic technologies with respect to the development of modern power electronics. The major...... advantages and disadvantages in the use of planar magnetics for high frequency power converters are covered, and publications on planar magnetics are reviewed. A detailed survey of winding conduction loss, leakage inductance and winding capacitance for planar magnetics is presented so power electronics...

Minimal Walking Technicolor

DEFF Research Database (Denmark)

Foadi, Roshan; Frandsen, Mads Toudal; A. Ryttov, T.

2007-01-01

Different theoretical and phenomenological aspects of the Minimal and Nonminimal Walking Technicolor theories have recently been studied. The goal here is to make the models ready for collider phenomenology. We do this by constructing the low energy effective theory containing scalars......, pseudoscalars, vector mesons and other fields predicted by the minimal walking theory. We construct their self-interactions and interactions with standard model fields. Using the Weinberg sum rules, opportunely modified to take into account the walking behavior of the underlying gauge theory, we find...... interesting relations for the spin-one spectrum. We derive the electroweak parameters using the newly constructed effective theory and compare the results with the underlying gauge theory. Our analysis is sufficiently general such that the resulting model can be used to represent a generic walking technicolor...

Walking - Sensing - Participation

DEFF Research Database (Denmark)

Bødker, Mads; Meinhardt, Nina Dam; Browning, David

2014-01-01

Building on ethnographic research and social theory in the field of ‘mobilities’, this workshop paper suggests that field work based on simply walking with people entails a form of embodied participation that informs technological interventions by creating a space within which to address a wider ...... set of experiential or ‘felt’ qualities of living with mobile technologies. Moving from reflections on the value of walking with people, the paper outlines some affordances of a smartphone application built to capture place experiences through walking.......Building on ethnographic research and social theory in the field of ‘mobilities’, this workshop paper suggests that field work based on simply walking with people entails a form of embodied participation that informs technological interventions by creating a space within which to address a wider...

Kinematics and ontogeny of locomotion in monkeys and human babies.

Science.gov (United States)

Niemitz, Carsten

2002-03-01

Early ontogenetic stages are often assumed to reflect or to be similar to past phylogenetic stages within the evolution of man. Therefore, as a first step, the quadrupedal crawling locomotion of human children was analysed and compared to the quadrupedal walk of Macaca fascicularis. The movements of the human child were not only more irregular, they differed from the walk of the monkey mainly through extraordinarily short swing phases, and also through strong scoliotic movements of the spine. There is a compulsory synchronisation in the hip and knee joint movements of the human crawling baby. We conclude that human crawling may be a behavioural recapitulation of a quadrupedal evolutionary stage. However, with reference to kinematics, man is not only characterised by his unique, habitually bipedal, upright gait but also by a second, equally unique locomotion, namely crawling, which he assumes for a short phase during his first year of life.--The walking movements of the limbs in toddling infants were mainly characterised by i) rather stiff, abducted arms, which were moved mostly by spine torsions (similar to those of bipedally walking Gorilla) and not as a suspensory pendulum. However, they rather work as levers for the elastic torsion pendulum of the spine. ii) They are also characterised by frequently lacking the minor knee flexion, which occurs at about the heel strike within each stride of the adult human. Besides many other details of the results, foot movements differed from adult ones mainly in that the whole plantar surface was placed flat on the ground within a few milliseconds.

The Effects of Walking or Walking-with-Poles Training on Tissue Oxygenation in Patients with Peripheral Arterial Disease

Directory of Open Access Journals (Sweden)

Eileen G. Collins

2012-01-01

Full Text Available This randomized trial proposed to determine if there were differences in calf muscle StO2 parameters in patients before and after 12 weeks of a traditional walking or walking-with-poles exercise program. Data were collected on 85 patients who were randomized to a traditional walking program ( or walking-with-poles program ( of exercise training. Patients walked for 3 times weekly for 12 weeks. Seventy-one patients completed both the baseline and the 12-week follow-up progressive treadmill tests ( traditional walking and walking-with-poles. Using the near-infrared spectroscopy measures, StO2 was measured prior to, during, and after exercise. At baseline, calf muscle oxygenation decreased from % prior to the treadmill test to % at peak exercise. The time elapsed prior to reaching nadir StO2 values increased more in the traditional walking group when compared to the walking-with-poles group. Likewise, absolute walking time increased more in the traditional walking group than in the walking-with-poles group. Tissue oxygenation decline during treadmill testing was less for patients assigned to a 12-week traditional walking program when compared to those assigned to a 12-week walking-with-poles program. In conclusion, the 12-week traditional walking program was superior to walking-with-poles in improving tissue deoxygenation in patients with PAD.

A Study of Effect of Walking Pole on the Walking Exercise

OpenAIRE

加藤, 麻樹; 下平, 佳江; 佐藤, 健

2010-01-01

So-called metabolic syndrome is one of the medical problems in our country, because many of people have difficulty at lack of exercises. Ministry of Health, Labor and Welfare suggest healthy life by exercise and moderate foods. Walking is one of the effective exercises to keep health in everyday life. Walking with poles, the exercise method of cross country skiing, is noticed as the effective exercise nowadays. Some studies show the effect of the pole walking exercise from view points of c...

Some remarks on non-planar Feynman diagrams

International Nuclear Information System (INIS)

Bielas, Krzysztof; Dubovyk, Ievgen; Gluza, Janusz

2013-12-01

Two criteria for planarity of a Feynman diagram upon its propagators (momentum ows) are presented. Instructive Mathematica programs that solve the problem and examples are provided. A simple geometric argument is used to show that while one can planarize non-planar graphs by embedding them on higher-genus surfaces (in the example it is a torus), there is still a problem with defining appropriate dual variables since the corresponding faces of the graph are absorbed by torus generators.

Some remarks on non-planar Feynman diagrams

Energy Technology Data Exchange (ETDEWEB)

Bielas, Krzysztof; Dubovyk, Ievgen; Gluza, Janusz [Silesia Univ., Katowice (Poland). Inst. of Physics; Riemann, Tord [Deutsches Elektronen-Synchrotron (DESY), Zeuthen (Germany)

2013-12-15

Two criteria for planarity of a Feynman diagram upon its propagators (momentum ows) are presented. Instructive Mathematica programs that solve the problem and examples are provided. A simple geometric argument is used to show that while one can planarize non-planar graphs by embedding them on higher-genus surfaces (in the example it is a torus), there is still a problem with defining appropriate dual variables since the corresponding faces of the graph are absorbed by torus generators.

Plantar-flexion of the ankle joint complex in terminal stance is initiated by subtalar plantar-flexion: A bi-planar fluoroscopy study.

Science.gov (United States)

Koo, Seungbum; Lee, Kyoung Min; Cha, Young Joo

2015-10-01

Gross motion of the ankle joint complex (AJC) is a summation of the ankle and subtalar joints. Although AJC kinematics have been widely used to evaluate the function of the AJC, the coordinated movements of the ankle and subtalar joints are not well understood. The purpose of this study was to accurately quantify the individual kinematics of the ankle and subtalar joints in the intact foot during ground walking by using a bi-planar fluoroscopic system. Bi-planar fluoroscopic images of the foot and ankle during walking and standing were acquired from 10 healthy subjects. The three-dimensional movements of the tibia, talus, and calcaneus were calculated with a three-dimensional/two-dimensional registration method. The skeletal kinematics were quantified from 9% to 86% of the full stance phase because of the limited camera speed of the X-ray system. At the beginning of terminal stance, plantar-flexion of the AJC was initiated in the subtalar joint on average at 75% ranging from 62% to 76% of the stance phase, and plantar-flexion of the ankle joint did not start until 86% of the stance phase. The earlier change to plantar-flexion in the AJC than the ankle joint due to the early plantar-flexion in the subtalar joint was observed in 8 of the 10 subjects. This phenomenon could be explained by the absence of direct muscle insertion on the talus. Preceding subtalar plantar-flexion could contribute to efficient and stable ankle plantar-flexion by locking the midtarsal joint, but this explanation needs further investigation. Copyright © 2015 Elsevier B.V. All rights reserved.

Walking the Everyday

Directory of Open Access Journals (Sweden)

Matthew Bissen

2014-11-01

Full Text Available Since 2010, @matthewalking (Bissen, 2013 has published real-time public texts of walks in the city. This text-based Twitter feed has developed a narrative of a particular everyday life and developed a space of interface with others that represents a centering of perspective within an urban landscape. Walking the city provides a spatial, tactile, social, and embodied knowledge of the environment as each of us emerges into a space, orients ourselves, and determines a path that is highly localized, but is in connection with distant spaces and cultures. According to Ben Jacks in “Walking the City: Manhattan Projects,” “for urban dwellers and designers, walking is a fundamental tool for laying claim to, understanding, and shaping a livable city. Walking yields bodily knowing, recovers place memory, creates narrative, prioritizes human scale, and reconnects people to places” (75. @matthewalking’s walks, at times for as long as 5 hours, attempt to center an experience of an urban existence in a spatial narrative of the city that at once prioritizes a connection to place, but also is projected outward into a mediated relationship with others. The project is a series of unbounded walks, or dérives (drift, through the city that are logged on Twitter and traced to create an archive map of a set of particular urban experiences. The dérive concept as outlined in “The Theory of the Dérive,” by Guy Debord is when “one or more persons during a certain period drop their relations, their work and leisure activities, and all their other usual motives for movement and action, and let themselves be drawn by the attractions of the terrain and the encounters they find there” (62.

Planarity certification of ATLAS Micromegas detector panels

Energy Technology Data Exchange (ETDEWEB)

Mueller, Ralph; Biebel, Otmar; Bortfeldt, Jonathan; Flierl, Bernhard; Hertenberger, Ralf; Loesel, Philipp; Herrmann, Maximilian [LMU Muenchen (Germany); Zibell, Andre [JMU Wuerzburg (Germany)

2016-07-01

During the second long LHC shutdown, 2019/20, the precision tracking detectors of the ATLAS muon spectrometer in the inner end caps will be replaced using Micromegas, a planar gas-detector technology. Modules of 2 m{sup 2} area are built in quadruplets from five precisely planar sandwich panels that define the anodes and the cathodes of the four active detector planes. A panel is composed of three consecutive layers FR4 - aluminum honeycomb - FR4. Single plane spatial particle resolution below 100 μm is achievable when the deviations from planarity of the strip-anodes do not exceed 80 μm RMS over the whole active area and the parallelism of the readout strips is within 30 μm. In order to measure the dimensional accuracy of each panel, laser distance sensors combined with a coordinate measurement system have been investigated. The sensor requirements to measure the planarity of the panels are a resolution of 0.3 μm and a beam spot diameter of ∼20 μm, well below 100 μ m the size of the smallest structures. We report on achieved planarities of the panels and the performance of the laser sensor system. A panel with an RMS better than 30 μm was build and the evolution of its planarity due to humidity and temperature effects is shown.

Dog ownership, dog walking, and leisure-time walking among Taiwanese metropolitan and nonmetropolitan older adults.

Science.gov (United States)

Liao, Yung; Huang, Pin-Hsuan; Chen, Yi-Ling; Hsueh, Ming-Chun; Chang, Shao-Hsi

2018-04-04

This study examined the prevalence of dog ownership and dog walking and its association with leisure-time walking among metropolitan and nonmetropolitan older adults. A telephone-based cross-sectional survey targeting Taiwanese older adults was conducted in November 2016. Data related to dog ownership, time spent dog walking (categorized as non-dog owner, non-dog walkers, and dog walkers), and sociodemographic variables were obtained from 1074 older adults. Adjusted binary logistic regression was then performed. In this sample, 12% of Taiwanese older adults owned a dog and 31% of them walked their dogs for an average of 232.13 min over 5.9 days/week (standard deviation = 2.03). Older adults living in nonmetropolitan areas were more likely to own a dog (14.7% vs. 9.1%) but less likely to walk their dog (25.9% vs. 39.6%) than were those living in metropolitan areas. Compared with non-dog owners, only older adults living in nonmetropolitan areas who were dog walkers achieved 150 min of leisure-time walking (odds ratio: 3.03, 95% confidence interval: 1.05-8.77), after adjustment for potential confounders. Older Taiwanese adults living in nonmetropolitan areas who owned and walked their dogs were more likely to achieve health-enhancing levels of leisure-time walking. Tailored physical activity interventions for promoting dog walking should be developed for older adults who are dog owners living in nonmetropolitan areas and who do not engage in dog walking.

Biomimetic approach to tacit learning based on compound control.

Science.gov (United States)

Shimoda, Shingo; Kimura, Hidenori

2010-02-01

The remarkable capability of living organisms to adapt to unknown environments is due to learning mechanisms that are totally different from the current artificial machine-learning paradigm. Computational media composed of identical elements that have simple activity rules play a major role in biological control, such as the activities of neurons in brains and the molecular interactions in intracellular control. As a result of integrations of the individual activities of the computational media, new behavioral patterns emerge to adapt to changing environments. We previously implemented this feature of biological controls in a form of machine learning and succeeded to realize bipedal walking without the robot model or trajectory planning. Despite the success of bipedal walking, it was a puzzle as to why the individual activities of the computational media could achieve the global behavior. In this paper, we answer this question by taking a statistical approach that connects the individual activities of computational media to global network behaviors. We show that the individual activities can generate optimized behaviors from a particular global viewpoint, i.e., autonomous rhythm generation and learning of balanced postures, without using global performance indices.

Aerobic treadmill plus Bobath walking training improves walking in subacute stroke: a randomized controlled trial.

Science.gov (United States)

Eich, H-J; Mach, H; Werner, C; Hesse, S

2004-09-01

To evaluate the immediate and long-term effects of aerobic treadmill plus Bobath walking training in subacute stroke survivors compared with Bobath walking training alone. Randomized controlled trial. Rehabilitation unit. Fifty patients, first-time supratentorial stroke, stroke interval less than six weeks, Barthel Index (0-100) from 50 to 80, able to walk a minimum distance of 12 m with either intermittent help or stand-by while walking, cardiovascular stable, minimum 50 W in the bicycle ergometry, randomly allocated to two groups, A and B. Group A 30 min of treadmill training, harness secured and minimally supported according to patients' needs, and 30 min of physiotherapy, every workday for six weeks, speed and inclination of the treadmill were adjusted to achieve a heart rate of HR: (Hrmax-HRrest)*0.6+HRrest; in group B 60 min of daily physiotherapy for six weeks. Primary outcome variables were the absolute improvement of walking velocity (m/s) and capacity (m), secondary were gross motor function including walking ability (score out of 13) and walking quality (score out of 41), blindly assessed before and after the intervention, and at follow-up three months later. Patients tolerated the aerobic training well with no side-effects, significantly greater improvement of walking velocity and capacity both at study end (p =0.001 versus p =0.002) and at follow-up (p Bobath walking training in moderately affected stroke patients was better than Bobath walking training alone with respect to the improvement of walking velocity and capacity. The treatment approach is recommended in patients meeting the inclusion criteria. A multicentre trial should follow to strengthen the evidence.

Yangian-type symmetries of non-planar leading singularities

Energy Technology Data Exchange (ETDEWEB)

Frassek, Rouven [Department of Mathematical Sciences, Durham University,South Road, Durham DH1 3LE (United Kingdom); Meidinger, David [Institut für Mathematik und Institut für Physik, Humboldt-Universität zu Berlin,Zum Großen Windkanal 6, 12489 Berlin (Germany)

2016-05-18

We take up the study of integrable structures behind non-planar contributions to scattering amplitudes in N = 4 super Yang-Mills theory. Focusing on leading singularities, we derive the action of the Yangian generators on color-ordered subsets of the external states. Each subset corresponds to a single boundary of the non-planar on-shell diagram. While Yangian invariance is broken, we find that higher-level Yangian generators still annihilate the non-planar on-shell diagram. For a given diagram, the number of these generators is governed by the degree of non-planarity. Furthermore, we present additional identities involving integrable transfer matrices. In particular, for diagrams on a cylinder we obtain a conservation rule similar to the Yangian invariance condition of planar on-shell diagrams. To exemplify our results, we consider a five-point MHV on-shell function on a cylinder.

The Walking Renaissance: A Longitudinal Analysis of Walking Travel in the Greater Los Angeles Area, USA

Directory of Open Access Journals (Sweden)

Kenneth Joh

2015-07-01

Full Text Available Promoting walking travel is considered important for reducing automobile use and improving public health. Recent U.S. transportation policy has incentivized investments in alternative, more sustainable transportation modes such as walking, bicycling and transit in auto-oriented cities such as Los Angeles. Although many past studies have analyzed changes in walking travel across the U.S., there is little clarity on the drivers of change. We address this gap by conducting a longitudinal analysis of walking travel in the greater Los Angeles area from 2001 to 2009. We use travel diary and household data from regional and national surveys to analyze changes in walking trip shares and rates across our study area. Results show that walking has significantly increased across most of Los Angeles, and that increases in walking trips generally correspond with increases in population, employment, and transit service densities. Estimates from fixed-effects regression analysis generally suggest a positive association between population density and walking, and that higher increases in transit stop density are correlated with increased walking trips to and from transit stops. These findings illustrate how regional planning efforts to pursue a coordinated land use-transit planning strategy can help promote walking in auto-oriented or vehicle adopting cities.

Effect of uphill and downhill walking on walking performance in geriatric patients using a wheeled walker.

Science.gov (United States)

Lindemann, Ulrich; Schwenk, Michael; Schmitt, Syn; Weyrich, Michael; Schlicht, Wolfgang; Becker, Clemens

2017-08-01

Wheeled walkers are recommended to improve walking performance in older persons and to encourage and assist participation in daily life. Nevertheless, using a wheeled walker can cause serious problems in the natural environment. This study aimed to compare uphill and downhill walking with walking level in geriatric patients using a wheeled walker. Furthermore, we investigated the effect of using a wheeled walker with respect to dual tasking when walking level. A total of 20 geriatric patients (median age 84.5 years) walked 10 m at their habitual pace along a level surface, uphill and downhill, with and without a standard wheeled walker. Gait speed, stride length and cadence were assessed by wearable sensors and the walk ratio was calculated. When using a wheeled walker while walking level the walk ratio improved (0.58 m/[steps/min] versus 0.57 m/[steps/min], p = 0.023) but gait speed decreased (1.07 m/s versus 1.12 m/s, p = 0.020) when compared to not using a wheeled walker. With respect to the walk ratio, uphill and downhill walking with a wheeled walker decreased walking performance when compared to level walking (0.54 m/[steps/min] versus 0.58 m/[steps/min], p = 0.023 and 0.55 m/[steps/min] versus 0.58 m/[steps/min], p = 0.001, respectively). At the same time, gait speed decreased (0.079 m/s versus 1.07 m/s, p walker improved the quality of level walking but the performance of uphill and downhill walking was worse compared to walking level when using a wheeled walker.

ytterbium- & erbium-doped silica for planar waveguide lasers & amplifiers

DEFF Research Database (Denmark)

Dyndgaard, Morten Glarborg

2001-01-01

The purpose of this work was to demonstrate ytterbium doped planar components and investigate the possibilities of making erbium/ytterbium codoped planar waveguides in germano-silica glass. Furthermore, tools for modelling lasers and erbium/ytterbium doped amplifiers. The planar waveguides were...

[Objective evaluation of arterial intermittent claudication by the walking tolerance test. Comparative study of physiological walking and walking on a conveyor belt (author's transl)].

Science.gov (United States)

Bouchet, J Y; Franco, A; Morzol, B; Beani, J C

1980-01-01

Two methods are used to evaluate the walking distance: physiological walking along a standard path (0% - 6 mk/h) and walking on a tread mill (10% - 3 km/h). In both tests, four data are checked: -- initial trouble distance, -- cramp or walking-distance, -- localisation of pain, -- recovery time. These tests are dependable for the diagnosis of arterial claudication, reproducible and well tolerated. Their results have been compared: there is no correlation between the initial trouble distance and the cramp distance. However there is a correlation between the cramp distance by physiological walking and on treadmill. Recovery time, if long, is a criteria of gravity. Interests of both methods are discussed.

Planar Poincare chart - A planar graphic representation of the state of light polarization

Science.gov (United States)

Tedjojuwono, Ken K.; Hunter, William W., Jr.; Ocheltree, Stewart L.

1989-01-01

The planar Poincare chart, which represents the complete planar equivalence of the Poincare sphere, is proposed. The four sets of basic lines are drawn on two separate charts for the generalization and convenience of reading the scale. The chart indicates the rotation of the principal axes of linear birefringent material. The relationships between parameters of the two charts are given as 2xi-2phi (orientation angle of the major axis-ellipticity angle) pair and 2alpha-delta (angle of amplitude ratio-phase difference angle) pair. The results are useful for designing and analyzing polarization properties of optical components with birefringent properties.

Random walks and diffusion on networks

Science.gov (United States)

Masuda, Naoki; Porter, Mason A.; Lambiotte, Renaud

2017-11-01

Random walks are ubiquitous in the sciences, and they are interesting from both theoretical and practical perspectives. They are one of the most fundamental types of stochastic processes; can be used to model numerous phenomena, including diffusion, interactions, and opinions among humans and animals; and can be used to extract information about important entities or dense groups of entities in a network. Random walks have been studied for many decades on both regular lattices and (especially in the last couple of decades) on networks with a variety of structures. In the present article, we survey the theory and applications of random walks on networks, restricting ourselves to simple cases of single and non-adaptive random walkers. We distinguish three main types of random walks: discrete-time random walks, node-centric continuous-time random walks, and edge-centric continuous-time random walks. We first briefly survey random walks on a line, and then we consider random walks on various types of networks. We extensively discuss applications of random walks, including ranking of nodes (e.g., PageRank), community detection, respondent-driven sampling, and opinion models such as voter models.

A comparison of at-home walking and 10-meter walking test parameters of individuals with post-stroke hemiparesis.

Science.gov (United States)

Nagano, Katsuhito; Hori, Hideaki; Muramatsu, Ken

2015-02-01

[Purpose] The purpose of this study was to clarify the difference in gait parameters of at-home walking and the 10-meter walking test results of individuals with hemiparesis. [Subjects] A total of 14 hemiparetic stroke recovery patients participated in this study. Inclusion criteria were: living at home, the ability to walk independently, and demonstrated low extremity on recovery stages III-V on the Brunnstrom Approach. The average age of the subjects was 66 years. [Methods] We used video surveillance and the inked footprint technique to record usual walking speed and maximum speed patterns both in subjects' homes and during the 10-meter walking test. From these methods, walking speed, stride length, and step rate were calculated. [Results] While both usual and maximum walking speeds of the 10-meter walking test correlated with stride length and step rate, at-home walking speeds only significantly correlated with stride length. [Conclusion] Walking patterns of the 10-meter walking test are quantifiably distinct from those demonstrated in patients' homes, and this difference is mainly characterized by stride length. In order to enhance in-home walking ability, exercises that improve length of stride rather than step rate should be recommended.

Non-Markovian decoherent quantum walks

International Nuclear Information System (INIS)

Xue Peng; Zhang Yong-Sheng

2013-01-01

Quantum walks act in obviously different ways from their classical counterparts, but decoherence will lessen and close this gap between them. To understand this process, it is necessary to investigate the evolution of quantum walks under different decoherence situations. In this article, we study a non-Markovian decoherent quantum walk on a line. In a short time regime, the behavior of the walk deviates from both ideal quantum walks and classical random walks. The position variance as a measure of the quantum walk collapses and revives for a short time, and tends to have a linear relation with time. That is, the walker's behavior shows a diffusive spread over a long time limit, which is caused by non-Markovian dephasing affecting the quantum correlations between the quantum walker and his coin. We also study both quantum discord and measurement-induced disturbance as measures of the quantum correlations, and observe both collapse and revival in the short time regime, and the tendency to be zero in the long time limit. Therefore, quantum walks with non-Markovian decoherence tend to have diffusive spreading behavior over long time limits, while in the short time regime they oscillate between ballistic and diffusive spreading behavior, and the quantum correlation collapses and revives due to the memory effect

Neuromorphic walking gait control.

Science.gov (United States)

Still, Susanne; Hepp, Klaus; Douglas, Rodney J

2006-03-01

We present a neuromorphic pattern generator for controlling the walking gaits of four-legged robots which is inspired by central pattern generators found in the nervous system and which is implemented as a very large scale integrated (VLSI) chip. The chip contains oscillator circuits that mimic the output of motor neurons in a strongly simplified way. We show that four coupled oscillators can produce rhythmic patterns with phase relationships that are appropriate to generate all four-legged animal walking gaits. These phase relationships together with frequency and duty cycle of the oscillators determine the walking behavior of a robot driven by the chip, and they depend on a small set of stationary bias voltages. We give analytic expressions for these dependencies. This chip reduces the complex, dynamic inter-leg control problem associated with walking gait generation to the problem of setting a few stationary parameters. It provides a compact and low power solution for walking gait control in robots.

Human H-reflexes are smaller in difficult beam walking than in normal treadmill walking.

Science.gov (United States)

Llewellyn, M; Yang, J F; Prochazka, A

1990-01-01

Hoffman (H) reflexes were elicited from the soleus (SOL) muscle while subjects walked on a treadmill and on a narrow beam (3.5 cm wide, raised 34 cm from the floor). The speed of walking on the treadmill was selected for each subject to match the background activation level of their SOL muscle during beam walking. The normal reciprocal activation pattern of the tibialis anterior and SOL muscles in treadmill walking was replaced by a pattern dominated by co-contraction on the beam. In addition, the step cycle duration was more variable and the time spent in the swing phase was reduced on the beam. The H-reflexes were highly modulated in both tasks, the amplitude being high in the stance phase and low in the swing phase. The H-reflex amplitude was on average 40% lower during beam walking than treadmill walking. The relationship between the H-reflex amplitude and the SOL EMG level was quantified by a regression line relating the two variables. The slope of this line was on average 41% lower in beam walking than treadmill walking. The lower H-reflex gain observed in this study and the high level of fusimotor drive observed in cats performing similar tasks suggest that the two mechanisms which control the excitability of this reflex pathway (i.e. fusimotor action and control of transmission at the muscle spindle to moto-neuron synapse) may be controlled independently.

Race walking gait and its influence on race walking economy in world-class race walkers.

Science.gov (United States)

Gomez-Ezeiza, Josu; Torres-Unda, Jon; Tam, Nicholas; Irazusta, Jon; Granados, Cristina; Santos-Concejero, Jordan

2018-03-06

The aim of this study was to determine the relationships between biomechanical parameters of the gait cycle and race walking economy in world-class Olympic race walkers. Twenty-One world-class race walkers possessing the Olympic qualifying standard participated in this study. Participants completed an incremental race walking test starting at 10 km·h -1 , where race walking economy (ml·kg -1 ·km -1 ) and spatiotemporal gait variables were analysed at different speeds. 20-km race walking performance was related to race walking economy, being the fastest race walkers those displaying reduced oxygen cost at a given speed (R = 0.760, p < 0.001). Longer ground contact times, shorter flight times, longer midstance sub-phase and shorter propulsive sub-phase during stance were related to a better race walking economy (moderate effect, p < 0.05). According to the results of this study, the fastest race walkers were more economi cal than the lesser performers. Similarly, shorter flight times are associated with a more efficient race walking economy. Coaches and race walkers should avoid modifying their race walking style by increasing flight times, as it may not only impair economy, but also lead to disqualification.

Walking and child pedestrian injury: a systematic review of built environment correlates of safe walking.

Science.gov (United States)

Rothman, Linda; Buliung, Ron; Macarthur, Colin; To, Teresa; Howard, Andrew

2014-02-01

The child active transportation literature has focused on walking, with little attention to risk associated with increased traffic exposure. This paper reviews the literature related to built environment correlates of walking and pedestrian injury in children together, to broaden the current conceptualization of walkability to include injury prevention. Two independent searches were conducted focused on walking in children and child pedestrian injury within nine electronic databases until March, 2012. Studies were included which: 1) were quantitative 2) set in motorized countries 3) were either urban or suburban 4) investigated specific built environment risk factors 5) had outcomes of either walking in children and/or child pedestrian roadway collisions (ages 0-12). Built environment features were categorized according to those related to density, land use diversity or roadway design. Results were cross-tabulated to identify how built environment features associate with walking and injury. Fifty walking and 35 child pedestrian injury studies were identified. Only traffic calming and presence of playgrounds/recreation areas were consistently associated with more walking and less pedestrian injury. Several built environment features were associated with more walking, but with increased injury. Many features had inconsistent results or had not been investigated for either outcome. The findings emphasise the importance of incorporating safety into the conversation about creating more walkable cities.

Flat panel planar optic display

Energy Technology Data Exchange (ETDEWEB)

Veligdan, J.T. [Brookhaven National Lab., Upton, NY (United States). Dept. of Advanced Technology

1994-11-01

A prototype 10 inch flat panel Planar Optic Display, (POD), screen has been constructed and tested. This display screen is comprised of hundreds of planar optic class sheets bonded together with a cladding layer between each sheet where each glass sheet represents a vertical line of resolution. The display is 9 inches wide by 5 inches high and approximately 1 inch thick. A 3 milliwatt HeNe laser is used as the illumination source and a vector scanning technique is employed.

Walking and Sensing Mobile Lives

DEFF Research Database (Denmark)

Bødker, Mads; Meinhardt, Nina Dam

In this position paper, we discuss how mindful walking with people allow us to explore sensory aspects of mobile lives that are typically absent from research. We present an app that aids researchers collect impressions from a walk.......In this position paper, we discuss how mindful walking with people allow us to explore sensory aspects of mobile lives that are typically absent from research. We present an app that aids researchers collect impressions from a walk....

Human treadmill walking needs attention

Directory of Open Access Journals (Sweden)

Daniel Olivier

2006-08-01

Full Text Available Abstract Background The aim of the study was to assess the attentional requirements of steady state treadmill walking in human subjects using a dual task paradigm. The extent of decrement of a secondary (cognitive RT task provides a measure of the attentional resources required to maintain performance of the primary (locomotor task. Varying the level of difficulty of the reaction time (RT task is used to verify the priority of allocation of attentional resources. Methods 11 healthy adult subjects were required to walk while simultaneously performing a RT task. Participants were instructed to bite a pressure transducer placed in the mouth as quickly as possible in response to an unpredictable electrical stimulation applied on the back of the neck. Each subject was tested under five different experimental conditions: simple RT task alone and while walking, recognition RT task alone and while walking, walking alone. A foot switch system composed of a pressure sensitive sensor was placed under the heel and forefoot of each foot to determine the gait cycle duration. Results Gait cycle duration was unchanged (p > 0.05 by the addition of the RT task. Regardless of the level of difficulty of the RT task, the RTs were longer during treadmill walking than in sitting conditions (p 0.05 was found between the attentional demand of the walking task and the decrement of performance found in the RT task under varying levels of difficulty. This finding suggests that the healthy subjects prioritized the control of walking at the expense of cognitive performance. Conclusion We conclude that treadmill walking in young adults is not a purely automatic task. The methodology and outcome measures used in this study provide an assessment of the attentional resources required by walking on the treadmill at a steady state.

Planar Algebra of the Subgroup-Subfactor

Indian Academy of Sciences (India)

The crucial step in this identification is an exhibition of a model for the basic construction tower, and thereafter of the standard invariant of R ⋊ H ⊂ R ⋊ G in terms of operator matrices. We also obtain an identification between the planar algebra of the fixed algebra subfactor R G ⊂ R H and the -invariant planar subalgebra ...

Quantum walks and orbital states of a Weyl particle

International Nuclear Information System (INIS)

Katori, Makoto; Fujino, Soichi; Konno, Norio

2005-01-01

The time-evolution equation of a one-dimensional quantum walker is exactly mapped to the three-dimensional Weyl equation for a zero-mass particle with spin 1/2, in which each wave number k of the walker's wave function is mapped to a point q(k) in the three-dimensional momentum space and q(k) makes a planar orbit as k changes its value in [-π,π). The integration over k providing the real-space wave function for a quantum walker corresponds to considering an orbital state of a Weyl particle, which is defined as a superposition (curvilinear integration) of the energy-momentum eigenstates of a free Weyl equation along the orbit. Konno's novel distribution function of a quantum walker's pseudovelocities in the long-time limit is fully controlled by the shape of the orbit and how the orbit is embedded in the three-dimensional momentum space. The family of orbital states can be regarded as a geometrical representation of the unitary group U(2) and the present study will propose a new group-theoretical point of view for quantum-walk problems

'It was not just a walking experience': reflections on the role of care in dog-walking.

Science.gov (United States)

Degeling, Chris; Rock, Melanie

2013-09-01

Research into physical activity and human health has recently begun to attend to dog-walking. This study extends the literature on dog-walking as a health behaviour by conceptualizing dog-walking as a caring practice. It centres on qualitative interviews with 11 Canadian dog-owners. All participants resided in urban neighbourhoods identified through previous quantitative research as conducive to dog-walking. Canine characteristics, including breed and age, were found to influence people's physical activity. The health of the dog and its position in the life-course influenced patterns of dog-walking. Frequency, duration and spatial patterns of dog-walking all depended on relationships and people's capacity to tap into resources. In foregrounding networks of care, inclusive of pets and public spaces, a relational conceptualization of dog-walking as a practice of caring helps to make sense of heterogeneity in patterns of physical activity among dog-owners.

Technical errors in planar bone scanning.

Science.gov (United States)

Naddaf, Sleiman Y; Collier, B David; Elgazzar, Abdelhamid H; Khalil, Magdy M

2004-09-01

Optimal technique for planar bone scanning improves image quality, which in turn improves diagnostic efficacy. Because planar bone scanning is one of the most frequently performed nuclear medicine examinations, maintaining high standards for this examination is a daily concern for most nuclear medicine departments. Although some problems such as patient motion are frequently encountered, the degraded images produced by many other deviations from optimal technique are rarely seen in clinical practice and therefore may be difficult to recognize. The objectives of this article are to list optimal techniques for 3-phase and whole-body bone scanning, to describe and illustrate a selection of deviations from these optimal techniques for planar bone scanning, and to explain how to minimize or avoid such technical errors.

Pedestrian Walking Behavior Revealed through a Random Walk Model

Directory of Open Access Journals (Sweden)

Hui Xiong

2012-01-01

Full Text Available This paper applies method of continuous-time random walks for pedestrian flow simulation. In the model, pedestrians can walk forward or backward and turn left or right if there is no block. Velocities of pedestrian flow moving forward or diffusing are dominated by coefficients. The waiting time preceding each jump is assumed to follow an exponential distribution. To solve the model, a second-order two-dimensional partial differential equation, a high-order compact scheme with the alternating direction implicit method, is employed. In the numerical experiments, the walking domain of the first one is two-dimensional with two entrances and one exit, and that of the second one is two-dimensional with one entrance and one exit. The flows in both scenarios are one way. Numerical results show that the model can be used for pedestrian flow simulation.

Exploring Muscle Activation during Nordic Walking: A Comparison between Conventional and Uphill Walking.

Directory of Open Access Journals (Sweden)

Barbara Pellegrini

Full Text Available Nordic Walking (NW owes much of its popularity to the benefits of greater energy expenditure and upper body engagement than found in conventional walking (W. Muscle activation during NW is still understudied, however. The aim of the present study was to assess differences in muscle activation and physiological responses between NW and W in level and uphill walking conditions. Nine expert Nordic Walkers (mean age 36.8±11.9 years; BMI 24.2±1.8 kg/m2 performed 5-minute treadmill trials of W and NW at 4 km/h on inclines of 0% and 15%. The electromyographic activity of seven upper body and five leg muscles and oxygen consumption (VO2 were recorded and pole force during NW was measured. VO2 during NW was 22.3% higher at 0% and only 6.9% higher at 15% than during W, while upper body muscle activation was 2- to 15-fold higher under both conditions. Lower body muscle activation was similarly increased during NW and W in the uphill condition, whereas the increase in erector spinae muscle activity was lower during NW than W. The lack of a significant increase in pole force during uphill walking may explain the lower extra energy expenditure of NW, indicating less upper body muscle activation to lift the body against gravity. NW seemed to reduce lower back muscle contraction in the uphill condition, suggesting that walking with poles may reduce effort to control trunk oscillations and could contribute to work production during NW. Although the difference in extra energy expenditure between NW and W was smaller in the uphill walking condition, the increased upper body muscle involvement during exercising with NW may confer additional benefit compared to conventional walking also on uphill terrains. Furthermore, people with low back pain may gain benefit from pole use when walking uphill.

Exploring Muscle Activation during Nordic Walking: A Comparison between Conventional and Uphill Walking.

Science.gov (United States)

Pellegrini, Barbara; Peyré-Tartaruga, Leonardo Alexandre; Zoppirolli, Chiara; Bortolan, Lorenzo; Bacchi, Elisabetta; Figard-Fabre, Hélène; Schena, Federico

2015-01-01

Nordic Walking (NW) owes much of its popularity to the benefits of greater energy expenditure and upper body engagement than found in conventional walking (W). Muscle activation during NW is still understudied, however. The aim of the present study was to assess differences in muscle activation and physiological responses between NW and W in level and uphill walking conditions. Nine expert Nordic Walkers (mean age 36.8±11.9 years; BMI 24.2±1.8 kg/m2) performed 5-minute treadmill trials of W and NW at 4 km/h on inclines of 0% and 15%. The electromyographic activity of seven upper body and five leg muscles and oxygen consumption (VO2) were recorded and pole force during NW was measured. VO2 during NW was 22.3% higher at 0% and only 6.9% higher at 15% than during W, while upper body muscle activation was 2- to 15-fold higher under both conditions. Lower body muscle activation was similarly increased during NW and W in the uphill condition, whereas the increase in erector spinae muscle activity was lower during NW than W. The lack of a significant increase in pole force during uphill walking may explain the lower extra energy expenditure of NW, indicating less upper body muscle activation to lift the body against gravity. NW seemed to reduce lower back muscle contraction in the uphill condition, suggesting that walking with poles may reduce effort to control trunk oscillations and could contribute to work production during NW. Although the difference in extra energy expenditure between NW and W was smaller in the uphill walking condition, the increased upper body muscle involvement during exercising with NW may confer additional benefit compared to conventional walking also on uphill terrains. Furthermore, people with low back pain may gain benefit from pole use when walking uphill.

Quantum walks based on an interferometric analogy

International Nuclear Information System (INIS)

Hillery, Mark; Bergou, Janos; Feldman, Edgar

2003-01-01

There are presently two models for quantum walks on graphs. The ''coined'' walk uses discrete-time steps, and contains, besides the particle making the walk, a second quantum system, the coin, that determines the direction in which the particle will move. The continuous walk operates with continuous time. Here a third model for quantum walks is proposed, which is based on an analogy to optical interferometers. It is a discrete-time model, and the unitary operator that advances the walk one step depends only on the local structure of the graph on which the walk is taking place. This type of walk also allows us to introduce elements, such as phase shifters, that have no counterpart in classical random walks. Several examples are discussed

How is sagittal balance acquired during bipedal gait acquisition? Comparison of neonatal and adult pelves in three dimensions. Evolutionary implications.

Science.gov (United States)

Tardieu, Christine; Bonneau, Noémie; Hecquet, Jérôme; Boulay, Christophe; Marty, Catherine; Legaye, Jean; Duval-Beaupère, Geneviève

2013-08-01

We compare adult and intact neonatal pelves, using a pelvic sagittal variable, the angle of sacral incidence, which presents significant correlations with vertebral curvature in adults and plays an important role in sagittal balance of the trunk on the lower limbs. Since the lumbar curvature develops in the child in association with gait acquisition, we expect a change in this angle during growth which could contribute to the acquisition of sagittal balance. To understand the mechanisms underlying the sagittal balance in the evolution of human bipedalism, we also measure the angle of incidence of hominid fossils. Fourty-seven landmarks were digitized on 50 adult and 19 intact neonatal pelves. We used a three-dimensional model of the pelvis (DE-VISU program) which calculates the angle of sacral incidence and related functional variables. Cross-sectional data from newborns and adults show that the angle of sacral incidence increases and becomes negatively correlated with the sacro-acetabular distance. During ontogeny the sacrum becomes curved, tends to sink down between the iliac blades as a wedge and moves backward in the sagittal plane relative to the acetabula, thus contributing to the backwards displacement of the center of gravity of the trunk. A chain of correlations links the degree of the sacral slope and of the angle of incidence, which is tightly linked with the lumbar lordosis. We sketch a model showing the coordinated changes occurring in the pelvis and vertebral column during the acquisition of bipedalism in infancy. In the australopithecine pelves, Sts 14 and AL 288-1, and in the Homo erectus Gona pelvis the angle of sacral incidence reaches the mean values of humans. Discussing the incomplete pelves of Ardipithecus ramidus, Australopithecus sediba and the Nariokotome Boy, we suggest how the functional linkage between pelvis and spine, observed in humans, could have emerged during hominid evolution. Copyright © 2013 Elsevier Ltd. All rights reserved.

Equivalence of Szegedy's and coined quantum walks

Science.gov (United States)

Wong, Thomas G.

2017-09-01

Szegedy's quantum walk is a quantization of a classical random walk or Markov chain, where the walk occurs on the edges of the bipartite double cover of the original graph. To search, one can simply quantize a Markov chain with absorbing vertices. Recently, Santos proposed two alternative search algorithms that instead utilize the sign-flip oracle in Grover's algorithm rather than absorbing vertices. In this paper, we show that these two algorithms are exactly equivalent to two algorithms involving coined quantum walks, which are walks on the vertices of the original graph with an internal degree of freedom. The first scheme is equivalent to a coined quantum walk with one walk step per query of Grover's oracle, and the second is equivalent to a coined quantum walk with two walk steps per query of Grover's oracle. These equivalences lie outside the previously known equivalence of Szegedy's quantum walk with absorbing vertices and the coined quantum walk with the negative identity operator as the coin for marked vertices, whose precise relationships we also investigate.

Classification of obstacle shape for generating walking path of humanoid robot

International Nuclear Information System (INIS)

Park, Chan Soo; Kim, Do Ik

2013-01-01

To generate the walking path of a humanoid robot in an unknown environment, the shapes of obstacles around the robot should be detected accurately. However, doing so incurs a very large computational cast. Therefore this study proposes a method to classify the obstacle shape into three types: a shape small enough for the robot to go over, a shape planar enough for the robot foot to make contact with, and an uncertain shape that must be avoided by the robot. To classify the obstacle shape, first, the range and the number of the obstacles is detected. If an obstacle can make contact with the robot foot, the shape of an obstacle is accurately derived. If an obstacle has uncertain shape or small size, the shape of an obstacle is not detected to minimize the computational load. Experimental results show that the proposed algorithm efficiently classifies the shapes of obstacles around the robot in real time with low computational load

Classification of obstacle shape for generating walking path of humanoid robot

Energy Technology Data Exchange (ETDEWEB)

Park, Chan Soo; Kim, Do Ik [Korea Institute of Science and Technology, Seoul (Korea, Republic of)

2013-02-15

To generate the walking path of a humanoid robot in an unknown environment, the shapes of obstacles around the robot should be detected accurately. However, doing so incurs a very large computational cast. Therefore this study proposes a method to classify the obstacle shape into three types: a shape small enough for the robot to go over, a shape planar enough for the robot foot to make contact with, and an uncertain shape that must be avoided by the robot. To classify the obstacle shape, first, the range and the number of the obstacles is detected. If an obstacle can make contact with the robot foot, the shape of an obstacle is accurately derived. If an obstacle has uncertain shape or small size, the shape of an obstacle is not detected to minimize the computational load. Experimental results show that the proposed algorithm efficiently classifies the shapes of obstacles around the robot in real time with low computational load.

Rhythmic walking interactions with auditory feedback

DEFF Research Database (Denmark)

Jylhä, Antti; Serafin, Stefania; Erkut, Cumhur

2012-01-01

of interactions based on varying the temporal characteristics of the output, using the sound of human walking as the input. The system either provides a direct synthesis of a walking sound based on the detected amplitude envelope of the user's footstep sounds, or provides a continuous synthetic walking sound...... as a stimulus for the walking human, either with a fixed tempo or a tempo adapting to the human gait. In a pilot experiment, the different interaction modes are studied with respect to their effect on the walking tempo and the experience of the subjects. The results tentatively outline different user profiles......Walking is a natural rhythmic activity that has become of interest as a means of interacting with software systems such as computer games. Therefore, designing multimodal walking interactions calls for further examination. This exploratory study presents a system capable of different kinds...

On Longest Cycles in Essentially 4-Connected Planar Graphs

Directory of Open Access Journals (Sweden)

Fabrici Igor

2016-08-01

Full Text Available A planar 3-connected graph G is essentially 4-connected if, for any 3-separator S of G, one component of the graph obtained from G by removing S is a single vertex. Jackson and Wormald proved that an essentially 4-connected planar graph on n vertices contains a cycle C such that . For a cubic essentially 4-connected planar graph G, Grünbaum with Malkevitch, and Zhang showed that G has a cycle on at least ¾ n vertices. In the present paper the result of Jackson and Wormald is improved. Moreover, new lower bounds on the length of a longest cycle of G are presented if G is an essentially 4-connected planar graph of maximum degree 4 or G is an essentially 4-connected maximal planar graph.

Variable Stiffness Actuators: Modeling, Control, and Application to Compliant Bipedal Walking

NARCIS (Netherlands)

Visser, L.C.

2013-01-01

Robots are traditionally used in factory environments, where they perform tasks with high precision and speed. This kind of robots is designed to have a high mechanical stiffness and with powerful motors, so that the required precision and speed can be achieved. However, such designs are inherently

Variable stiffness actuators : modeling, control, and application to compliant bipedal walking

NARCIS (Netherlands)

Visser, L.C.

2013-01-01

Robots are traditionally used in factory environments, where they perform tasks with high precision and speed. This kind of robots is designed to have a high mechanical stiffness and with powerful motors, so that the required precision and speed can be achieved. However, such designs are inherently

Consumer preference in ranking walking function utilizing the walking index for spinal cord injury II.

Science.gov (United States)

Patrick, M; Ditunno, P; Ditunno, J F; Marino, R J; Scivoletto, G; Lam, T; Loffree, J; Tamburella, F; Leiby, B

2011-12-01

Blinded rank ordering. To determine consumer preference in walking function utilizing the walking Index for spinal cord injury II (WISCI II) in individuals with spinal cord injury (SCI)from the Canada, the Italy and the United States of America. In all, 42 consumers with incomplete SCI (25 cervical, 12 thoracic, 5 lumbar) from Canada (12/42), Italy (14/42) and the United States of America (16/42) ranked the 20 levels of the WISCI II scale by their individual preference for walking. Subjects were blinded to the original ranking of the WISCI II scale by clinical scientists. Photographs of each WISCI II level used in a previous pilot study were randomly shuffled and rank ordered. Percentile, conjoint/cluster and graphic analyses were performed. All three analyses illustrated consumer ranking followed a bimodal distribution. Ranking for two levels with physical assistance and two levels with a walker were bimodal with a difference of five to six ranks between consumer subgroups (quartile analysis). The larger cluster (N=20) showed preference for walking with assistance over the smaller cluster (N=12), whose preference was walking without assistance and more devices. In all, 64% (27/42) of consumers ranked WISCI II level with no devices or braces and 1 person assistance higher than multiple levels of the WISCI II requiring no assistance. These results were unexpected, as the hypothesis was that consumers would rank independent walking higher than walking with assistance. Consumer preference for walking function should be considered in addition to objective measures in designing SCI trials that use significant improvement in walking function as an outcome measure.

Quantum walks on quotient graphs

International Nuclear Information System (INIS)

Krovi, Hari; Brun, Todd A.

2007-01-01

A discrete-time quantum walk on a graph Γ is the repeated application of a unitary evolution operator to a Hilbert space corresponding to the graph. If this unitary evolution operator has an associated group of symmetries, then for certain initial states the walk will be confined to a subspace of the original Hilbert space. Symmetries of the original graph, given by its automorphism group, can be inherited by the evolution operator. We show that a quantum walk confined to the subspace corresponding to this symmetry group can be seen as a different quantum walk on a smaller quotient graph. We give an explicit construction of the quotient graph for any subgroup H of the automorphism group and illustrate it with examples. The automorphisms of the quotient graph which are inherited from the original graph are the original automorphism group modulo the subgroup H used to construct it. The quotient graph is constructed by removing the symmetries of the subgroup H from the original graph. We then analyze the behavior of hitting times on quotient graphs. Hitting time is the average time it takes a walk to reach a given final vertex from a given initial vertex. It has been shown in earlier work [Phys. Rev. A 74, 042334 (2006)] that the hitting time for certain initial states of a quantum walks can be infinite, in contrast to classical random walks. We give a condition which determines whether the quotient graph has infinite hitting times given that they exist in the original graph. We apply this condition for the examples discussed and determine which quotient graphs have infinite hitting times. All known examples of quantum walks with hitting times which are short compared to classical random walks correspond to systems with quotient graphs much smaller than the original graph; we conjecture that the existence of a small quotient graph with finite hitting times is necessary for a walk to exhibit a quantum speedup

Quantum walks with infinite hitting times

International Nuclear Information System (INIS)

Krovi, Hari; Brun, Todd A.

2006-01-01

Hitting times are the average time it takes a walk to reach a given final vertex from a given starting vertex. The hitting time for a classical random walk on a connected graph will always be finite. We show that, by contrast, quantum walks can have infinite hitting times for some initial states. We seek criteria to determine if a given walk on a graph will have infinite hitting times, and find a sufficient condition, which for discrete time quantum walks is that the degeneracy of the evolution operator be greater than the degree of the graph. The set of initial states which give an infinite hitting time form a subspace. The phenomenon of infinite hitting times is in general a consequence of the symmetry of the graph and its automorphism group. Using the irreducible representations of the automorphism group, we derive conditions such that quantum walks defined on this graph must have infinite hitting times for some initial states. In the case of the discrete walk, if this condition is satisfied the walk will have infinite hitting times for any choice of a coin operator, and we give a class of graphs with infinite hitting times for any choice of coin. Hitting times are not very well defined for continuous time quantum walks, but we show that the idea of infinite hitting-time walks naturally extends to the continuous time case as well

Optimal speeds for walking and running, and walking on a moving walkway.

Science.gov (United States)

Srinivasan, Manoj

2009-06-01

Many aspects of steady human locomotion are thought to be constrained by a tendency to minimize the expenditure of metabolic cost. This paper has three parts related to the theme of energetic optimality: (1) a brief review of energetic optimality in legged locomotion, (2) an examination of the notion of optimal locomotion speed, and (3) an analysis of walking on moving walkways, such as those found in some airports. First, I describe two possible connotations of the term "optimal locomotion speed:" that which minimizes the total metabolic cost per unit distance and that which minimizes the net cost per unit distance (total minus resting cost). Minimizing the total cost per distance gives the maximum range speed and is a much better predictor of the speeds at which people and horses prefer to walk naturally. Minimizing the net cost per distance is equivalent to minimizing the total daily energy intake given an idealized modern lifestyle that requires one to walk a given distance every day--but it is not a good predictor of animals' walking speeds. Next, I critique the notion that there is no energy-optimal speed for running, making use of some recent experiments and a review of past literature. Finally, I consider the problem of predicting the speeds at which people walk on moving walkways--such as those found in some airports. I present two substantially different theories to make predictions. The first theory, minimizing total energy per distance, predicts that for a range of low walkway speeds, the optimal absolute speed of travel will be greater--but the speed relative to the walkway smaller--than the optimal walking speed on stationary ground. At higher walkway speeds, this theory predicts that the person will stand still. The second theory is based on the assumption that the human optimally reconciles the sensory conflict between the forward speed that the eye sees and the walking speed that the legs feel and tries to equate the best estimate of the forward

High on walking

DEFF Research Database (Denmark)

Woythal, Bente Martinsen; Haahr, Anita; Dreyer, Pia

2018-01-01

a leg, and people who live with Parkinson’s disease. The analysis of the data is inspired by Paul Ricoeur’s philosophy of interpretation. Four themes were identified: (a) I feel high in two ways; (b) Walking has to be automatic; (c) Every Monday, I walk with the girls in the park; and (d) I dream...

Planar half-cell shaped precursor body

DEFF Research Database (Denmark)

2015-01-01

The invention relates to a half-cell shaped precursor body of either anode type or cathode type, the half-cell shaped precursor body being prepared to be free sintered to form a sintered or pre-sintered half-cell being adapted to be stacked in a solid oxide fuel cell stack. The obtained half......-cell has an improved planar shape, which remains planar also after a sintering process and during temperature fluctuations....

Disorder and decoherence in coined quantum walks

International Nuclear Information System (INIS)

Zhang Rong; Qin Hao; Tang Bao; Xue Peng

2013-01-01

This article aims to provide a review on quantum walks. Starting form a basic idea of discrete-time quantum walks, we will review the impact of disorder and decoherence on the properties of quantum walks. The evolution of the standard quantum walks is deterministic and disorder introduces randomness to the whole system and change interference pattern leading to the localization effect. Whereas, decoherence plays the role of transmitting quantum walks to classical random walks. (topical review - quantum information)

Piezo Voltage Controlled Planar Hall Effect Devices.

Science.gov (United States)

Zhang, Bao; Meng, Kang-Kang; Yang, Mei-Yin; Edmonds, K W; Zhang, Hao; Cai, Kai-Ming; Sheng, Yu; Zhang, Nan; Ji, Yang; Zhao, Jian-Hua; Zheng, Hou-Zhi; Wang, Kai-You

2016-06-22

The electrical control of the magnetization switching in ferromagnets is highly desired for future spintronic applications. Here we report on hybrid piezoelectric (PZT)/ferromagnetic (Co2FeAl) devices in which the planar Hall voltage in the ferromagnetic layer is tuned solely by piezo voltages. The change of planar Hall voltage is associated with magnetization switching through 90° in the plane under piezo voltages. Room temperature magnetic NOT and NOR gates are demonstrated based on the piezo voltage controlled Co2FeAl planar Hall effect devices without the external magnetic field. Our demonstration may lead to the realization of both information storage and processing using ferromagnetic materials.

Neighborhood Walking and Social Capital: The Correlation between Walking Experience and Individual Perception of Social Capital

Directory of Open Access Journals (Sweden)

Heechul Kim

2017-04-01

Full Text Available The purpose of this study was to analyze the relationship between people’s actual walking experience and their social capital levels in order to examine the possibility of restoring weakened social functions of streets and public spaces in a walking-friendly urban environment. Based on the survey data of 591 residents of Seoul, we empirically analyzed the relationship between walking experience for various purposes and individual perceptions of social capital using one-way ANOVA and OLS regression models. As a result of the analysis, we found that the levels of neighborly trust and networking of people who experienced leisure walking were higher than those of people who did not, while there was no difference in the level of social capital according to walking experiences for other purposes. This result is significant in that it shows the basis for the restoration of the social function of neighborhoods through social capital formation of people as an effect of walking. Hence, it is important to create a walking environment that supports leisure activities.

Combined application of FBG and PZT sensors for plantar pressure monitoring at low and high speed walking.

Science.gov (United States)

Suresh, R; Bhalla, S; Singh, C; Kaur, N; Hao, J; Anand, S

2015-01-01

Clinical monitoring of planar pressure is vital in several pathological conditions, such as diabetes, where excess pressure might have serious repercussions on health of the patient, even to the extent of amputation. The main objective of this paper is to experimentally evaluate the combined application of the Fibre Bragg Grating (FBG) and the lead zirconate titanate (PZT) piezoceramic sensors for plantar pressure monitoring during walk at low and high speeds. For fabrication of the pressure sensors, the FBGs are embedded within layers of carbon composite material and stacked in an arc shape. From this embedding technique, average pressure sensitivity of 1.3 pm/kPa and resolution of nearly 0.8 kPa is obtained. These sensors are found to be suitable for measuring the static and the low-speed walk generated foot pressure. Simultaneously, PZT patches of size 10 × 10 × 0.3 mm were used as sensors, utilizing the d_{33} (thickness) coupling mode. A sensitivity of 7.06 mV/kPa and a pressure resolution of 0.14 kPa is obtained from these sensors, which are found to be suitable for foot pressure measurement during high speed walking and running. Both types of sensors are attached to the underside of the sole of commercially available shoes. In the experiments, a healthy male subject walks/runs over the treadmill wearing the fabricated shoes at various speeds and the peak pressure is measured using both the sensors. Commercially available low-cost hardware is used for interrogation of the two sensor types. The test results clearly show the feasibility of the FBG and the PZT sensors for measurement of plantar pressure. The PZT sensors are more accurate for measurement of pressure during walking at high speeds. The FBG sensors, on the other hand, are found to be suitable for static and quasi-dynamic (slow walking) conditions. Typically, the measured pressure varied from 400 to 600 kPa below the forefoot and 100 to 1000 kPa below the heel as the walking speed varied from 1

Walking on four limbs: A systematic review of Nordic Walking in Parkinson disease.

Science.gov (United States)

Bombieri, Federica; Schena, Federico; Pellegrini, Barbara; Barone, Paolo; Tinazzi, Michele; Erro, Roberto

2017-05-01

Nordic Walking is a relatively high intensity activity that is becoming increasingly popular. It involves marching using poles adapted from cross-country skiing poles in order to activate upper body muscles that would not be used during normal walking. Several studies have been performed using this technique in Parkinson disease patients with contradictory results. Thus, we reviewed here all studies using this technique in Parkinson disease patients and further performed a meta-analysis of RCTs where Nordic Walking was evaluated against standard medical care or other types of physical exercise. Nine studies including four RCTs were reviewed for a total of 127 patients who were assigned to the Nordic Walking program. The majority of studies reported beneficial effects of Nordic Walking on either motor or non-motor variables, but many limitations were observed that hamper drawing definitive conclusions and it is largely unclear whether the benefits persist over time. It would appear that little baseline disability is the strongest predictor of response. The meta-analysis of the 4 RCTs yielded a statistically significant reduction of the UPDRS-3 score, but its value of less than 1 point does not appear to be clinically meaningful. Well-designed, large RCTs should be performed both against standard medical care and other types of physical exercise to definitively address whether Nordic Walking can be beneficial in PD. Copyright © 2017. Published by Elsevier Ltd.

Attractive planar panelization using dynamic relaxation principles

NARCIS (Netherlands)

Gauss, Florian; Teuffel, Patrick

2015-01-01

In the presented paper a new method is proposed to approximate a given NURBS surface with a PQ (Planar Quad) mesh. The desired mesh layout will be generated in then attracted to the target surface. The process iteratively pulls the mesh vertices towards the target surface and then planarizes the

Planar Hall effect bridge magnetic field sensors

DEFF Research Database (Denmark)

Henriksen, A.D.; Dalslet, Bjarke Thomas; Skieller, D.H.

2010-01-01

Until now, the planar Hall effect has been studied in samples with cross-shaped Hall geometry. We demonstrate theoretically and experimentally that the planar Hall effect can be observed for an exchange-biased ferromagnetic material in a Wheatstone bridge topology and that the sensor signal can...... Hall effect bridge sensors....

Column Planarity and Partially-Simultaneous Geometric Embedding

Czech Academy of Sciences Publication Activity Database

Barba, L.; Evans, W.; Hoffmann, M.; Kusters, V.; Saumell, Maria; Speckmann, B.

2017-01-01

Roč. 21, č. 6 (2017), s. 983-1002 ISSN 1526-1719 Grant - others:GA MŠk(CZ) LO1506; GA MŠk(CZ) EE2.3.30.0038 Institutional support: RVO:67985807 Keywords : column planarity * unlabeled level planarity * simultaneous geometric embedding Subject RIV: BA - General Mathematics OBOR OECD: Pure mathematics

Pulsed laser planarization of metal films for multilevel interconnects

International Nuclear Information System (INIS)

Tuckerman, D.B.; Schmitt, R.L.

1985-05-01

Multilevel interconnect schemes for integrated circuits generally require one or more planarization steps, in order to maintain an acceptably flat topography for lithography and thin-film step coverage on the higher levels. Traditional approaches have involved planarization of the interlevel insulation (dielectric) layers, either by spin-on application (e.g., polyimide), or by reflow (e.g., phosphosilicate glass). We have pursued an alternative approach, in which each metal level is melted (hence planarized) using a pulsed laser prior to patterning. Short (approx.1 μs) pulses are used to preclude undesirable metallurgical reactions between the film, adhesion or barrier layer, and dielectric layer. Laser planarization of metals is particularly well suited to multilevel systems which include ground or power planes. Results are presented for planarization of gold films on SiO 2 dielectric layers using a flashlamp-pumped dye laser. The pulse duration is approx.1 μs, which allows the heat pulse to uniformly penetrate the gold while not penetrating substantially through the underlying SiO 2 (hence not perturbing the lower levels of metal). Excellent planarization of the gold films is achieved (less than 0.1 μm surface roughness, even starting with extreme topographic variations), as well as improved conductivity. To demonstrate the process, numerous planarized two-layer structures (transmission lines under a ground plane) were fabricated and characterized. 9 refs., 2 figs

"Four legs instead of two"--perspectives on a Nordic walking-based walking programme among people with arthritis.

Science.gov (United States)

O'Donovan, Rhona; Kennedy, Norelee

2015-01-01

Nordic Walking (NW) is growing in popularity among people with arthritis. The aim of this study was to explore the perspectives of participants with arthritis on a NW-based walking programme including factors contributing to sustained participation in the programme. Three semi-structured focus groups were conducted with a total of 27 participants with various types of arthritis. The groups consisted of participants who completed a NW-based walking programme in the previous 4 years. Only participants who had sustained involvement in the walking group were included. Groups were audio-recorded, transcribed verbatim and thematic analysis was performed. Participants reported that the walking programme offered numerous benefits. Two distinct themes emerged: (1) "four legs instead of two legs" and (2) "a support group". Theme 1 incorporates the physical, psychological and educational benefits that stem from involvement in a walking group while Theme 2 incorporates the benefits of social support in group-based activity. Several benefits of a NW-based walking programme from the perspectives of individuals with arthritis who engage in group-based walking programmes were identified. The benefits may encourage sustained participation and justify the promotion of NW as an intervention for people with arthritis. Considering how to sustain exercise participation is important to ensure continued benefits from physical activity participation. A community-based Nordic walking-based walking programme for people with arthritis improved exercise knowledge and confidence to exercise. Group exercise is valuable in providing support and motivation to continue exercising.

Walking on fractals: diffusion and self-avoiding walks on percolation clusters

International Nuclear Information System (INIS)

Blavatska, V; Janke, W

2009-01-01

We consider random walks (RWs) and self-avoiding walks (SAWs) on disordered lattices directly at the percolation threshold. Applying numerical simulations, we study the scaling behavior of the models on the incipient percolation cluster in space dimensions d = 2, 3, 4. Our analysis yields estimates of universal exponents, governing the scaling laws for configurational properties of RWs and SAWs

Physical implementation of quantum walks

CERN Document Server

Manouchehri, Kia

2013-01-01

Given the extensive application of random walks in virtually every science related discipline, we may be at the threshold of yet another problem solving paradigm with the advent of quantum walks. Over the past decade, quantum walks have been explored for their non-intuitive dynamics, which may hold the key to radically new quantum algorithms. This growing interest has been paralleled by a flurry of research into how one can implement quantum walks in laboratories. This book presents numerous proposals as well as actual experiments for such a physical realization, underpinned by a wide range of

Treadmill walking with body weight support

OpenAIRE

Aaslund, Mona Kristin

2012-01-01

Background: Rehabilitating walking in patients post-stroke with safe, task-specific, intensive training of sufficient duration, can be challenging. Body weight supported treadmill training (BWSTT) has been proposed as an effective method to meet these challenges and may therefore have benefits over training overground walking. However, walking characteristics should not be aggravated during BWSTT or require a long familiarisation time compared to overground walking. Objectives: To investi...

Interlimb coordination during forward walking is largely preserved in backward walking in children with cerebral palsy

NARCIS (Netherlands)

Meyns, P.; Molenaers, G.; Desloovere, K.; Duysens, J.E.J.

2014-01-01

OBJECTIVE: Limb kinematics in backward walking (BW) are essentially those of forward walking (FW) in reverse. It has been argued that subcortical mechanisms could underlie both walking modes. METHODS: Therefore, we tested whether participants with supraspinal/cortical deficits (i.e. cerebral palsy)

More Adults Are Walking

Centers for Disease Control (CDC) Podcasts

This podcast is based on the August 2012 CDC Vital Signs report. While more adults are walking, only half get the recommended amount of physical activity. Listen to learn how communities, employers, and individuals may help increase walking.

A Passive Dynamic Walking Model Based on Knee-Bend Behaviour: Stability and Adaptability for Walking down Steep Slopes

Directory of Open Access Journals (Sweden)

Kang An

2013-10-01

Full Text Available This paper presents a passive dynamic walking model based on knee-bend behaviour, which is inspired by the way human beings walk. The length and mass parameters of human beings are used in the walking model. The knee-bend mechanism of the stance leg is designed in the phase between knee-strike and heel-strike. q* which is the angular difference of the stance leg between the two events, knee-strike and knee-bend, is adjusted in order to find a stable walking motion. The results show that the stable periodic walking motion on a slope of r <0.4 can be found by adjusting q*. Furthermore, with a particular q* in the range of 0.12walk down more steps before falling down on an arbitrary slope. The walking motion is more stable and adaptable than the conventional walking motion, especially for steep slopes.

Planar Elongation Measurements on Soft Elastomers

DEFF Research Database (Denmark)

Jensen, Mette Krog; Skov, Anne Ladegaard; Rasmussen, Henrik K.

2009-01-01

A new fixture to the filament stretch rheometer (FSR) has been developed to measure planar elongation of soft polymeric networks. To validate this new technique, soft polymeric networks of poly(propyleneoxide) (PPO) were investigated during deformation.......A new fixture to the filament stretch rheometer (FSR) has been developed to measure planar elongation of soft polymeric networks. To validate this new technique, soft polymeric networks of poly(propyleneoxide) (PPO) were investigated during deformation....

Planar metasurface retroreflector

Science.gov (United States)

Arbabi, Amir; Arbabi, Ehsan; Horie, Yu; Kamali, Seyedeh Mahsa; Faraon, Andrei

2017-07-01

Metasurfaces are two-dimensional arrangements of subwavelength scatterers that control the propagation of optical waves. Here, we show that cascaded metasurfaces, each performing a predefined mathematical transformation, provide a new optical design framework that enables new functionalities not yet demonstrated with single metasurfaces. Specifically, we demonstrate that retroreflection can be achieved with two vertically stacked planar metasurfaces, the first performing a spatial Fourier transform and its inverse, and the second imparting a spatially varying momentum to the Fourier transform of the incident light. Using this concept, we fabricate and test a planar monolithic near-infrared retroreflector composed of two layers of silicon nanoposts, which reflects light along its incident direction with a normal incidence efficiency of 78% and a large half-power field of view of 60°. The metasurface retroreflector demonstrates the potential of cascaded metasurfaces for implementing novel high-performance components, and enables low-power and low-weight passive optical transmitters.

Quantum walk on a chimera graph

Science.gov (United States)

Xu, Shu; Sun, Xiangxiang; Wu, Jizhou; Zhang, Wei-Wei; Arshed, Nigum; Sanders, Barry C.

2018-05-01

We analyse a continuous-time quantum walk on a chimera graph, which is a graph of choice for designing quantum annealers, and we discover beautiful quantum walk features such as localization that starkly distinguishes classical from quantum behaviour. Motivated by technological thrusts, we study continuous-time quantum walk on enhanced variants of the chimera graph and on diminished chimera graph with a random removal of vertices. We explain the quantum walk by constructing a generating set for a suitable subgroup of graph isomorphisms and corresponding symmetry operators that commute with the quantum walk Hamiltonian; the Hamiltonian and these symmetry operators provide a complete set of labels for the spectrum and the stationary states. Our quantum walk characterization of the chimera graph and its variants yields valuable insights into graphs used for designing quantum-annealers.

Chaotic non-planar vibrations of the thin elastica. Part I: Experimental observation of planar instability

Science.gov (United States)

Cusumano, J. P.; Moon, F. C.

1995-01-01

In this two-part paper, the results of an investigation into the non-linear dynamics of a flexible cantilevered rod (the elastica) with a thin rectangular cross-section are presented. An experimental examination of the dynamics of the elastica over a broad parameter range forms the core of Part I. In Part II, the experimental work is related to a theoretical study of the mechanics of the elastica, and the study of a two-degree-of-freedom model obtained by modal projection. The experimental system used in this investigation is a rod with clamped-free boundary conditions, forced by sinusoidally displacing the clamped end. Planar periodic motions of the driven elastica are shown to lose stability at distinct resonant wedges, and the resulting motions are shown in general to be non-planar, chaotic, bending-torsion oscillations. Non-planar motions in all resonances exhibit energy cascading and dynamic two-well phenomena, and a family of asymmetric, bending-torsion non-linear modes is discovered. Correlation dimension calculations are used to estimate the number of active degrees of freedom in the system.

Computational Study on a PTAS for Planar Dominating Set Problem

Directory of Open Access Journals (Sweden)

Qian-Ping Gu

2013-01-01

Full Text Available The dominating set problem is a core NP-hard problem in combinatorial optimization and graph theory, and has many important applications. Baker [JACM 41,1994] introduces a k-outer planar graph decomposition-based framework for designing polynomial time approximation scheme (PTAS for a class of NP-hard problems in planar graphs. It is mentioned that the framework can be applied to obtain an O(2ckn time, c is a constant, (1+1/k-approximation algorithm for the planar dominating set problem. We show that the approximation ratio achieved by the mentioned application of the framework is not bounded by any constant for the planar dominating set problem. We modify the application of the framework to give a PTAS for the planar dominating set problem. With k-outer planar graph decompositions, the modified PTAS has an approximation ratio (1 + 2/k. Using 2k-outer planar graph decompositions, the modified PTAS achieves the approximation ratio (1+1/k in O(22ckn time. We report a computational study on the modified PTAS. Our results show that the modified PTAS is practical.

Belief propagation and loop series on planar graphs

International Nuclear Information System (INIS)

Chertkov, Michael; Teodorescu, Razvan; Chernyak, Vladimir Y

2008-01-01

We discuss a generic model of Bayesian inference with binary variables defined on edges of a planar graph. The Loop Calculus approach of Chertkov and Chernyak (2006 Phys. Rev. E 73 065102(R) [cond-mat/0601487]; 2006 J. Stat. Mech. P06009 [cond-mat/0603189]) is used to evaluate the resulting series expansion for the partition function. We show that, for planar graphs, truncating the series at single-connected loops reduces, via a map reminiscent of the Fisher transformation (Fisher 1961 Phys. Rev. 124 1664), to evaluating the partition function of the dimer-matching model on an auxiliary planar graph. Thus, the truncated series can be easily re-summed, using the Pfaffian formula of Kasteleyn (1961 Physics 27 1209). This allows us to identify a big class of computationally tractable planar models reducible to a dimer model via the Belief Propagation (gauge) transformation. The Pfaffian representation can also be extended to the full Loop Series, in which case the expansion becomes a sum of Pfaffian contributions, each associated with dimer matchings on an extension to a subgraph of the original graph. Algorithmic consequences of the Pfaffian representation, as well as relations to quantum and non-planar models, are discussed

Establishing the Range of Perceptually Natural Visual Walking Speeds for Virtual Walking-In-Place Locomotion

DEFF Research Database (Denmark)

Nilsson, Niels Christian; Serafin, Stefania; Nordahl, Rolf

2014-01-01

to virtual motion. This paper describes two within-subjects studies performed with the intention of establishing the range of perceptually natural walking speeds for WIP locomotion. In both studies, subjects performed a series of virtual walks while exposed to visual gains (optic flow multipliers) ranging...... from 1.0 to 3.0. Thus, the slowest speed was equal to an estimate of the subjects normal walking speed, while the highest speed was three times greater. The perceived naturalness of the visual speed was assessed using self-reports. The first study compared four different types of movement, namely...... proportional to the degree of underestimation of the virtual speeds for both treadmill-mediated virtual walking and WIP locomotion. Combined, the results constitute a first attempt at establishing a set of guidelines specifying what virtual walking speeds WIP gestures should produce in order to facilitate...

Variability in energy cost and walking gait during race walking in competitive race walkers.

Science.gov (United States)

Brisswalter, J; Fougeron, B; Legros, P

1998-09-01

The aim of this study was to examine the variability of energy cost (Cw) and race walking gait after a 3-h walk at the competition pace in race walkers of the same performance level. Nine competitive race walkers were studied. In the same week, after a first test of VO2max determination, each subject completed two submaximal treadmill walks (6 min length, 0% grade, 12 km X h(-1) speed) before and after a 3-h overground test completed at the individual competition speed of the race walker. During the two submaximal tests, subjects were filmed between the 2nd and the 4th min, and physiological parameters were recorded between the 4th and the 6th min. Results showed two trends. On the one hand, we observed a significant and systematic increase in energy cost of walking (mean deltaCw = 8.4%), whereas no variation in the gait kinematics prescribed by the rules of race walking was recorded. On the other hand, this increase in metabolic energy demand was accompanied by variations of different magnitude and direction of stride length, of the excursion of the heel and of the maximal ankle flexion at toe-off among the race walkers. These results indicated that competitive race walkers are able to maintain their walking gait with exercise duration apart from a systematic increase in energy cost. Moreover, in this form of locomotion the effect of fatigue on the gait variability seems to be an individual function of the race walk constraints and the constraints of the performer.

Motor modules in robot-aided walking

Directory of Open Access Journals (Sweden)

Gizzi Leonardo

2012-10-01

Full Text Available Abstract Background It is hypothesized that locomotion is achieved by means of rhythm generating networks (central pattern generators and muscle activation generating networks. This modular organization can be partly identified from the analysis of the muscular activity by means of factorization algorithms. The activity of rhythm generating networks is described by activation signals whilst the muscle intervention generating network is represented by motor modules (muscle synergies. In this study, we extend the analysis of modular organization of walking to the case of robot-aided locomotion, at varying speed and body weight support level. Methods Non Negative Matrix Factorization was applied on surface electromyographic signals of 8 lower limb muscles of healthy subjects walking in gait robotic trainer at different walking velocities (1 to 3km/h and levels of body weight support (0 to 30%. Results The muscular activity of volunteers could be described by low dimensionality (4 modules, as for overground walking. Moreover, the activation signals during robot-aided walking were bursts of activation timed at specific phases of the gait cycle, underlying an impulsive controller, as also observed in overground walking. This modular organization was consistent across the investigated speeds, body weight support level, and subjects. Conclusions These results indicate that walking in a Lokomat robotic trainer is achieved by similar motor modules and activation signals as overground walking and thus supports the use of robotic training for re-establishing natural walking patterns.

Walking Behavior of Zoo Elephants: Associations between GPS-Measured Daily Walking Distances and Environmental Factors, Social Factors, and Welfare Indicators.

Directory of Open Access Journals (Sweden)

Matthew R Holdgate

Full Text Available Research with humans and other animals suggests that walking benefits physical health. Perhaps because these links have been demonstrated in other species, it has been suggested that walking is important to elephant welfare, and that zoo elephant exhibits should be designed to allow for more walking. Our study is the first to address this suggestion empirically by measuring the mean daily walking distance of elephants in North American zoos, determining the factors that are associated with variations in walking distance, and testing for associations between walking and welfare indicators. We used anklets equipped with GPS data loggers to measure outdoor daily walking distance in 56 adult female African (n = 33 and Asian (n = 23 elephants housed in 30 North American zoos. We collected 259 days of data and determined associations between distance walked and social, housing, management, and demographic factors. Elephants walked an average of 5.3 km/day with no significant difference between species. In our multivariable model, more diverse feeding regimens were correlated with increased walking, and elephants who were fed on a temporally unpredictable feeding schedule walked 1.29 km/day more than elephants fed on a predictable schedule. Distance walked was also positively correlated with an increase in the number of social groupings and negatively correlated with age. We found a small but significant negative correlation between distance walked and nighttime Space Experience, but no other associations between walking distances and exhibit size were found. Finally, distance walked was not related to health or behavioral outcomes including foot health, joint health, body condition, and the performance of stereotypic behavior, suggesting that more research is necessary to determine explicitly how differences in walking may impact elephant welfare.

Walking Behavior of Zoo Elephants: Associations between GPS-Measured Daily Walking Distances and Environmental Factors, Social Factors, and Welfare Indicators.

Science.gov (United States)

Holdgate, Matthew R; Meehan, Cheryl L; Hogan, Jennifer N; Miller, Lance J; Soltis, Joseph; Andrews, Jeff; Shepherdson, David J

2016-01-01

Research with humans and other animals suggests that walking benefits physical health. Perhaps because these links have been demonstrated in other species, it has been suggested that walking is important to elephant welfare, and that zoo elephant exhibits should be designed to allow for more walking. Our study is the first to address this suggestion empirically by measuring the mean daily walking distance of elephants in North American zoos, determining the factors that are associated with variations in walking distance, and testing for associations between walking and welfare indicators. We used anklets equipped with GPS data loggers to measure outdoor daily walking distance in 56 adult female African (n = 33) and Asian (n = 23) elephants housed in 30 North American zoos. We collected 259 days of data and determined associations between distance walked and social, housing, management, and demographic factors. Elephants walked an average of 5.3 km/day with no significant difference between species. In our multivariable model, more diverse feeding regimens were correlated with increased walking, and elephants who were fed on a temporally unpredictable feeding schedule walked 1.29 km/day more than elephants fed on a predictable schedule. Distance walked was also positively correlated with an increase in the number of social groupings and negatively correlated with age. We found a small but significant negative correlation between distance walked and nighttime Space Experience, but no other associations between walking distances and exhibit size were found. Finally, distance walked was not related to health or behavioral outcomes including foot health, joint health, body condition, and the performance of stereotypic behavior, suggesting that more research is necessary to determine explicitly how differences in walking may impact elephant welfare.

Characteristics of the gait adaptation process due to split-belt treadmill walking under a wide range of right-left speed ratios in humans.

Science.gov (United States)

Yokoyama, Hikaru; Sato, Koji; Ogawa, Tetsuya; Yamamoto, Shin-Ichiro; Nakazawa, Kimitaka; Kawashima, Noritaka

2018-01-01

The adaptability of human bipedal locomotion has been studied using split-belt treadmill walking. Most of previous studies utilized experimental protocol under remarkably different split ratios (e.g. 1:2, 1:3, or 1:4). While, there is limited research with regard to adaptive process under the small speed ratios. It is important to know the nature of adaptive process under ratio smaller than 1:2, because systematic evaluation of the gait adaptation under small to moderate split ratios would enable us to examine relative contribution of two forms of adaptation (reactive feedback and predictive feedforward control) on gait adaptation. We therefore examined a gait behavior due to on split-belt treadmill adaptation under five belt speed difference conditions (from 1:1.2 to 1:2). Gait parameters related to reactive control (stance time) showed quick adjustments immediately after imposing the split-belt walking in all five speed ratios. Meanwhile, parameters related to predictive control (step length and anterior force) showed a clear pattern of adaptation and subsequent aftereffects except for the 1:1.2 adaptation. Additionally, the 1:1.2 ratio was distinguished from other ratios by cluster analysis based on the relationship between the size of adaptation and the aftereffect. Our findings indicate that the reactive feedback control was involved in all the speed ratios tested and that the extent of reaction was proportionally dependent on the speed ratio of the split-belt. On the contrary, predictive feedforward control was necessary when the ratio of the split-belt was greater. These results enable us to consider how a given split-belt training condition would affect the relative contribution of the two strategies on gait adaptation, which must be considered when developing rehabilitation interventions for stroke patients.

Quantum walks, quantum gates, and quantum computers

International Nuclear Information System (INIS)

Hines, Andrew P.; Stamp, P. C. E.

2007-01-01

The physics of quantum walks on graphs is formulated in Hamiltonian language, both for simple quantum walks and for composite walks, where extra discrete degrees of freedom live at each node of the graph. It is shown how to map between quantum walk Hamiltonians and Hamiltonians for qubit systems and quantum circuits; this is done for both single-excitation and multiexcitation encodings. Specific examples of spin chains, as well as static and dynamic systems of qubits, are mapped to quantum walks, and walks on hyperlattices and hypercubes are mapped to various gate systems. We also show how to map a quantum circuit performing the quantum Fourier transform, the key element of Shor's algorithm, to a quantum walk system doing the same. The results herein are an essential preliminary to a Hamiltonian formulation of quantum walks in which coupling to a dynamic quantum environment is included

Planar quantum squeezing and atom interferometry

Energy Technology Data Exchange (ETDEWEB)

He, Q. Y.; Drummond, P. D.; Reid, M. D. [ARC Centre of Excellence for Quantum-Atom Optics, Centre for Atom Optics and Ultrafast Spectroscopy, Swinburne University of Technology, Melbourne 3122 (Australia); Peng Shiguo [Department of Physics, Tsinghua University, Beijing 100084 (China)

2011-08-15

We obtain a lower bound on the sum of two orthogonal spin component variances in a plane. This gives a planar uncertainty relation which holds even when the Heisenberg relation is not useful. We investigate the asymptotic, large-J limit and derive the properties of the planar quantum squeezed states that saturate this uncertainty relation. These states extend the concept of spin squeezing to any two conjugate spin directions. We show that planar quantum squeezing can be achieved experimentally as the ground state of a Bose-Einstein condensate in two coupled potential wells with a critical attractive interaction. These states reduce interferometric phase noise at all phase angles simultaneously. This is useful for one-shot interferometric phase measurements where the measured phase is completely unknown. Our results can also be used to derive entanglement criteria for multiple spins J at separated sites, with applications in quantum information.

Searching for planar signatures in WMAP

International Nuclear Information System (INIS)

Abramo, L. Raul; Bernui, Armando; Pereira, Thiago S.

2009-01-01

We search for planar deviations of statistical isotropy in the Wilkinson Microwave Anisotropy Probe (WMAP) data by applying a recently introduced angular-planar statistics both to full-sky and to masked temperature maps, including in our analysis the effect of the residual foreground contamination and systematics in the foreground removing process as sources of error. We confirm earlier findings that full-sky maps exhibit anomalies at the planar (l) and angular (l) scales (l,l) = (2,5),(4,7), and (6,8), which seem to be due to unremoved foregrounds since this features are present in the full-sky map but not in the masked maps. On the other hand, our test detects slightly anomalous results at the scales (l,l) = (10,8) and (2,9) in the masked maps but not in the full-sky one, indicating that the foreground cleaning procedure (used to generate the full-sky map) could not only be creating false anomalies but also hiding existing ones. We also find a significant trace of an anomaly in the full-sky map at the scale (l,l) = (10,5), which is still present when we consider galactic cuts of 18.3% and 28.4%. As regards the quadrupole (l = 2), we find a coherent over-modulation over the whole celestial sphere, for all full-sky and cut-sky maps. Overall, our results seem to indicate that current CMB maps derived from WMAP data do not show significant signs of anisotropies, as measured by our angular-planar estimator. However, we have detected a curious coherence of planar modulations at angular scales of the order of the galaxy's plane, which may be an indication of residual contaminations in the full- and cut-sky maps

The Act of Walking

DEFF Research Database (Denmark)

Vestergaard, Maria Quvang Harck; Olesen, Mette; Helmer, Pernille Falborg

2014-01-01

’ of mobility (Jensen 2013:111) such as the urban environment, and the infrastructures. Walking has indeed also a ‘software dimension’ as an embodied performance that trigger the human senses (Jensen 2013) and which is closely related to the habitus and identity of the individual (Halprin 1963). The individual......The ability to walk in an area is, in the existing literature, often explained by the physical structures like building density and the presence of facilities in an area, and it is often termed ‘walkability’ (Patton 2007; Forsyth and Southworth 2008; Krizek, Handy and Forsyth 2009; Johnson 2003......; Frumkin 2002). The term ‘walkability’ focuses on how the physical structures in the urban environment can promote walking, and how this potentially eases issues of public health and liveability in our cities (Krizek et al. 2009). However, the study of walking should not be reduced merely to the ‘hardware...

Substrate and coating defect planarization strategies for high-laser-fluence multilayer mirrors

International Nuclear Information System (INIS)

Stolz, Christopher J.; Wolfe, Justin E.; Mirkarimi, Paul B.; Folta, James A.; Adams, John J.; Menor, Marlon G.; Teslich, Nick E.; Soufli, Regina; Menoni, Carmen S.; Patel, Dinesh

2015-01-01

Planarizing or smoothing over nodular defects in multilayer mirrors can be accomplished by a discrete deposit-and-etch process that exploits the angle-dependent etching rate of optical materials. Typically, nodular defects limit the fluence on mirrors irradiated at 1064 nm with 10 ns pulse lengths due to geometrically- and interference-induced light intensification. Planarized hafina/silica multilayer mirrors have demonstrated > 125 J/cm 2 laser resistance for single-shot testing and 50 J/cm 2 for multi-shot testing for nodular defects originating on the substrate surface. Two planarization methods were explored: thick planarization layers on the substrate surface and planarized silica layers throughout the multilayer in which only the silica layers that are below one half of the incoming electric field value are etched. This paper also describes the impact of planarized defects that are buried within the multilayer structure compared to planarized substrate particulate defects. - Highlights: • Defect planarization significantly improves multilayer mirror laser resistance • Substrate and coating defects have both been effectively planarized • Single and multishot laser resistance improvement was demonstrated

Effects of Intermittent Versus Continuous Walking on Distance Walked and Fatigue in Persons With Multiple Sclerosis: A Randomized Crossover Trial.

Science.gov (United States)

Karpatkin, Herb; Cohen, Evan T; Rzetelny, Adam; Parrott, J Scott; Breismeister, Breanne; Hartman, Ryan; Luu, Ronald; Napolione, Danielle

2015-07-01

Fatigue is a common, disabling symptom experienced by persons with multiple sclerosis (MS). Evidence shows that intermittent exercise is associated in improved performance and negligible fatigue. The purpose of this study was to examine whether subjects with MS walk greater distances with less fatigue under intermittent (INT) or continuous (CONT) walking condition. Twenty-seven subjects with MS (median Extended Disability Severity Scale 3.5, interquartile range 1.6) walked in the CONT (ie, 6 uninterrupted minutes) and INT (ie, three 2-minute walking bouts) conditions in a randomized crossover. Distance was measured for the entire 6-minute walking period and each 2-minute increment. Fatigue was measured as the difference in a visual analog scale of fatigue (ΔVAS-F) immediately preceding and following each trial. Participants walked greater distances in the INT condition compared to the CONT condition (P = 0.005). There was a significant interaction of walking condition and time (P walked in the INT condition changed across time. ΔVAS-F was significantly lower in the INT condition than in the CONT condition (P = 0.036). Subjects with MS walked farther, and with less fatigue, when walking intermittently rather than continuously. Persons with MS may be able to tolerate a greater dose of walking training if the walking bouts are intermittent. Further study to determine the benefits of a walking exercise program using intermittent walking is recommended.Video Abstract available for additional insights from the authors (Supplemental Digital Content 1, http://links.lww.com/JNPT/A103).

Walking during body-weight-supported treadmill training and acute responses to varying walking speed and body-weight support in ambulatory patients post-stroke.

Science.gov (United States)

Aaslund, Mona Kristin; Helbostad, Jorunn Lægdheim; Moe-Nilssen, Rolf

2013-05-01

Rehabilitating walking in ambulatory patients post-stroke, with training that is safe, task-specific, intensive, and of sufficient duration, can be challenging. Some challenges can be met by using body-weight-supported treadmill training (BWSTT). However, it is not known to what degree walking characteristics are similar during BWSTT and overground walking. In addition, important questions regarding the training protocol of BWSTT remain unanswered, such as how proportion of body-weight support (BWS) and walking speed affect walking characteristics during training. The objective was therefore to investigate if and how kinematic walking characteristics are different between overground walking and treadmill walking with BWS in ambulatory patients post-stroke, and the acute response of altering walking speed and percent BWS during treadmill walking with BWS. A cross-sectional repeated-measures design was used. Ambulating patients post-stroke walked in slow, preferred, and fast walking speed overground and at comparable speeds on the treadmill with 20% and 40% BWS. Kinematic walking characteristics were obtained using a kinematic sensor attached over the lower back. Forty-four patients completed the protocol. Kinematic walking characteristics were similar during treadmill walking with BWS, compared to walking overground. During treadmill walking, choice of walking speed had greater impact on kinematic walking characteristics than proportion of BWS. Faster walking speeds tended to affect the kinematic walking characteristics positively. This implies that in order to train safely and with sufficient intensity and duration, therapists may choose to include BWSTT in walking rehabilitation also for ambulatory patients post-stroke without aggravating gait pattern during training.

Quantum walks and search algorithms

CERN Document Server

Portugal, Renato

2013-01-01

This book addresses an interesting area of quantum computation called quantum walks, which play an important role in building quantum algorithms, in particular search algorithms. Quantum walks are the quantum analogue of classical random walks. It is known that quantum computers have great power for searching unsorted databases. This power extends to many kinds of searches, particularly to the problem of finding a specific location in a spatial layout, which can be modeled by a graph. The goal is to find a specific node knowing that the particle uses the edges to jump from one node to the next. This book is self-contained with main topics that include: Grover's algorithm, describing its geometrical interpretation and evolution by means of the spectral decomposition of the evolution operater Analytical solutions of quantum walks on important graphs like line, cycles, two-dimensional lattices, and hypercubes using Fourier transforms Quantum walks on generic graphs, describing methods to calculate the limiting d...

Generalized atmospheric sampling of self-avoiding walks

International Nuclear Information System (INIS)

Van Rensburg, E J Janse; Rechnitzer, A

2009-01-01

In this paper, we introduce a new Monte Carlo method for sampling lattice self-avoiding walks. The method, which we call 'GAS' (generalized atmospheric sampling), samples walks along weighted sequences by implementing elementary moves generated by the positive, negative and neutral atmospheric statistics of the walks. A realized sequence is weighted such that the average weight of states of length n is proportional to the number of self-avoiding walks from the origin c n . In addition, the method also self-tunes to sample from uniform distributions over walks of lengths in an interval [0, n max ]. We show how to implement GAS using both generalized and endpoint atmospheres of walks and analyse our data to obtain estimates of the growth constant and entropic exponent of self-avoiding walks in the square and cubic lattices.

Nordic walking and chronic low back pain

DEFF Research Database (Denmark)

Morsø, Lars; Hartvigsen, Jan; Puggaard, Lis

2006-01-01

activity provide similar benefits. Nordic Walking is a popular and fast growing type of exercise in Northern Europe. Initial studies have demonstrated that persons performing Nordic Walking are able to exercise longer and harder compared to normal walking thereby increasing their cardiovascular metabolism....... Until now no studies have been performed to investigate whether Nordic Walking has beneficial effects in relation to low back pain. The primary aim of this study is to investigate whether supervised Nordic Walking can reduce pain and improve function in a population of chronic low back pain patients...... when compared to unsupervised Nordic Walking and advice to stay active. In addition we investigate whether there is an increase in the cardiovascular metabolism in persons performing supervised Nordic Walking compared to persons who are advised to stay active. Finally, we investigate whether...

Prevalence of Walking-Related Motor Fatigue in Persons With Multiple Sclerosis: Decline in Walking Distance Induced by the 6-Minute Walk Test.

Science.gov (United States)

Leone, Carmela; Severijns, Deborah; Doležalová, Vendula; Baert, Ilse; Dalgas, Ulrik; Romberg, Anders; Bethoux, Francois; Gebara, Benoit; Santoyo Medina, Carmen; Maamâgi, Heigo; Rasova, Kamila; Maertens de Noordhout, Benoît; Knuts, Kathy; Skjerbaek, Anders; Jensen, Ellen; Wagner, Joanne M; Feys, Peter

2016-05-01

To investigate the individual occurrence of walking-related motor fatigue in persons with multiple sclerosis (PwMS), according to disability level and disease phenotype.Study design This was a cross-sectional, multinational study.Participants They were 208 PwMS from 11 centers with Expanded Disability Status Scale (EDSS) scores up to 6.5. The percentage change in distance walked (distance walked index, DWI) was calculated between minute 6 and 1 (DWI(6-1)) of the 6-Minute Walk Test (6MWT). Its magnitude was used to classify participants into 4 subgroups: (1) DWI(6-1)[≥5%], (2) DWI(6-1)[5%; -5%], (3) DWI(6-1)[-5%; > -15%], and (4) DWI(6-1)[≤-15%]. The latter group was labeled as having walking-related motor fatigue. PwMS were stratified into 5 subgroups based on the EDSS (0-2.5, 3-4, 4.5-5.5, 6, 6.5) and 3 subgroups based on MS phenotype (relapsing remitting [RR], primary progressive [PP], and secondary progressive [SP]). The DWI6-1was ≥5% in 16 PwMS (7.7%), between 5% and -5% in 70 PwMS (33.6%), between -5% and -15% in 58 PwMS (24%), and ≤-15% in 64 PwMS (30.8%). The prevalence of walking-related motor fatigue (DWI(6-1)[≤-15%]) was significantly higher among the progressive phenotype (PP = 50% and SP = 39%; RR = 15.6%) and PwMS with higher disability level (EDSS 4.5-5.5 = 48.3%, 6 = 46.3% and 6.5 = 51.5%, compared with EDSS 0-2.5 = 7.8% and 3-4 = 16.7%;P< .05). Stepwise multiple regression analysis indicated that EDSS, but not MS phenotype, explained a significant part of the variance in DWI(6-1)(R(2)= 0.086;P< .001). More than one-third of PwMS showed walking-related motor fatigue during the 6MWT, with its prevalence greatest in more disabled persons (up to 51%) and in those with progressive MS phenotype (up to 50%). Identification of walking-related motor fatigue may lead to better-tailored interventions. © The Author(s) 2015.

Beyond level planarity

NARCIS (Netherlands)

Angelini, P.; Da Lozzo, G.; Di Battista, G.; Frati, F.; Patrignani, M.; Rutter, I.; Hu, Y.; Nöllenburg, M.

2016-01-01

In this paper we settle the computational complexity of two open problems related to the extension of the notion of level planarity to surfaces different from the plane. Namely, we show that the problems of testing the existence of a level embedding of a level graph on the surface of the rolling

Analysis of absorbing times of quantum walks

International Nuclear Information System (INIS)

Yamasaki, Tomohiro; Kobayashi, Hirotada; Imai, Hiroshi

2003-01-01

Quantum walks are expected to provide useful algorithmic tools for quantum computation. This paper introduces absorbing probability and time of quantum walks and gives both numerical simulation results and theoretical analyses on Hadamard walks on the line and symmetric walks on the hypercube from the viewpoint of absorbing probability and time

Random walk through fractal environments

International Nuclear Information System (INIS)

Isliker, H.; Vlahos, L.

2003-01-01

We analyze random walk through fractal environments, embedded in three-dimensional, permeable space. Particles travel freely and are scattered off into random directions when they hit the fractal. The statistical distribution of the flight increments (i.e., of the displacements between two consecutive hittings) is analytically derived from a common, practical definition of fractal dimension, and it turns out to approximate quite well a power-law in the case where the dimension D F of the fractal is less than 2, there is though, always a finite rate of unaffected escape. Random walks through fractal sets with D F ≤2 can thus be considered as defective Levy walks. The distribution of jump increments for D F >2 is decaying exponentially. The diffusive behavior of the random walk is analyzed in the frame of continuous time random walk, which we generalize to include the case of defective distributions of walk increments. It is shown that the particles undergo anomalous, enhanced diffusion for D F F >2 is normal for large times, enhanced though for small and intermediate times. In particular, it follows that fractals generated by a particular class of self-organized criticality models give rise to enhanced diffusion. The analytical results are illustrated by Monte Carlo simulations

Nine walks (photo series / web page)

OpenAIRE

Robinson, Andrew

2015-01-01

'Nine Walks' is a body of work resulting from my engagement with the Media Arts Research Walking Group at Sheffield Hallam University who are exploring the role of walking in as a social, developmental and production space for the creative arts. / My participation in the walking group is an extension of my investigation of the journey as a creative, conceptual and contemplative space for photography which in turn reflects an interest in the role of the accident, instinct and intuition and the...

Demand response to improved walking infrastructure: A study into the economics of walking and health behaviour change.

Science.gov (United States)

Longo, Alberto; Hutchinson, W George; Hunter, Ruth F; Tully, Mark A; Kee, Frank

2015-10-01

Walking is the most common form of moderate-intensity physical activity among adults, is widely accessible and especially appealing to obese people. Most often policy makers are interested in valuing the effect on walking of changes in some characteristics of a neighbourhood, the demand response for walking, of infrastructure changes. A positive demand response to improvements in the walking environment could help meet the public health target of 150 min of at least moderate-intensity physical activity per week. We model walking in an individual's local neighbourhood as a 'weak complement' to the characteristics of the neighbourhood itself. Walking is affected by neighbourhood characteristics, substitutes, and individual's characteristics, including their opportunity cost of time. Using compensating variation, we assess the economic benefits of walking and how walking behaviour is affected by improvements to the neighbourhood. Using a sample of 1209 respondents surveyed over a 12 month period (Feb 2010-Jan 2011) in East Belfast, United Kingdom, we find that a policy that increased walkability and people's perception of access to shops and facilities would lead to an increase in walking of about 36 min/person/week, valued at £13.65/person/week. When focussing on inactive residents, a policy that improved the walkability of the area would lead to guidelines for physical activity being reached by only 12.8% of the population who are currently inactive. Additional interventions would therefore be needed to encourage inactive residents to achieve the recommended levels of physical activity, as it appears that interventions that improve the walkability of an area are particularly effective in increasing walking among already active citizens, and, among the inactive ones, the best response is found among healthier, younger and wealthier citizens. Copyright © 2015 Elsevier Ltd. All rights reserved.

Energy cost of walking: solving the paradox of steady state in the presence of variable walking speed.

Science.gov (United States)

Plasschaert, Frank; Jones, Kim; Forward, Malcolm

2009-02-01

Measurement of the energy cost of walking in children with cerebral palsy is used for baseline and outcome assessment. However, such testing relies on the establishment of steady state that is deemed present when oxygen consumption is stable. This is often assumed when walking speed is constant but in practice, speed can and does vary naturally. Whilst constant speed is achievable on a treadmill, this is often impractical clinically, thus rendering an energy cost test to an element of subjectivity. This paper attempts to address this issue by presenting a new method for calculating energy cost of walking that automatically applies a mathematically defined threshold for steady state within a (non-treadmill) walking trial and then strips out all of the non-steady state events within that trial. The method is compared with a generic approach that does not remove non-steady state data but rather uses an average value over a complete walking trial as is often used in the clinical environment. Both methods were applied to the calculation of several energy cost of walking parameters of self-selected walking speed in a cohort of unimpaired subjects and children with cerebral palsy. The results revealed that both methods were strongly correlated for each parameter but showed systematic significant differences. It is suggested that these differences are introduced by the rejection of non-steady state data that would otherwise have incorrectly been incorporated into the calculation of the energy cost of walking indices during self-selected walking with its inherent speed variation.

Evaluation of cardiac function using multi-shot echo planar imaging

Energy Technology Data Exchange (ETDEWEB)

Nakanishi, Tadashi; Tanitame, Nobuko; Hata, Ryoichiro; Hirai, Nobuhiko; Ikeda, Midori; Ono, Chiaki; Fukuoka, Haruhito; Ito, Katsuhide [Hiroshima Univ. (Japan). School of Medicine

1998-01-01

In this study, we performed multi-shot echo planar imaging (8 shot, TR/TE/FL=55 ms/18 ms/60 degrees) and k-space segmented fast gradient echo sequence (8 views per segment, TR/TE/FL=9.9 ms/1.8 ms/30 degrees) to assess cardiac function in healthy volunteers. Transaxial sections of the entire heart were obtained with both sequences in ECG triggered, breath hold, and with a 256 x 128 matrix. Resulting temporal resolution was 55 ms for echo planar imaging, and 71 ms for k-space segmented fast gradient echo sequence, respectively. Ventricular volume and ejection fraction of both ventricles and left ventricular mass obtained with multi-shot echo planar imaging were assessed in comparison with k-space segmented fast gradient echo sequence. Measurements of left ventricular volume, ejection fraction and mass obtained with multi-shot echo planar imaging demonstrated close correlation with those obtained with k-space segmented fast gradient echo sequence. Right ventricular volumes obtained with echo planar imaging were significantly higher than those obtained with k-space segmented fast gradient echo sequence. This tendency is considered to be due to differing contrast between right ventricular myocardium and fat tissue observed with echo planar imaging relative to that observed with fast gradient echo sequence, because fat suppression is always performed in echo planar images. Multi-shot echo planar imaging can be a reliable tool for measurement of cardiac functional parameters, although wall motion analysis of the left ventricle requires higher temporal resolution and a short axial section. (K.H.)

Powered Lower Limb Prostheses

OpenAIRE

Grimmer, Martin

2015-01-01

Human upright locomotion emerged about 6 million years ago. It is achieved by a complex interaction of the biological infrastructure and the neural control. Bones, muscles, tendons, central nervous commands and reflex mechanisms interact to provide robust and efficient bipedal movement patterns like walking or running. Next to these locomotion tasks humans can also perform complex movements like climbing, dancing or jumping. Diseases or traumatic events may cause the loss of parts of the biol...

Development of a Self-Stabilizing Robotic Chassis for Industry

Directory of Open Access Journals (Sweden)

Ryadchikov Igor

2017-01-01

Full Text Available Presented the description of the bipedal robotic chassis with the unique kinematic scheme which has the possibility to locomote in complicated multi-level environment. AnyWalker is equipped with the system of compensation of external impacts with motor-wheels which can self-stabilize the robotic system in 3 dimensions. Presented chassis suggests to have open software and hardware architecture in order to become the universal walking platform for service and industry robots.

To Walk or Not to Walk?: The Hierarchy of Walking Needs

Science.gov (United States)

Alfonzo, Mariela

2005-01-01

The multitude of quality of life problems associated with declining walking rates has impelled researchers from various disciplines to identify factors related to this behavior change. Currently, this body of research is in need of a transdisciplinary, multilevel theoretical model that can help explain how individual, group, regional, and…

Generators for finite depth subfactor planar algebras

Indian Academy of Sciences (India)

The main result of Kodiyalam and Tupurani [3] shows that a subfactor planar algebra of finite depth is singly generated with a finite presentation. If P is a subfactor planar algebra of depth k, it is shown there that a single 2k-box generates P. It is natural to ask what the smallest s is such that a single s-box generates P. While ...

Walks on SPR neighborhoods.

Science.gov (United States)

Caceres, Alan Joseph J; Castillo, Juan; Lee, Jinnie; St John, Katherine

2013-01-01

A nearest-neighbor-interchange (NNI)-walk is a sequence of unrooted phylogenetic trees, T1, T2, . . . , T(k) where each consecutive pair of trees differs by a single NNI move. We give tight bounds on the length of the shortest NNI-walks that visit all trees in a subtree-prune-and-regraft (SPR) neighborhood of a given tree. For any unrooted, binary tree, T, on n leaves, the shortest walk takes Θ(n²) additional steps more than the number of trees in the SPR neighborhood. This answers Bryant’s Second Combinatorial Challenge from the Phylogenetics Challenges List, the Isaac Newton Institute, 2011, and the Penny Ante Problem List, 2009.

James Watt's Leicester Walk

OpenAIRE

Bell, Kathleen

2016-01-01

a poem in which James Watt, inventor of the separate condenser, walks through contemporary Leicester (his route is from Bonners Lane and alongside the canal, taking in the Statue of Liberty on its traffic island near Sage Road). It is derived from the exercise of taking a character for a walk,

Effect of Body Composition on Walking Economy

Directory of Open Access Journals (Sweden)

Maciejczyk Marcin

2016-12-01

Full Text Available Purpose. The aim of the study was to evaluate walking economy and physiological responses at two walking speeds in males with similar absolute body mass but different body composition. Methods. The study involved 22 young men with similar absolute body mass, BMI, aerobic performance, calf and thigh circumference. The participants differed in body composition: body fat (HBF group and lean body mass (HLBM group. In the graded test, maximal oxygen uptake (VO2max and maximal heart rate were measured. Walking economy was evaluated during two walks performed at two different speeds (4.8 and 6.0 km ‧ h-1. Results. The VO2max was similar in both groups, as were the physiological responses during slow walking. The absolute oxygen uptake or oxygen uptake relative to body mass did not significantly differentiate the studied groups. The only indicator significantly differentiating the two groups was oxygen uptake relative to LBM. Conclusions. Body composition does not significantly affect walking economy at low speed, while during brisk walking, the economy is better in the HLBM vs. HBF group, provided that walking economy is presented as oxygen uptake relative to LBM. For this reason, we recommend this manner of oxygen uptake normalization in the evaluation of walking economy.

Relationship between quantum walks and relativistic quantum mechanics

International Nuclear Information System (INIS)

Chandrashekar, C. M.; Banerjee, Subhashish; Srikanth, R.

2010-01-01

Quantum walk models have been used as an algorithmic tool for quantum computation and to describe various physical processes. This article revisits the relationship between relativistic quantum mechanics and the quantum walks. We show the similarities of the mathematical structure of the decoupled and coupled forms of the discrete-time quantum walk to that of the Klein-Gordon and Dirac equations, respectively. In the latter case, the coin emerges as an analog of the spinor degree of freedom. Discrete-time quantum walk as a coupled form of the continuous-time quantum walk is also shown by transforming the decoupled form of the discrete-time quantum walk to the Schroedinger form. By showing the coin to be a means to make the walk reversible and that the Dirac-like structure is a consequence of the coin use, our work suggests that the relativistic causal structure is a consequence of conservation of information. However, decoherence (modeled by projective measurements on position space) generates entropy that increases with time, making the walk irreversible and thereby producing an arrow of time. The Lieb-Robinson bound is used to highlight the causal structure of the quantum walk to put in perspective the relativistic structure of the quantum walk, the maximum speed of walk propagation, and earlier findings related to the finite spread of the walk probability distribution. We also present a two-dimensional quantum walk model on a two-state system to which the study can be extended.

Quantum Walks on the Line with Phase Parameters

Science.gov (United States)

Villagra, Marcos; Nakanishi, Masaki; Yamashita, Shigeru; Nakashima, Yasuhiko

In this paper, a study on discrete-time coined quantum walks on the line is presented. Clear mathematical foundations are still lacking for this quantum walk model. As a step toward this objective, the following question is being addressed: Given a graph, what is the probability that a quantum walk arrives at a given vertex after some number of steps? This is a very natural question, and for random walks it can be answered by several different combinatorial arguments. For quantum walks this is a highly non-trivial task. Furthermore, this was only achieved before for one specific coin operator (Hadamard operator) for walks on the line. Even considering only walks on lines, generalizing these computations to a general SU(2) coin operator is a complex task. The main contribution is a closed-form formula for the amplitudes of the state of the walk (which includes the question above) for a general symmetric SU(2) operator for walks on the line. To this end, a coin operator with parameters that alters the phase of the state of the walk is defined. Then, closed-form solutions are computed by means of Fourier analysis and asymptotic approximation methods. We also present some basic properties of the walk which can be deducted using weak convergence theorems for quantum walks. In particular, the support of the induced probability distribution of the walk is calculated. Then, it is shown how changing the parameters in the coin operator affects the resulting probability distribution.

Cognitive Resource Demands of Redirected Walking.

Science.gov (United States)

Bruder, Gerd; Lubas, Paul; Steinicke, Frank

2015-04-01

Redirected walking allows users to walk through a large-scale immersive virtual environment (IVE) while physically remaining in a reasonably small workspace. Therefore, manipulations are applied to virtual camera motions so that the user's self-motion in the virtual world differs from movements in the real world. Previous work found that the human perceptual system tolerates a certain amount of inconsistency between proprioceptive, vestibular and visual sensation in IVEs, and even compensates for slight discrepancies with recalibrated motor commands. Experiments showed that users are not able to detect an inconsistency if their physical path is bent with a radius of at least 22 meters during virtual straightforward movements. If redirected walking is applied in a smaller workspace, manipulations become noticeable, but users are still able to move through a potentially infinitely large virtual world by walking. For this semi-natural form of locomotion, the question arises if such manipulations impose cognitive demands on the user, which may compete with other tasks in IVEs for finite cognitive resources. In this article we present an experiment in which we analyze the mutual influence between redirected walking and verbal as well as spatial working memory tasks using a dual-tasking method. The results show an influence of redirected walking on verbal as well as spatial working memory tasks, and we also found an effect of cognitive tasks on walking behavior. We discuss the implications and provide guidelines for using redirected walking in virtual reality laboratories.

Evanescent field refractometry in planar optical fiber.

Science.gov (United States)

Holmes, Christopher; Jantzen, Alexander; Gray, Alan C; Gow, Paul C; Carpenter, Lewis G; Bannerman, Rex H S; Gates, James C; Smith, Peter G R

2018-02-15

This Letter demonstrates a refractometer in integrated optical fiber, a new optical platform that planarizes fiber using flame hydrolysis deposition (FHD). The unique advantage of the technology is survivability in harsh environments. The platform is mechanically robust, and can survive elevated temperatures approaching 1000°C and exposure to common solvents, including acetone, gasoline, and methanol. For the demonstrated refractometer, fabrication was achieved through wet etching an SMF-28 fiber to a diameter of 8 μm before FHD planarization. An external refractive index was monitored using fiber Bragg gratings (FBGs), written into the core of the planarized fiber. A direct comparison to alternative FBG refractometers is made, for which the developed platform is shown to have comparable sensitivity, with the added advantage of survivability in harsh environments.

Positive messaging promotes walking in older adults.

Science.gov (United States)

Notthoff, Nanna; Carstensen, Laura L

2014-06-01

Walking is among the most cost-effective and accessible means of exercise. Mounting evidence suggests that walking may help to maintain physical and cognitive independence in old age by preventing a variety of health problems. However, older Americans fall far short of meeting the daily recommendations for walking. In 2 studies, we examined whether considering older adults' preferential attention to positive information may effectively enhance interventions aimed at promoting walking. In Study 1, we compared the effectiveness of positive, negative, and neutral messages to encourage walking (as measured with pedometers). Older adults who were informed about the benefits of walking walked more than those who were informed about the negative consequences of failing to walk, whereas younger adults were unaffected by framing valence. In Study 2, we examined within-person change in walking in older adults in response to positively- or negatively-framed messages over a 28-day period. Once again, positively-framed messages more effectively promoted walking than negatively-framed messages, and the effect was sustained across the intervention period. Together, these studies suggest that consideration of age-related changes in preferences for positive and negative information may inform the design of effective interventions to promote healthy lifestyles. Future research is needed to examine the mechanisms underlying the greater effectiveness of positively- as opposed to negatively-framed messages and the generalizability of findings to other intervention targets and other subpopulations of older adults. PsycINFO Database Record (c) 2014 APA, all rights reserved.

Nonlinear Saturation Amplitude in Classical Planar Richtmyer–Meshkov Instability

International Nuclear Information System (INIS)

Liu Wan-Hai; Jiang Hong-Bin; Ma Wen-Fang; Wang Xiang

2016-01-01

The classical planar Richtmyer–Meshkov instability (RMI) at a fluid interface supported by a constant pressure is investigated by a formal perturbation expansion up to the third order, and then according to definition of nonlinear saturation amplitude (NSA) in Rayleigh–Taylor instability (RTI), the NSA in planar RMI is obtained explicitly. It is found that the NSA in planar RMI is affected by the initial perturbation wavelength and the initial amplitude of the interface, while the effect of the initial amplitude of the interface on the NSA is less than that of the initial perturbation wavelength. Without marginal influence of the initial amplitude, the NSA increases linearly with wavelength. The NSA normalized by the wavelength in planar RMI is about 0.11, larger than that corresponding to RTI. (paper)

The peeling process of infinite Boltzmann planar maps

DEFF Research Database (Denmark)

Budd, Timothy George

2016-01-01

criterion has a very simple interpretation. The finite random planar maps under consideration were recently proved to possess a well-defined local limit known as the infinite Boltzmann planar map (IBPM). Inspired by recent work of Curien and Le Gall, we show that the peeling process on the IBPM can...

Full revivals in 2D quantum walks

International Nuclear Information System (INIS)

Stefanak, M; Jex, I; Kollar, B; Kiss, T

2010-01-01

Recurrence of a random walk is described by the Polya number. For quantum walks, recurrence is understood as the return of the walker to the origin, rather than the full revival of its quantum state. Localization for two-dimensional quantum walks is known to exist in the sense of non-vanishing probability distribution in the asymptotic limit. We show, on the example of the 2D Grover walk, that one can exploit the effect of localization to construct stationary solutions. Moreover, we find full revivals of a quantum state with a period of two steps. We prove that there cannot be longer cycles for a four-state quantum walk. Stationary states and revivals result from interference, which has no counterpart in classical random walks.

Planar dynamical systems selected classical problems

CERN Document Server

Liu, Yirong; Huang, Wentao

2014-01-01

This book presents in an elementary way the recent significant developments in the qualitative theory of planar dynamical systems. The subjects are covered as follows: the studies of center and isochronous center problems, multiple Hopf bifurcations and local and global bifurcations of the equivariant planar vector fields which concern with Hilbert's 16th problem. This book is intended for graduate students, post-doctors and researchers in the area of theories and applications of dynamical systems. For all engineers who are interested the theory of dynamical systems, it is also a reasona

Exploring topological phases with quantum walks

International Nuclear Information System (INIS)

Kitagawa, Takuya; Rudner, Mark S.; Berg, Erez; Demler, Eugene

2010-01-01

The quantum walk was originally proposed as a quantum-mechanical analog of the classical random walk, and has since become a powerful tool in quantum information science. In this paper, we show that discrete-time quantum walks provide a versatile platform for studying topological phases, which are currently the subject of intense theoretical and experimental investigations. In particular, we demonstrate that recent experimental realizations of quantum walks with cold atoms, photons, and ions simulate a nontrivial one-dimensional topological phase. With simple modifications, the quantum walk can be engineered to realize all of the topological phases, which have been classified in one and two dimensions. We further discuss the existence of robust edge modes at phase boundaries, which provide experimental signatures for the nontrivial topological character of the system.

Walking in Place Through Virtual Worlds

DEFF Research Database (Denmark)

Nilsson, Niels Chr.; Serafin, Stefania; Nordahl, Rolf

2016-01-01

Immersive virtual reality (IVR) is seemingly on the verge of entering the homes of consumers. Enabling users to walk through virtual worlds in a limited physical space presents a challenge. With an outset in a taxonomy of virtual travel techniques, we argue that Walking-in-Place (WIP) techniques...... constitute a promising approach to virtual walking in relation to consumer IVR. Subsequently we review existing approaches to WIP locomotion and highlight the need for a more explicit focus on the perceived naturalness of WIP techniques; i.e., the degree to which WIP locomotion feels like real walking....... Finally, we summarize work we have performed in order to produce more natural WIP locomotion and present unexplored topics which need to be address if WIP techniques are to provide perceptually natural walking experiences....

Self-Trapping Self-Repelling Random Walks

Science.gov (United States)

Grassberger, Peter

2017-10-01

Although the title seems self-contradictory, it does not contain a misprint. The model we study is a seemingly minor modification of the "true self-avoiding walk" model of Amit, Parisi, and Peliti in two dimensions. The walks in it are self-repelling up to a characteristic time T* (which depends on various parameters), but spontaneously (i.e., without changing any control parameter) become self-trapping after that. For free walks, T* is astronomically large, but on finite lattices the transition is easily observable. In the self-trapped regime, walks are subdiffusive and intermittent, spending longer and longer times in small areas until they escape and move rapidly to a new area. In spite of this, these walks are extremely efficient in covering finite lattices, as measured by average cover times.

Walking dreams in congenital and acquired paraplegia.

Science.gov (United States)

Saurat, Marie-Thérèse; Agbakou, Maité; Attigui, Patricia; Golmard, Jean-Louis; Arnulf, Isabelle

2011-12-01

To test if dreams contain remote or never-experienced motor skills, we collected during 6 weeks dream reports from 15 paraplegics and 15 healthy subjects. In 9/10 subjects with spinal cord injury and in 5/5 with congenital paraplegia, voluntary leg movements were reported during dream, including feelings of walking (46%), running (8.6%), dancing (8%), standing up (6.3%), bicycling (6.3%), and practicing sports (skiing, playing basketball, swimming). Paraplegia patients experienced walking dreams (38.2%) just as often as controls (28.7%). There was no correlation between the frequency of walking dreams and the duration of paraplegia. In contrast, patients were rarely paraplegic in dreams. Subjects who had never walked or stopped walking 4-64 years prior to this study still experience walking in their dreams, suggesting that a cerebral walking program, either genetic or more probably developed via mirror neurons (activated when observing others performing an action) is reactivated during sleep. Copyright © 2011 Elsevier Inc. All rights reserved.

Current in heavy-current planar diode with discrete emission surface

International Nuclear Information System (INIS)

Belomyttsev, S.Ya.; Korovin, S.D.; Pegel', I.V

1999-01-01

Dependence of current in a high-current planar diode on the size of emission centres was studied. Essential effect of emission surface microstructure on the current value in the planar diode was demonstrated. It was determined that if the distance between the emitter essentially exceeded their size then current dependence on the ratio of size to the value of the diode gap was an exponential function with 3/2 index. Current dependence on voltage obeyed the exponential law with 3/2 index up to higher voltage values in the planar diode with discrete emission surface in contrast to the case of a planar diode with homogeneous emission surface [ru

Quantum snake walk on graphs

International Nuclear Information System (INIS)

Rosmanis, Ansis

2011-01-01

I introduce a continuous-time quantum walk on graphs called the quantum snake walk, the basis states of which are fixed-length paths (snakes) in the underlying graph. First, I analyze the quantum snake walk on the line, and I show that, even though most states stay localized throughout the evolution, there are specific states that most likely move on the line as wave packets with momentum inversely proportional to the length of the snake. Next, I discuss how an algorithm based on the quantum snake walk might potentially be able to solve an extended version of the glued trees problem, which asks to find a path connecting both roots of the glued trees graph. To the best of my knowledge, no efficient quantum algorithm solving this problem is known yet.

More Adults Are Walking

Centers for Disease Control (CDC) Podcasts

2012-07-31

This podcast is based on the August 2012 CDC Vital Signs report. While more adults are walking, only half get the recommended amount of physical activity. Listen to learn how communities, employers, and individuals may help increase walking.  Created: 7/31/2012 by Centers for Disease Control and Prevention (CDC).   Date Released: 8/7/2012.

Minnesota Walk-In Access Sites

Data.gov (United States)

Minnesota Department of Natural Resources — The Minnesota Walk-In Access site (WIA) GIS data represents areas of private land that have been made open to the public for the purpose of walk-in (foot travel)...

Planar Submillimeter-Wave Mixer Technology with Integrated Antenna

Science.gov (United States)

Chattopadhyay, Gautam; Mehdi, Imran; Gill, John J.; Lee, Choonsup; lombart, Muria L.; Thomas, Betrand

2010-01-01

High-performance mixers at terahertz frequencies require good matching between the coupling circuits such as antennas and local oscillators and the diode embedding impedance. With the availability of amplifiers at submillimeter wavelengths and the need to have multi-pixel imagers and cameras, planar mixer architecture is required to have an integrated system. An integrated mixer with planar antenna provides a compact and optimized design at terahertz frequencies. Moreover, it leads to a planar architecture that enables efficient interconnect with submillimeter-wave amplifiers. In this architecture, a planar slot antenna is designed on a thin gallium arsenide (GaAs) membrane in such a way that the beam on either side of the membrane is symmetric and has good beam profile with high coupling efficiency. A coplanar waveguide (CPW) coupled Schottky diode mixer is designed and integrated with the antenna. In this architecture, the local oscillator (LO) is coupled through one side of the antenna and the RF from the other side, without requiring any beam sp litters or diplexers. The intermediate frequency (IF) comes out on a 50-ohm CPW line at the edge of the mixer chip, which can be wire-bonded to external circuits. This unique terahertz mixer has an integrated single planar antenna for coupling both the radio frequency (RF) input and LO injection without any diplexer or beamsplitters. The design utilizes novel planar slot antenna architecture on a 3- mthick GaAs membrane. This work is required to enable future multi-pixel terahertz receivers for astrophysics missions, and lightweight and compact receivers for planetary missions to the outer planets in our solar system. Also, this technology can be used in tera hertz radar imaging applications as well as for testing of quantum cascade lasers (QCLs).

Let's Walk Outdoors! Self-Paced Walking Outdoors Improves Future Intention to Exercise in Women With Obesity.

Science.gov (United States)

Krinski, Kleverton; Machado, Daniel G S; Lirani, Luciana S; DaSilva, Sergio G; Costa, Eduardo C; Hardcastle, Sarah J; Elsangedy, Hassan M

2017-04-01

In order to examine whether environmental settings influence psychological and physiological responses of women with obesity during self-paced walking, 38 women performed two exercise sessions (treadmill and outdoors) for 30 min, where oxygen uptake, heart rate, ratings of perceived exertion, affect, attentional focus, enjoyment, and future intentions to walk were analyzed. Physiological responses were similar during both sessions. However, during outdoor exercise, participants displayed higher externally focused attention, positive affect, and lower ratings of perceived exertion, followed by greater enjoyment and future intention to participate in outdoor walking. The more externally focused attention predicted greater future intentions to participate in walking. Therefore, women with obesity self-selected an appropriate exercise intensity to improve fitness and health in both environmental settings. Also, self-paced outdoor walking presented improved psychological responses. Health care professionals should consider promoting outdoor forms of exercise to maximize psychological benefits and promote long-term adherence to a physically active lifestyle.

Lower limb joint moment during walking in water.

Science.gov (United States)

Miyoshi, Tasuku; Shirota, Takashi; Yamamoto, Shin-Ichiro; Nakazawa, Kimitaka; Akai, Masami

2003-11-04

Walking in water is a widely used rehabilitation method for patients with orthopedic disorders or arthritis, based on the belief that the reduction of weight in water makes it a safer medium and prevents secondary injuries of the lower-limb joints. To our knowledge, however, no experimental data on lower-limb joint moment during walking in water is available. The aim of this study was to quantify the joint moments of the ankle, knee, and hip during walking in water in comparison with those on land. Eight healthy volunteers walked on land and in water at a speed comfortable for them. A video-motion analysis system and waterproof force platform were used to obtain kinematic data and to calculate the joint moments. The hip joint moment was shown to be an extension moment almost throughout the stance phase during walking in water, while it changed from an extension- to flexion-direction during walking on land. The knee joint moment had two extension peaks during walking on land, whereas it had only one extension peak, a late one, during walking in water. The ankle joint moment during walking in water was considerably reduced but in the same direction, plantarflexion, as that during walking on land. The joint moments of the hip, knee, and ankle were not merely reduced during walking in water; rather, inter-joint coordination was totally changed.

Hydrogenated arsenenes as planar magnet and Dirac material

Energy Technology Data Exchange (ETDEWEB)

Zhang, Shengli; Cai, Bo; Zeng, Haibo, E-mail: Huziyu@csrc.ac.cn, E-mail: zeng.haibo@njust.edu.cn [Institute of Optoelectronics and Nanomaterials, Herbert Gleiter Institute of Nanoscience, College of Materials Science and Engineering, Nanjing University of Science and Technology, Nanjing 210094 (China); Hu, Yonghong [Institute of Optoelectronics and Nanomaterials, Herbert Gleiter Institute of Nanoscience, College of Materials Science and Engineering, Nanjing University of Science and Technology, Nanjing 210094 (China); School of Nuclear Technology and Chemistry and Biology, Hubei University of Science and Technology, Xianning 437100 (China); Hu, Ziyu, E-mail: Huziyu@csrc.ac.cn, E-mail: zeng.haibo@njust.edu.cn [Beijing Computational Science Research Center, Beijing 100084 (China)

2015-07-13

Arsenene and antimonene are predicted to have 2.49 and 2.28 eV band gaps, which have aroused intense interest in the two-dimensional (2D) semiconductors for nanoelectronic and optoelectronic devices. Here, the hydrogenated arsenenes are reported to be planar magnet and 2D Dirac materials based on comprehensive first-principles calculations. The semi-hydrogenated (SH) arsenene is found to be a quasi-planar magnet, while the fully hydrogenated (FH) arsenene is a planar Dirac material. The buckling height of pristine arsenene is greatly decreased by the hydrogenation, resulting in a planar and relatively low-mass-density sheet. The electronic structures of arsenene are also evidently altered after hydrogenating from wide-band-gap semiconductor to metallic material for SH arsenene, and then to Dirac material for FH arsenene. The SH arsenene has an obvious magnetism, mainly contributed by the p orbital of the unsaturated As atom. Such magnetic and Dirac materials modified by hydrogenation of arsenene may have potential applications in future optoelectronic and spintronic devices.

Hydrogenated arsenenes as planar magnet and Dirac material

International Nuclear Information System (INIS)

Zhang, Shengli; Cai, Bo; Zeng, Haibo; Hu, Yonghong; Hu, Ziyu

2015-01-01

Arsenene and antimonene are predicted to have 2.49 and 2.28 eV band gaps, which have aroused intense interest in the two-dimensional (2D) semiconductors for nanoelectronic and optoelectronic devices. Here, the hydrogenated arsenenes are reported to be planar magnet and 2D Dirac materials based on comprehensive first-principles calculations. The semi-hydrogenated (SH) arsenene is found to be a quasi-planar magnet, while the fully hydrogenated (FH) arsenene is a planar Dirac material. The buckling height of pristine arsenene is greatly decreased by the hydrogenation, resulting in a planar and relatively low-mass-density sheet. The electronic structures of arsenene are also evidently altered after hydrogenating from wide-band-gap semiconductor to metallic material for SH arsenene, and then to Dirac material for FH arsenene. The SH arsenene has an obvious magnetism, mainly contributed by the p orbital of the unsaturated As atom. Such magnetic and Dirac materials modified by hydrogenation of arsenene may have potential applications in future optoelectronic and spintronic devices

Hydrogenated arsenenes as planar magnet and Dirac material

Science.gov (United States)

Zhang, Shengli; Hu, Yonghong; Hu, Ziyu; Cai, Bo; Zeng, Haibo

2015-07-01

Arsenene and antimonene are predicted to have 2.49 and 2.28 eV band gaps, which have aroused intense interest in the two-dimensional (2D) semiconductors for nanoelectronic and optoelectronic devices. Here, the hydrogenated arsenenes are reported to be planar magnet and 2D Dirac materials based on comprehensive first-principles calculations. The semi-hydrogenated (SH) arsenene is found to be a quasi-planar magnet, while the fully hydrogenated (FH) arsenene is a planar Dirac material. The buckling height of pristine arsenene is greatly decreased by the hydrogenation, resulting in a planar and relatively low-mass-density sheet. The electronic structures of arsenene are also evidently altered after hydrogenating from wide-band-gap semiconductor to metallic material for SH arsenene, and then to Dirac material for FH arsenene. The SH arsenene has an obvious magnetism, mainly contributed by the p orbital of the unsaturated As atom. Such magnetic and Dirac materials modified by hydrogenation of arsenene may have potential applications in future optoelectronic and spintronic devices.

Continuous-time quantum walks on star graphs

International Nuclear Information System (INIS)

Salimi, S.

2009-01-01

In this paper, we investigate continuous-time quantum walk on star graphs. It is shown that quantum central limit theorem for a continuous-time quantum walk on star graphs for N-fold star power graph, which are invariant under the quantum component of adjacency matrix, converges to continuous-time quantum walk on K 2 graphs (complete graph with two vertices) and the probability of observing walk tends to the uniform distribution.

Walk well: a randomised controlled trial of a walking intervention for adults with intellectual disabilities: study protocol

Science.gov (United States)

2013-01-01

Background Walking interventions have been shown to have a positive impact on physical activity (PA) levels, health and wellbeing for adult and older adult populations. There has been very little work carried out to explore the effectiveness of walking interventions for adults with intellectual disabilities. This paper will provide details of the Walk Well intervention, designed for adults with intellectual disabilities, and a randomised controlled trial (RCT) to test its effectiveness. Methods/design This study will adopt a RCT design, with participants allocated to the walking intervention group or a waiting list control group. The intervention consists of three PA consultations (baseline, six weeks and 12 weeks) and an individualised 12 week walking programme. A range of measures will be completed by participants at baseline, post intervention (three months from baseline) and at follow up (three months post intervention and six months from baseline). All outcome measures will be collected by a researcher who will be blinded to the study groups. The primary outcome will be steps walked per day, measured using accelerometers. Secondary outcome measures will include time spent in PA per day (across various intensity levels), time spent in sedentary behaviour per day, quality of life, self-efficacy and anthropometric measures to monitor weight change. Discussion Since there are currently no published RCTs of walking interventions for adults with intellectual disabilities, this RCT will examine if a walking intervention can successfully increase PA, health and wellbeing of adults with intellectual disabilities. Trial registration ISRCTN: ISRCTN50494254 PMID:23816316

Fractional scaling of quantum walks on percolation lattices

International Nuclear Information System (INIS)

Kendon, Viv; Knott, Paul; Leung, Godfrey; Bailey, Joe

2011-01-01

Quantum walks can be used to model processes such as transport in spin chains and bio-molecules. The enhanced spreading and mixing properties of quantum walks compared with their classical counterparts have been well-studied on regular structures and also shown to be sensitive to defects and imperfections. Using numerical simulation, we study the spreading properties of quantum walks on percolation lattices for both bond and site percolation. The randomly missing edges or sites provide a controlled amount of disorder in the regular Cartesian lattice. In one dimension (the line) we introduce a simple model of quantum tunneling to allow the walk to proceed past the missing edges or sites. This allows the quantum walk to spread faster than a classical random walk for short times, but at longer times the disorder localises the quantum walk. In two dimensions, we observe fractional scaling of the spreading with the number of steps of the walk. For percolation above the 85% level, we obtain faster spreading than classical random walks on the full lattice.

The number of colorings of planar graphs with no separating triangles

DEFF Research Database (Denmark)

Thomassen, Carsten

2017-01-01

A classical result of Birkhoff and Lewis implies that every planar graph with . n vertices has at least . 152n-1 distinct 5-vertex-colorings. Equality holds for planar triangulations with . n-4 separating triangles. We show that, if a planar graph has no separating triangle, then it has at least ...

Planar waveguides and other confined geometries theory, technology, production, and novel applications

CERN Document Server

2015-01-01

This book provides a comprehensive overview of the theoretical concepts and experimental applications of planar waveguides and other confined geometries, such as optical fibres. Covering a broad array of advanced topics, it begins with a sophisticated discussion of planar waveguide theory, and covers subjects including efficient production of planar waveguides, materials selection, nonlinear effects, and applications including species analytics down to single-molecule identification, and thermo-optical switching using planar waveguides. Written by specialists in the techniques and applications covered, this book will be a useful resource for advanced graduate students and researchers studying planar waveguides and optical fibers.

Mechanical design of walking machines.

Science.gov (United States)

Arikawa, Keisuke; Hirose, Shigeo

2007-01-15

The performance of existing actuators, such as electric motors, is very limited, be it power-weight ratio or energy efficiency. In this paper, we discuss the method to design a practical walking machine under this severe constraint with focus on two concepts, the gravitationally decoupled actuation (GDA) and the coupled drive. The GDA decouples the driving system against the gravitational field to suppress generation of negative power and improve energy efficiency. On the other hand, the coupled drive couples the driving system to distribute the output power equally among actuators and maximize the utilization of installed actuator power. First, we depict the GDA and coupled drive in detail. Then, we present actual machines, TITAN-III and VIII, quadruped walking machines designed on the basis of the GDA, and NINJA-I and II, quadruped wall walking machines designed on the basis of the coupled drive. Finally, we discuss walking machines that travel on three-dimensional terrain (3D terrain), which includes the ground, walls and ceiling. Then, we demonstrate with computer simulation that we can selectively leverage GDA and coupled drive by walking posture control.

Thermodynamics and entanglements of walks under stress

International Nuclear Information System (INIS)

Janse van Rensburg, E J; Orlandini, E; Tesi, M C; Whittington, S G

2009-01-01

We use rigorous arguments and Monte Carlo simulations to study the thermodynamics and the topological properties of self-avoiding walks on the cubic lattice subjected to an external force f. The walks are anchored at one or both endpoints to an impenetrable plane at Z = 0 and the force is applied in the Z-direction. If a force is applied to the free endpoint of an anchored walk, then a model of pulled walks is obtained. If the walk is confined to a slab and a force is applied to the top bounding plane, then a model of stretched walks is obtained. For both models we prove the existence of the limiting free energy for any value of the force and we show that, for compressive forces, the thermodynamic properties of the two models differ substantially. For pulled walks we prove the existence of a phase transition that, by numerical simulation, we estimate to be second order and located at f = 0. By using a pattern theorem for large positive forces we show that almost all sufficiently long stretched walks are knotted. We examine the entanglement complexity of stretched and pulled walks; our numerical results show a sharp reduction with increasing pulling and stretching forces. Finally, we also examine models of pulled and stretched loops. We prove the existence of limiting free energies in these models and consider the knot probability numerically as a function of the applied pulling or stretching force

Determination of crystallographic and macroscopic orientation of planar structures in TEM

DEFF Research Database (Denmark)

Huang, X.; Liu, Q.

1998-01-01

With the aid of a double-tilt holder in a transmission electron microscope (TEM), simple methods are described for determination of the crystallographic orientation of a planar structure and for calculation of the macroscopic orientation of the planar structure. The correlation between a planar...... structure and a crystallographic plane can be found by comparing the differences in their trace directions on the projection plane and inclination angles with respect to that plane. The angles between the traces of planar structures and the sample axis measured from the TEM micrographs, which have been...

Walking, running, and resting under time, distance, and average speed constraints: optimality of walk-run-rest mixtures.

Science.gov (United States)

Long, Leroy L; Srinivasan, Manoj

2013-04-06

On a treadmill, humans switch from walking to running beyond a characteristic transition speed. Here, we study human choice between walking and running in a more ecological (non-treadmill) setting. We asked subjects to travel a given distance overground in a given allowed time duration. During this task, the subjects carried, and could look at, a stopwatch that counted down to zero. As expected, if the total time available were large, humans walk the whole distance. If the time available were small, humans mostly run. For an intermediate total time, humans often use a mixture of walking at a slow speed and running at a higher speed. With analytical and computational optimization, we show that using a walk-run mixture at intermediate speeds and a walk-rest mixture at the lowest average speeds is predicted by metabolic energy minimization, even with costs for transients-a consequence of non-convex energy curves. Thus, sometimes, steady locomotion may not be energy optimal, and not preferred, even in the absence of fatigue. Assuming similar non-convex energy curves, we conjecture that similar walk-run mixtures may be energetically beneficial to children following a parent and animals on long leashes. Humans and other animals might also benefit energetically from alternating between moving forward and standing still on a slow and sufficiently long treadmill.

Manufacturing of planar ceramic interconnects

Energy Technology Data Exchange (ETDEWEB)

Armstrong, B.L.; Coffey, G.W.; Meinhardt, K.D.; Armstrong, T.R. [Pacific Northwest National Lab., Richland, WA (United States)

1996-12-31

The fabrication of ceramic interconnects for solid oxide fuel cells (SOFC) and separator plates for electrochemical separation devices has been a perennial challenge facing developers. Electrochemical vapor deposition (EVD), plasma spraying, pressing, tape casting and tape calendering are processes that are typically utilized to fabricate separator plates or interconnects for the various SOFC designs and electrochemical separation devices. For sake of brevity and the selection of a planar fuel cell or gas separation device design, pressing will be the only fabrication technique discussed here. This paper reports on the effect of the characteristics of two doped lanthanum manganite powders used in the initial studies as a planar porous separator for a fuel cell cathode and as a dense interconnect for an oxygen generator.

Walking training associated with virtual reality-based training increases walking speed of individuals with chronic stroke: systematic review with meta-analysis

OpenAIRE

Juliana M. Rodrigues-Baroni; Lucas R. Nascimento; Louise Ada; Luci F. Teixeira-Salmela

2014-01-01

OBJECTIVE: To systematically review the available evidence on the efficacy of walking training associated with virtual reality-based training in patients with stroke. The specific questions were: Is walking training associated with virtual reality-based training effective in increasing walking speed after stroke? Is this type of intervention more effective in increasing walking speed, than non-virtual reality-based walking interventions? METHOD: A systematic review with meta-analysis of rando...

Neighborhood preference, walkability and walking in overweight/obese men.

Science.gov (United States)

Norman, Gregory J; Carlson, Jordan A; O'Mara, Stephanie; Sallis, James F; Patrick, Kevin; Frank, Lawrence D; Godbole, Suneeta V

2013-03-01

To investigate whether self-selection moderated the effects of walkability on walking in overweight and obese men. 240 overweight and obese men completed measures on importance of walkability when choosing a neighborhood (selection) and preference for walkable features in general (preference). IPAQ measured walking. A walkbility index was derived from geographic information systems (GIS). Walkability was associated with walking for transportation (p = .027) and neighborhood selection was associated with walking for transportation (p = .002) and total walking (p = .001). Preference was associated with leisure walking (p = .045) and preference moderated the relationship between walkability and total walking (p = .059). Walkability and self-selection are both important to walking behavior.

The simple method to co-register planar image with photograph

International Nuclear Information System (INIS)

Jang, Sung June; Kim, Seok Ki; Kang, Keon Wook

2005-01-01

Generally scintigraphic image presents the highly specific functional information. Sometimes, there can be limited information of patients anatomical landmark required to identify the lesion in planar nuclear medicine image. In this study, we applied the simple fusion method of planar scintigraphy and plain photography and validated the techniques with our own software. We used three fiducial marks which were comprised with Tc-99m. We obtained planar image with single head gamma camera (ARGUS ADAC laboratory, USA) and photograph using a general digital camera (CANON JAPAN). The coordinates of three marks were obtained in photograph and planar scintigraphy image. Based on these points, we took affine transformation and then fused these two images. To evaluate the precision, we compared with different depth. To find out the depth of lesion, the images were acquired in different angles and we compared the real depth and the geometrically calculated depth. At the same depth with mark, the each discordance was less than 1 mm. When the photograph were taken at the distance with 1 m and 2 m, the point 30 cm off the center were discordant in 5 mm and 2 mm each. We used this method in the localization of the remnant thyroid tissue on I-131 whole body scan with photo image. The simple method to co-register planar image with photography was reliable and easy to use. By this method, we could localize the lesion on the planar scintigraphy more accurately with other planar images (i.e. photograph) and predict the depth of the lesion without tomographic image

Nordic Walking Practice Might Improve Plantar Pressure Distribution

Science.gov (United States)

Perez-Soriano, Pedro; Llana-Belloch, Salvador; Martinez-Nova, Alfonso; Morey-Klapsing, G.; Encarnacion-Martinez, Alberto

2011-01-01

Nordic walking (NW), characterized by the use of two walking poles, is becoming increasingly popular (Morgulec-Adamowicz, Marszalek, & Jagustyn, 2011). We studied walking pressure patterns of 20 experienced and 30 beginner Nordic walkers. Plantar pressures from nine foot zones were measured during trials performed at two walking speeds (preferred…

A study of coFeB magnetic yoke based on planar electromagnet

Science.gov (United States)

Qin, L.; Li, Q.; Yuan, Yong J.

2017-07-01

This paper studies the fabrication of a novel planar electromagnet consisting of a planar copper coil and a magnetic yoke. CoFeB was used as the magnetic yoke material instead of the traditional permanent magnets. The planar electromagnet was fabricated and optimized to maximize the electromagnetic force, especially with varying CoFeB thickness. The micro-planar electromagnet was fabricated successfully by the traditional micro-electro-mechanical-system (MEMS) techniques and XRD, VSM were used to characterize the performance of the electromagnet. The planar electromagnet exhibits superior perpendicular magnetic anisotropy (PMA) and 0.006 emu of MS was achieved following 2 min deposition of CoFeB thin film. By integrating with other micro apparatuses, it is anticipated that the planar electromagnet will have potential applications in areas such as biosensors, biological medicine, drug delivery, chemical analysis and environmental monitoring.

Design with the feet: walking methods and participatory design

DEFF Research Database (Denmark)

Kanstrup, Anne Marie; Bertelsen, Pernille; Madsen, Jacob Østergaard

2014-01-01

This paper presents an analysis of walking methods and their relation to participatory design (PD). The paper includes a study of walking methods found in the literature and an empirical study of transect walks in a PD project. From this analysis, we identify central attributes of, and challenges...... to, PD walks. Walking with people in the context of design is a natural activity for the participatory designer, who acknowledges the importance of immersion and relationships in design. However, the various intentions of walking approaches indicate an underacknowledged awareness of walking methods...

Does getting a dog increase recreational walking?

Directory of Open Access Journals (Sweden)

Knuiman Matthew W

2008-03-01

Full Text Available Abstract Background This study examines changes in socio-demographic, environmental and intrapersonal factors associated with dog acquisition in non-dog owners at baseline to 12-months follow-up and the effect of dog acquisition on minutes per week of recreational walking. Methods RESIDE study participants completed self-administered questionnaires (baseline and 12-months follow-up measuring physical activity, dog ownership, dog walking behavior as well as environmental, intrapersonal and socio-demographic factors. Analysis was restricted to 'Continuing non-owners' (i.e., non-owners at both baseline and follow-up; n = 681 and 'New dog owners' (i.e., non-owners who acquired a dog by follow-up; n = 92. Results Overall, 12% of baseline non-owners had acquired a dog at follow-up. Dog acquisition was associated with working and having children at home. Those who changed from single to couple marital status were also more likely to acquire a dog. The increase in minutes of walking for recreation within the neighborhood from baseline to follow-up was 48 minutes/week for new dog owners compared with 12 minutes/week for continuing non-owners (p p p > 0.05 after further adjustment for change in baseline to follow-up variables. Increase in intention to walk was the main factor contributing to attenuation of the effect of dog acquisition on recreational walking. Conclusion This study used a large representative sample of non-owners to examine the relationship between dog acquisition and recreational walking and provides evidence to suggest that dog acquisition leads to an increase in walking. The most likely mechanism through which dog acquisition facilitates increased physical activity is through behavioral intention via the dog's positive effect on owner's cognitive beliefs about walking, and through the provision of motivation and social support for walking. The results suggest that behavioral intention mediates the relationship between dog acquisition

Probability distributions for Markov chain based quantum walks

Science.gov (United States)

Balu, Radhakrishnan; Liu, Chaobin; Venegas-Andraca, Salvador E.

2018-01-01

We analyze the probability distributions of the quantum walks induced from Markov chains by Szegedy (2004). The first part of this paper is devoted to the quantum walks induced from finite state Markov chains. It is shown that the probability distribution on the states of the underlying Markov chain is always convergent in the Cesaro sense. In particular, we deduce that the limiting distribution is uniform if the transition matrix is symmetric. In the case of a non-symmetric Markov chain, we exemplify that the limiting distribution of the quantum walk is not necessarily identical with the stationary distribution of the underlying irreducible Markov chain. The Szegedy scheme can be extended to infinite state Markov chains (random walks). In the second part, we formulate the quantum walk induced from a lazy random walk on the line. We then obtain the weak limit of the quantum walk. It is noted that the current quantum walk appears to spread faster than its counterpart-quantum walk on the line driven by the Grover coin discussed in literature. The paper closes with an outlook on possible future directions.

Design and measurements of the double layer planar motor

NARCIS (Netherlands)

Rovers, J.M.M.; Jansen, J.W.; Lomonova, E.

2013-01-01

Moving-magnet magnetically levitated planar motors are considered for use as a wafer stage in the semiconductor lithographic industry. This puts high requirements on the accuracy and the dissipated power and cooling performance of such motors. A novel planar motor topology is developed, which

Walking around to grasp interaction

DEFF Research Database (Denmark)

Lykke, Marianne; Jantzen, Christian

2013-01-01

The paper presents experiences from a study using walk-alongs to provide insight into museum visitors’ experience with interactive features of sound art installations. The overall goal of the study was to learn about the participants’ opinions and feelings about the possibility of interaction...... with the sound installations. The aim was to gain an understanding of the role of the in-teraction, if interaction makes a difference for the understanding of the sound art. 30 walking interviews were carried out at ZKM, Karlsruhe with a total of 57 museum guests, individuals or groups. During the walk......-alongs the research-ers acted as facilitators and partners in the engagement with the sound installa-tions. The study provided good insight into advantages and challenges with the walk-along method, for instance the importance of shared, embodied sensing of space for the understanding of the experience. The common...

Cell phones change the way we walk.

Science.gov (United States)

Lamberg, Eric M; Muratori, Lisa M

2012-04-01

Cell phone use among pedestrians leads to increased cognitive distraction, reduced situation awareness and increases in unsafe behavior. Performing a dual-task, such as talking or texting with a cell phone while walking, may interfere with working memory and result in walking errors. At baseline, thirty-three participants visually located a target 8m ahead; then vision was occluded and they were instructed to walk to the remembered target. One week later participants were assigned to either walk, walk while talking on a cell phone, or walk while texting on a cell phone toward the target with vision occluded. Duration and final location of the heel were noted. Linear distance traveled, lateral angular deviation from the start line, and gait velocity were derived. Changes from baseline to testing were analyzed with paired t-tests. Participants engaged in cell phone use presented with significant reductions in gait velocity (texting: 33% reduction, p=0.01; talking: 16% reduction, p=0.02). Moreover, participants who were texting while walking demonstrated a 61% increase in lateral deviation (p=0.04) and 13% increase in linear distance traveled (p=0.03). These results suggest that the dual-task of walking while using a cell phone impacts executive function and working memory and influences gait to such a degree that it may compromise safety. Importantly, comparison of the two cell phone conditions demonstrates texting creates a significantly greater interference effect on walking than talking on a cell phone. Copyright © 2011 Elsevier B.V. All rights reserved.

Urban walking: Perspectives of locals and tourists

Directory of Open Access Journals (Sweden)

Farkić Jelena

2015-01-01

Full Text Available Urban planners and architects have done extensive research on walk ability: what it means and how it correlates with urban design and quality of life of the locals, however, it has been hitherto neglected from the aspect of tourism studies. Many cities worldwide are or tend to be walkable as this leads to more sustainable and prosperous communities. In addition, walking-friendly environments greatly cater for leisure and tourism, as in many cities, walking is an integral part of tourist experience. Therefore, tourism industry can be of tremendous help for the city authorities in understanding walkers' needs and experiences. Taking into account both the locals and tourists, this research sought to: (1 determine the most frequently utilized modes of transportation in Novi Sad in Serbia and Koper in Slovenia; (2 assess thier reasons for walking and perception of the quality of pedestrian infrastructure; and (3 evaluate the psychometric properties of the questionnaire designed for the purpose of this study. The results show that the great majority of respondents walk in these two cities. The locals walk primarily to achieve physical fitness, whereas tourists walk primarily to explore the urban spaces. This makes more space for tourism as it combines a competitive supply able to meet visitors' expectations with a positive contribution to the sustainable development of cities and well-being of their residents. Furthermore, this study contributes to emphasizing walking as a sustainable form of mobility in urban environment and can be the impetus for profiling Novi Sad and Koper as walking-friendly cities.

Conformal, planarizing and bridging AZ5214-E layers deposited by a 'draping' technique on non-planar III V substrates

Science.gov (United States)

Eliás, P.; Strichovanec, P.; Kostic, I.; Novák, J.

2006-12-01

A draping technique was tested for the deposition of positive-tone AZ5214-E photo-resist layers on non-planar (1 0 0)-oriented III-V substrates, which had a variety of three-dimensional (3D) topographies micromachined in them that consisted, e.g., of mesa ridges confined to side facets with variable tilt, inverted pyramidal holes and stubs confined to perpendicular side facets. All objects were sharp-edged. In each draping experiment, an AZ5214-E sheet was (1) formed floating on the water surface, (2) lowered onto a non-planar substrate and (3) draped over it during drying to form either self-sustained, or conformal, or planarizing layers over the non-planar substrates. The draping process is based on the depression of the glass transition temperature Tg of AZ5214-E material induced by penetrant water molecules that interact with AZ5214-E. During the process, the molecules are initially trapped under an AZ5214-E sheet and then transported out through the sheet via permeation. The water-AZ5214-E interaction modifies the stiffness κ of the sheet. The magnitude of the effect depends on temperature T and on partial water vapour pressure difference p(T, P, κ): the net effect is that Tg = f(C(T, P), p(T, P, κ)) is lowered as the concentration C of water increases with T and p, where P is the permeability of the sheet. The interaction depressed the Tg of the sheets as low as or lower than 53 °C for 6 µm thick sheets. At room temperature T Tg, the sheet becomes rubbery and mouldable by adhesion and capillary forces. As a result, it can either contour or planarize the topography depending on its geometry and thickness of the sheet.

Fluorescence based fiber optic and planar waveguide biosensors. A review

International Nuclear Information System (INIS)

Benito-Peña, Elena; Valdés, Mayra Granda; Glahn-Martínez, Bettina; Moreno-Bondi, Maria C.

2016-01-01

The application of optical biosensors, specifically those that use optical fibers and planar waveguides, has escalated throughout the years in many fields, including environmental analysis, food safety and clinical diagnosis. Fluorescence is, without doubt, the most popular transducer signal used in these devices because of its higher selectivity and sensitivity, but most of all due to its wide versatility. This paper focuses on the working principles and configurations of fluorescence-based fiber optic and planar waveguide biosensors and will review biological recognition elements, sensing schemes, as well as some major and recent applications, published in the last ten years. The main goal is to provide the reader a general overview of a field that requires the joint collaboration of researchers of many different areas, including chemistry, physics, biology, engineering, and material science. - Highlights: • Principles, configurations and fluorescence techniques using fiber optic and planar waveguide biosensors are discussed. • The biorecognition elements and sensing schemes used in fiber optic and planar waveguide platforms are reviewed. • Some major and recent applications of fiber optic and planar waveguide biosensors are introduced.

Fluorescence based fiber optic and planar waveguide biosensors. A review

Energy Technology Data Exchange (ETDEWEB)

Benito-Peña, Elena [Department of Analytical Chemistry, Faculty of Chemistry, Complutense University, 28040 Madrid (Spain); Valdés, Mayra Granda [Department of Analytical Chemistry, Faculty of Chemistry, University of La Habana, 10400 La Habana (Cuba); Glahn-Martínez, Bettina [Department of Analytical Chemistry, Faculty of Chemistry, Complutense University, 28040 Madrid (Spain); Moreno-Bondi, Maria C., E-mail: mcmbondi@quim.ucm.es [Department of Analytical Chemistry, Faculty of Chemistry, Complutense University, 28040 Madrid (Spain)

2016-11-02

The application of optical biosensors, specifically those that use optical fibers and planar waveguides, has escalated throughout the years in many fields, including environmental analysis, food safety and clinical diagnosis. Fluorescence is, without doubt, the most popular transducer signal used in these devices because of its higher selectivity and sensitivity, but most of all due to its wide versatility. This paper focuses on the working principles and configurations of fluorescence-based fiber optic and planar waveguide biosensors and will review biological recognition elements, sensing schemes, as well as some major and recent applications, published in the last ten years. The main goal is to provide the reader a general overview of a field that requires the joint collaboration of researchers of many different areas, including chemistry, physics, biology, engineering, and material science. - Highlights: • Principles, configurations and fluorescence techniques using fiber optic and planar waveguide biosensors are discussed. • The biorecognition elements and sensing schemes used in fiber optic and planar waveguide platforms are reviewed. • Some major and recent applications of fiber optic and planar waveguide biosensors are introduced.

Lévy Walks Suboptimal under Predation Risk.

Directory of Open Access Journals (Sweden)

Masato S Abe

2015-11-01

Full Text Available A key challenge in movement ecology is to understand how animals move in nature. Previous studies have predicted that animals should perform a special class of random walks, called Lévy walk, to obtain more targets. However, some empirical studies did not support this hypothesis, and the relationship between search strategy and ecological factors is still unclear. We focused on ecological factors, such as predation risk, and analyzed whether Lévy walk may not be favored. It was remarkable that the ecological factors often altered an optimal search strategy from Lévy walk to Brownian walk, depending on the speed of the predator's movement, density of predators, etc. This occurred because higher target encounter rates simultaneously led searchers to higher predation risks. Our findings indicate that animals may not perform Lévy walks often, and we suggest that it is crucial to consider the ecological context for evaluating the search strategy performed by animals in the field.

Lévy Walks Suboptimal under Predation Risk

Science.gov (United States)

Abe, Masato S.; Shimada, Masakazu

2015-01-01

A key challenge in movement ecology is to understand how animals move in nature. Previous studies have predicted that animals should perform a special class of random walks, called Lévy walk, to obtain more targets. However, some empirical studies did not support this hypothesis, and the relationship between search strategy and ecological factors is still unclear. We focused on ecological factors, such as predation risk, and analyzed whether Lévy walk may not be favored. It was remarkable that the ecological factors often altered an optimal search strategy from Lévy walk to Brownian walk, depending on the speed of the predator’s movement, density of predators, etc. This occurred because higher target encounter rates simultaneously led searchers to higher predation risks. Our findings indicate that animals may not perform Lévy walks often, and we suggest that it is crucial to consider the ecological context for evaluating the search strategy performed by animals in the field. PMID:26544687

Scaling of the atmosphere of self-avoiding walks

Energy Technology Data Exchange (ETDEWEB)

Owczarek, A L [Department of Mathematics and Statistics, The University of Melbourne, Victoria 3010 (Australia); Prellberg, T [School of Mathematical Sciences, Queen Mary, University of London, Mile End Road, London E1 4NS (United Kingdom)], E-mail: a.owczarek@ms.unimelb.edu.au, E-mail: t.prellberg@qmul.ac.uk

2008-09-19

The number of free sites next to the end of a self-avoiding walk is known as the atmosphere of the walk. The average atmosphere can be related to the number of configurations. Here we study the distribution of atmospheres as a function of length and how the number of walks of fixed atmosphere scale. Certain bounds on these numbers can be proved. We use Monte Carlo estimates to verify our conjectures in two dimensions. Of particular interest are walks that have zero atmosphere, which are known as trapped. We demonstrate that these walks scale in the same way as the full set of self-avoiding walks, barring an overall constant factor.

Modeling and optimization of planar microcoils

International Nuclear Information System (INIS)

Beyzavi, Ali; Nguyen, Nam-Trung

2008-01-01

Magnetic actuation has emerged as a useful tool for manipulating particles, droplets and biological samples in microfluidics. A planar coil is one of the suitable candidates for magnetic actuation and has the potential to be integrated in digital microfluidic devices. A simple model of microcoils is needed to optimize their use in actuation applications. This paper first develops an analytical model for calculating the magnetic field of a planar microcoil. The model was validated by experimental data from microcoils fabricated on printed circuit boards (PCB). The model was used for calculating the field strength and the force acting on a magnetic object. Finally, the effect of different coil parameters such as the magnitude of the electric current, the gap between the wires and the number of wire segments is discussed. Both analytical and experimental results show that a smaller gap size between wire segments, more wire segments and a higher electric current can increase both the magnitude and the gradient of the magnetic field, and consequently cause a higher actuating force. The planar coil analyzed in the paper is suitable for applications in magnetic droplet-based microfluidics

Locally Perturbed Random Walks with Unbounded Jumps

OpenAIRE

Paulin, Daniel; Szász, Domokos

2010-01-01

In \\cite{SzT}, D. Sz\\'asz and A. Telcs have shown that for the diffusively scaled, simple symmetric random walk, weak convergence to the Brownian motion holds even in the case of local impurities if $d \\ge 2$. The extension of their result to finite range random walks is straightforward. Here, however, we are interested in the situation when the random walk has unbounded range. Concretely we generalize the statement of \\cite{SzT} to unbounded random walks whose jump distribution belongs to th...

Ambient mass spectrometry: From the planar to the non-planar surface analysis

Czech Academy of Sciences Publication Activity Database

Rejšek, Jan; Vrkoslav, Vladimír; Cvačka, Josef

2017-01-01

Roč. 15, č. 1 (2017), s. 31 ISSN 2336-7202. [Mezioborové setkání mladých biologů, biochemiků a chemiků /17./. 30.05.2017-01.06.2017, Milovy] Institutional support: RVO:61388963 Keywords : ambient mass spectrometry * thin layer chromatography * non-planar surface analysis Subject RIV: CB - Analytical Chemistry, Separation

Kinematic evaluation of virtual walking trajectories.

Science.gov (United States)

Cirio, Gabriel; Olivier, Anne-Hélène; Marchal, Maud; Pettré, Julien

2013-04-01

Virtual walking, a fundamental task in Virtual Reality (VR), is greatly influenced by the locomotion interface being used, by the specificities of input and output devices, and by the way the virtual environment is represented. No matter how virtual walking is controlled, the generation of realistic virtual trajectories is absolutely required for some applications, especially those dedicated to the study of walking behaviors in VR, navigation through virtual places for architecture, rehabilitation and training. Previous studies focused on evaluating the realism of locomotion trajectories have mostly considered the result of the locomotion task (efficiency, accuracy) and its subjective perception (presence, cybersickness). Few focused on the locomotion trajectory itself, but in situation of geometrically constrained task. In this paper, we study the realism of unconstrained trajectories produced during virtual walking by addressing the following question: did the user reach his destination by virtually walking along a trajectory he would have followed in similar real conditions? To this end, we propose a comprehensive evaluation framework consisting on a set of trajectographical criteria and a locomotion model to generate reference trajectories. We consider a simple locomotion task where users walk between two oriented points in space. The travel path is analyzed both geometrically and temporally in comparison to simulated reference trajectories. In addition, we demonstrate the framework over a user study which considered an initial set of common and frequent virtual walking conditions, namely different input devices, output display devices, control laws, and visualization modalities. The study provides insight into the relative contributions of each condition to the overall realism of the resulting virtual trajectories.

SPECT versus planar bone radionuclide imaging in the detection of spondylolysis

International Nuclear Information System (INIS)

Whitten, C.G.; El-Khoury, G.Y.; Chang, P.J.; Seabold, J.E.; Found, E.M.; Renfrew, D.L.

1991-01-01

This paper evaluates the relative performance and ease of interpretation of SPECT versus planar radionuclide bone imaging in the detection of spondylolysis. The authors studied all patients presenting with back pain suggestive of spondylolysis from November 1989 to January 1991 who underwent bone scanning; patients underwent both planar and SPECT imaging. The planar and SPECT images were randomly mixed and independently interpreted by four observers for presence or absence of spondylolysis and ease of interpretation for each scan. Receiver operating characteristic (ROC) and analysis of variance (ANOVA) were used. Of 72 patients, 19 had confirmed spondylolysis, and 53 did not. While ROC analysis showed that SPECT performed slightly better than planar imaging for all four observers, the difference was not statistically significant. ANOVA results suggest that planar imaging was significantly easier to use than SPECT and that ease of use was strongly correlated with the observer's confidence in the diagnosis

Fermionic entanglement via quantum walks in quantum dots

Science.gov (United States)

Melnikov, Alexey A.; Fedichkin, Leonid E.

2018-02-01

Quantum walks are fundamentally different from random walks due to the quantum superposition property of quantum objects. Quantum walk process was found to be very useful for quantum information and quantum computation applications. In this paper we demonstrate how to use quantum walks as a tool to generate high-dimensional two-particle fermionic entanglement. The generated entanglement can survive longer in the presence of depolorazing noise due to the periodicity of quantum walk dynamics. The possibility to create two distinguishable qudits in a system of tunnel-coupled semiconductor quantum dots is discussed.

Cardiovascular Responses Associated with Daily Walking in Subacute Stroke

Directory of Open Access Journals (Sweden)

Sanjay K. Prajapati

2013-01-01

Full Text Available Despite the importance of regaining independent ambulation after stroke, the amount of daily walking completed during in-patient rehabilitation is low. The purpose of this study is to determine if (1 walking-related heart rate responses reached the minimum intensity necessary for therapeutic aerobic exercise (40%–60% heart rate reserve or (2 heart rate responses during bouts of walking revealed excessive workload that may limit walking (>80% heart rate reserve. Eight individuals with subacute stroke attending in-patient rehabilitation were recruited. Participants wore heart rate monitors and accelerometers during a typical rehabilitation day. Walking-related changes in heart rate and walking bout duration were determined. Patients did not meet the minimum cumulative requirements of walking intensity (>40% heart rate reserve and duration (>10 minutes continuously necessary for cardiorespiratory benefit. Only one patient exceeded 80% heart rate reserve. The absence of significant increases in heart rate associated with walking reveals that patients chose to walk at speeds well below a level that has meaningful cardiorespiratory health benefits. Additionally, cardiorespiratory workload is unlikely to limit participation in walking. Measurement of heart rate and walking during in-patient rehabilitation may be a useful approach to encourage patients to increase the overall physical activity and to help facilitate recovery.

Transit-Related Walking to Work in Promoting Physical Activity.

Science.gov (United States)

Yu, Chia-Yuan; Lin, Hsien-Chang

2015-04-01

Transit-related walking to work is a potential strategy for incorporating physical activity into daily life and promoting health benefits. This study estimated the transit-related walking time for work trips on the journey to and from work and examined the predictors of transit users who walked to/from transit and the workplace and those who walked 30 minutes or more per day. This study used the 2009 National Household Travel Survey and identified 772 subjects who took transit to/from work, 355 subjects who walked to/from transit and the workplace, and 145 subjects who walked 30 minutes or more per day among the 40,659 workers. Weighted logistic regressions were used for the analysis. Of the people who walked to/from transit and the workplace, 40.9% walked 30 minutes or more per day. The weighted logistic regressions revealed that low-income groups and workers living in high population density areas were more likely to walk to/from transit and the workplace. Workers living in high population density areas were more likely to walk 30 minutes or more per day. Transit-related walking to work provides an opportunity to increase physical activity levels and to meet the physical activity recommendations.

Influence of neuromuscular noise and walking speed on fall risk and dynamic stability in a 3D dynamic walking model.

Science.gov (United States)

Roos, Paulien E; Dingwell, Jonathan B

2013-06-21

Older adults and those with increased fall risk tend to walk slower. They may do this voluntarily to reduce their fall risk. However, both slower and faster walking speeds can predict increased risk of different types of falls. The mechanisms that contribute to fall risk across speeds are not well known. Faster walking requires greater forward propulsion, generated by larger muscle forces. However, greater muscle activation induces increased signal-dependent neuromuscular noise. These speed-related increases in neuromuscular noise may contribute to the increased fall risk observed at faster walking speeds. Using a 3D dynamic walking model, we systematically varied walking speed without and with physiologically-appropriate neuromuscular noise. We quantified how actual fall risk changed with gait speed, how neuromuscular noise affected speed-related changes in fall risk, and how well orbital and local dynamic stability measures predicted changes in fall risk across speeds. When we included physiologically-appropriate noise to the 'push-off' force in our model, fall risk increased with increasing walking speed. Changes in kinematic variability, orbital, and local dynamic stability did not predict these speed-related changes in fall risk. Thus, the increased neuromuscular variability that results from increased signal-dependent noise that is necessitated by the greater muscular force requirements of faster walking may contribute to the increased fall risk observed at faster walking speeds. The lower fall risk observed at slower speeds supports experimental evidence that slowing down can be an effective strategy to reduce fall risk. This may help explain the slower walking speeds observed in older adults and others. Copyright © 2013 Elsevier Ltd. All rights reserved.

Some Metric Properties of Planar Gaussian Free Field

Science.gov (United States)

Goswami, Subhajit

In this thesis we study the properties of some metrics arising from two-dimensional Gaussian free field (GFF), namely the Liouville first-passage percolation (Liouville FPP), the Liouville graph distance and an effective resistance metric. In Chapter 1, we define these metrics as well as discuss the motivations for studying them. Roughly speaking, Liouville FPP is the shortest path metric in a planar domain D where the length of a path P is given by ∫Pe gammah(z)|dz| where h is the GFF on D and gamma > 0. In Chapter 2, we present an upper bound on the expected Liouville FPP distance between two typical points for small values of gamma (the near-Euclidean regime). A similar upper bound is derived in Chapter 3 for the Liouville graph distance which is, roughly, the minimal number of Euclidean balls with comparable Liouville quantum gravity (LQG) measure whose union contains a continuous path between two endpoints. Our bounds seem to be in disagreement with Watabiki's prediction (1993) on the random metric of Liouville quantum gravity in this regime. The contents of these two chapters are based on a joint work with Jian Ding. In Chapter 4, we derive some asymptotic estimates for effective resistances on a random network which is defined as follows. Given any gamma > 0 and for eta = {etav}v∈Z2 denoting a sample of the two-dimensional discrete Gaussian free field on Z2 pinned at the origin, we equip the edge ( u, v) with conductance egamma(etau + eta v). The metric structure of effective resistance plays a crucial role in our proof of the main result in Chapter 4. The primary motivation behind this metric is to understand the random walk on Z 2 where the edge (u, v) has weight egamma(etau + etav). Using the estimates from Chapter 4 we show in Chapter 5 that for almost every eta, this random walk is recurrent and that, with probability tending to 1 as T → infinity, the return probability at time 2T decays as T-1+o(1). In addition, we prove a version of subdiffusive

Self-avoiding polygons and walks in slits

International Nuclear Information System (INIS)

Alvarez, J; Whittington, S G; Rensburg, E J Janse van; Soteros, C E

2008-01-01

A polymer in a confined geometry may be modeled by a self-avoiding walk or a self-avoiding polygon confined between two parallel walls. In two dimensions, this model involves self-avoiding walks or self-avoiding polygons in the square lattice between two parallel confining lines. Interactions of the polymer with the confining walls are introduced by energy terms associated with edges in the walk or polygon which are at or near the confining lines. We use transfer-matrix methods to investigate the forces between the walk or polygon and the confining lines, as well as to investigate the effects of the confining slit's width and of the energy terms on the thermodynamic properties of the walks or polygons in several models. The phase diagram found for the self-avoiding walk models is qualitatively similar to the phase diagram of a directed walk model confined between two parallel lines, as was previously conjectured. However, the phase diagram of one of our polygon models is found to be significantly different and we present numerical data to support this. For that particular model we prove that, for any finite values of the energy terms, there are an infinite number of slit widths where a polygon will induce a steric repulsion between the confining lines

The value of filtered planar images in pediatric DMSA scans

International Nuclear Information System (INIS)

Mohammed, A.M.; Naddaf, S.Y.; Elgazzar, A.H.; Al-Abdul Salam, A.A.; Omar, A.A.

2006-01-01

The study was designed to demonstrate the value of filtered planar images in paediatric DMSA scanning. One hundred and seventy three patients ranged in age from 15 days to 12 years (mean: 4.3 years) with urinary tract infection (UTI) and clinical and/or laboratory suspicion of acute pyelonephritis (APN) were retrospectively studied. Planar images were filtered using Butterworth filter. The scan findings were reported as positive, negative or equivocal for cortical defects. Each scan was read in a double-blind fashion by two nuclear medicine physicians to evaluate inter-observer variations. Each kidney was divided into three zones, upper, middle and lower, and each zone was graded as positive, negative or equivocal for the presence of renal defects. Renal cortical defects were found in 66 patients (91 kidneys and 186 zones) with filtered images, 58 patients (81 kidneys and 175 zones) with planar images, and 69 patients (87 kidneys and 180 zones) with SPECT images. McNemar's test revealed statistically significant difference between filtered and planar images (p=0.038 for patients, 0.021 for kidneys and 0.034 for number of zones). Inter-observer agreement was 0.877 for filtered images, 0.915 for planar images and 0.915 for SPECT images. It was concluded that filtered planar images of renal cortex are comparable to SPECT images and can be used effectively in place of SPECT, when required, to shorten imaging time and eliminate motion artifacts, especially in the paediatric population. (author)

Modeling and analysis of a novel planar eddy current damper

Science.gov (United States)

Zhang, He; Kou, Baoquan; Jin, Yinxi; Zhang, Lu; Zhang, Hailin; Li, Liyi

2014-05-01

In this paper, a novel 2-DOF permanent magnet planar eddy current damper is proposed, of which the stator is made of a copper plate and the mover is composed of two orthogonal 1-D permanent magnet arrays with a double sided structure. The main objective of the planar eddy current damper is to provide two orthogonal damping forces for dynamic systems like the 2-DOF high precision positioning system. Firstly, the basic structure and the operating principle of the planar damper are introduced. Secondly, the analytical model of the planar damper is established where the magnetic flux density distribution of the permanent magnet arrays is obtained by using the equivalent magnetic charge method and the image method. Then, the analytical expressions of the damping force and damping coefficient are derived. Lastly, to verify the analytical model, the finite element method (FEM) is adopted for calculating the flux density and a planar damper prototype is manufactured and thoroughly tested. The results from FEM and experiments are in good agreement with the ones from the analytical expressions indicating that the analytical model is reasonable and correct.

Dynamical analysis of surface-insulated planar wire array Z-pinches

Science.gov (United States)

Li, Yang; Sheng, Liang; Hei, Dongwei; Li, Xingwen; Zhang, Jinhai; Li, Mo; Qiu, Aici

2018-05-01

The ablation and implosion dynamics of planar wire array Z-pinches with and without surface insulation are compared and discussed in this paper. This paper first presents a phenomenological model named the ablation and cascade snowplow implosion (ACSI) model, which accounts for the ablation and implosion phases of a planar wire array Z-pinch in a single simulation. The comparison between experimental data and simulation results shows that the ACSI model could give a fairly good description about the dynamical characteristics of planar wire array Z-pinches. Surface insulation introduces notable differences in the ablation phase of planar wire array Z-pinches. The ablation phase is divided into two stages: insulation layer ablation and tungsten wire ablation. The two-stage ablation process of insulated wires is simulated in the ACSI model by updating the formulas describing the ablation process.

Distracted walking: Examining the extent to pedestrian safety problems

Directory of Open Access Journals (Sweden)

Judith Mwakalonge

2015-10-01

Full Text Available Pedestrians, much like drivers, have always been engaged in multi-tasking like using hand-held devices, listening to music, snacking, or reading while walking. The effects are similar to those experienced by distracted drivers. However, distracted walking has not received similar policies and effective interventions as distracted driving to improve pedestrian safety. This study reviewed the state-of-practice on policies, campaigns, available data, identified research needs, and opportunities pertaining to distracted walking. A comprehensive review of literature revealed that some of the agencies/organizations disseminate useful information about certain distracting activities that pedestrians should avoid while walking to improve their safety. Various walking safety rules/tips have been given, such as not wearing headphones or talking on a cell phone while crossing a street, keeping the volume down, hanging up the phone while walking, being aware of traffic, and avoiding distractions like walking with texting. The majority of the past observational-based and experimental-based studies reviewed in this study on distracted walking is in agreement that there is a positive correlation between distraction and unsafe walking behavior. However, limitations of the existing crash data suggest that distracted walking may not be a severe threat to the public health. Current pedestrian crash data provide insufficient information for researchers to examine the extent to which distracted walking causes and/or contributes to actual pedestrian safety problems.

I Walk My Dog Because It Makes Me Happy: A Qualitative Study to Understand Why Dogs Motivate Walking and Improved Health.

Science.gov (United States)

Westgarth, Carri; Christley, Robert M; Marvin, Garry; Perkins, Elizabeth

2017-08-19

Dog walking is a popular everyday physical activity. Dog owners are generally more active than non-owners, but some rarely walk with their dog. The strength of the dog-owner relationship is known to be correlated with dog walking, and this qualitative study investigates why. Twenty-six interviews were combined with autoethnography of dog walking experiences. Dog walking was constructed as "for the dog", however, owners represented their dog's needs in a way which aligned with their own. Central to the construction of need was perceptions of dog personality and behaviour. Owners reported deriving positive outcomes from dog walking, most notably, feelings of "happiness", but these were "contingent" on the perception that their dogs were enjoying the experience. Owner physical activity and social interaction were secondary bonuses but rarely motivating. Perceptions and beliefs of owners about dog walking were continually negotiated, depending on how the needs of the owner and dog were constructed at that time. Complex social interactions with the "significant other" of a pet can strongly motivate human health behaviour. Potential interventions to promote dog walking need to account for this complexity and the effect of the dog-owner relationship on owner mental wellbeing.

Anisotropic Magnus Force in Type-II Superconductors with Planar Defects

Science.gov (United States)

Monroy, Ricardo Vega; Gomez, Eliceo Cortés

2015-02-01

The effect of planar defects on the Magnus force in type-II superconductors is studied. It is shown that the deformation of the vortex due to the presence of a planar defect leads to a local decrease in the mean free path of electrons in the vortex. This effect reduces the effective Magnus coefficient in normal direction to the planar defect, leading to an anisotropic regime of the Hall effect. The presented developments here can qualitatively explain experimental observations of the anisotropic Hall effect in high- T c superconductors in the mixed state.

HP Ge planar detectors

International Nuclear Information System (INIS)

Gornov, M.G.; Gurov, Yu.B.; Soldatov, A.M.; Osipenko, B.P.; Yurkowski, J.; Podkopaev, O.I.

1989-01-01

Parameters of planar detectors manufactured of HP Ge are presented. The possibilities to use multilayer spectrometers on the base of such semiconductor detectors for nuclear physics experiments are discussed. It is shown that the obtained detectors including high square ones have spectrometrical characteristics close to limiting possible values. 9 refs.; 3 figs.; 1 tab

Slices: A shape-proxy based on planar sections

KAUST Repository

McCrae, James

2011-12-01

Minimalist object representations or shape-proxies that spark and inspire human perception of shape remain an incompletely understood, yet powerful aspect of visual communication. We explore the use of planar sections, i.e., the contours of intersection of planes with a 3D object, for creating shape abstractions, motivated by their popularity in art and engineering. We first perform a user study to show that humans do define consistent and similar planar section proxies for common objects. Interestingly, we observe a strong correlation between user-defined planes and geometric features of objects. Further we show that the problem of finding the minimum set of planes that capture a set of 3D geometric shape features is both NP-hard and not always the proxy a user would pick. Guided by the principles inferred from our user study, we present an algorithm that progressively selects planes to maximize feature coverage, which in turn influence the selection of subsequent planes. The algorithmic framework easily incorporates various shape features, while their relative importance values are computed and validated from the user study data. We use our algorithm to compute planar slices for various objects, validate their utility towards object abstraction using a second user study, and conclude showing the potential applications of the extracted planar slice shape proxies.

Running for exercise mitigates age-related deterioration of walking economy.

Directory of Open Access Journals (Sweden)

Justus D Ortega

Full Text Available Impaired walking performance is a key predictor of morbidity among older adults. A distinctive characteristic of impaired walking performance among older adults is a greater metabolic cost (worse economy compared to young adults. However, older adults who consistently run have been shown to retain a similar running economy as young runners. Unfortunately, those running studies did not measure the metabolic cost of walking. Thus, it is unclear if running exercise can prevent the deterioration of walking economy.To determine if and how regular walking vs. running exercise affects the economy of locomotion in older adults.15 older adults (69 ± 3 years who walk ≥ 30 min, 3x/week for exercise, "walkers" and 15 older adults (69 ± 5 years who run ≥ 30 min, 3x/week, "runners" walked on a force-instrumented treadmill at three speeds (0.75, 1.25, and 1.75 m/s. We determined walking economy using expired gas analysis and walking mechanics via ground reaction forces during the last 2 minutes of each 5 minute trial. We compared walking economy between the two groups and to non-aerobically trained young and older adults from a prior study.Older runners had a 7-10% better walking economy than older walkers over the range of speeds tested (p = .016 and had walking economy similar to young sedentary adults over a similar range of speeds (p =  .237. We found no substantial biomechanical differences between older walkers and runners. In contrast to older runners, older walkers had similar walking economy as older sedentary adults (p =  .461 and ∼ 26% worse walking economy than young adults (p<.0001.Running mitigates the age-related deterioration of walking economy whereas walking for exercise appears to have minimal effect on the age-related deterioration in walking economy.

Audio-haptic interaction in simulated walking experiences

DEFF Research Database (Denmark)

Serafin, Stefania

2011-01-01

and interchangeable use of the haptic and auditory modality in floor interfaces, and for the synergy of perception and action in capturing and guiding human walking. We describe the technology developed in the context of this project, together with some experiments performed to evaluate the role of auditory......In this paper an overview of the work conducted on audio-haptic physically based simulation and evaluation of walking is provided. This work has been performed in the context of the Natural Interactive Walking (NIW) project, whose goal is to investigate possibilities for the integrated...... and haptic feedback in walking tasks....

Quasi-planar elemental clusters in pair interactions approximation

Directory of Open Access Journals (Sweden)

Chkhartishvili Levan

2016-01-01

Full Text Available The pair-interactions approximation, when applied to describe elemental clusters, only takes into account bonding between neighboring atoms. According to this approach, isomers of wrapped forms of 2D clusters – nanotubular and fullerene-like structures – and truly 3D clusters, are generally expected to be more stable than their quasi-planar counterparts. This is because quasi-planar clusters contain more peripheral atoms with dangling bonds and, correspondingly, fewer atoms with saturated bonds. However, the differences in coordination numbers between central and peripheral atoms lead to the polarization of bonds. The related corrections to the molar binding energy can make small, quasi-planar clusters more stable than their 2D wrapped allotropes and 3D isomers. The present work provides a general theoretical frame for studying the relative stability of small elemental clusters within the pair interactions approximation.

A case study of energy expenditure based on walking speed reduction during walking upstairs situation at a staircase in FKAAS, UTHM, Johor building

Science.gov (United States)

Abustan, M. S.; Ali, M. F. M.; Talib, S. H. A.

2018-04-01

Walking velocity is a vector quantity that can be determined by calculating the time taken and displacement of a moving objects. In Malaysia, there are very few researches that were done to determine the walking velocity of citizens to be compared with other countries such as the study about walking upstairs during evacuation process is important when emergency case happen, if there are people in underground garages, they have to walk upstairs for exits and look for shelter and the walking velocity of pedestrian in such cases are necessary to be analysed. Therefore, the objective of this study is to determine the walking speed of pedestrian during walking upstairs situation, finding the relationship between pedestrian walking speed and the characteristics of the pedestrian as well as analysing the energy reduction by comparing the walking speed of pedestrian at the beginning and at the end of staircase. In this case study, an experiment was done to determine the average walking speed of pedestrian. The pedestrian has been selected from different gender, physical character, and age. Based on the data collected, the average normal walking speed of male pedestrian was 1.03 m/s while female was 1.08 m/s. During walking upstairs, the walking speed of pedestrian decreased as the number of floor increased. The average speed for the first stairwell was 0.90 m/s and the number decreased to 0.73 m/s for the second stairwell. From the reduction of speed, the energy used has been calculated and the average kinetic energy used was 1.69 J. Hence, the data collected can be used for further research of staircase design and plan of evacuation process.

Application of holographic elements in displays and planar illuminators

Science.gov (United States)

Putilin, Andrew; Gustomiasov, Igor

2007-05-01

Holographic Optical Elements (HOE's) on planar waveguides can be used to design the planar optics for backlit units, color selectors or filters, lenses for virtual reality displays. The several schemes for HOE recording are proposed to obtain planar stereo backlit unit and private eye displays light source. It is shown in the paper that the specific light transformation grating permits to construct efficient backlit units for display holograms and LCD. Several schemes of reflection/transmission backlit units and scattering films based on holographic optical elements are also proposed. The performance of the waveguide HOE can be optimized using the parameters of recording scheme and etching parameters. The schemes of HOE application are discussed and some experimental results are shown.

Walking Tips for Older Adults

Science.gov (United States)

... you can continue your walking program. Don’t let a cane or walker stop you It’s OK to use your cane or walker if you already have one. These can improve your balance and help take the load off painful joints. Aim for the right pace Try to walk as fast as you ...

Group theoretical construction of planar noncommutative phase spaces

Energy Technology Data Exchange (ETDEWEB)

Ngendakumana, Ancille, E-mail: nancille@yahoo.fr; Todjihoundé, Leonard, E-mail: leonardt@imsp.uac.org [Institut de Mathématiques et des Sciences Physiques (IMSP), Porto-Novo (Benin); Nzotungicimpaye, Joachim, E-mail: kimpaye@kie.ac.rw [Kigali Institute of Education (KIE), Kigali (Rwanda)

2014-01-15

Noncommutative phase spaces are generated and classified in the framework of centrally extended anisotropic planar kinematical Lie groups as well as in the framework of noncentrally abelian extended planar absolute time Lie groups. Through these constructions the coordinates of the phase spaces do not commute due to the presence of naturally introduced fields giving rise to minimal couplings. By symplectic realizations methods, physical interpretations of generators coming from the obtained structures are given.

Group theoretical construction of planar noncommutative phase spaces

International Nuclear Information System (INIS)

Ngendakumana, Ancille; Todjihoundé, Leonard; Nzotungicimpaye, Joachim

2014-01-01

Noncommutative phase spaces are generated and classified in the framework of centrally extended anisotropic planar kinematical Lie groups as well as in the framework of noncentrally abelian extended planar absolute time Lie groups. Through these constructions the coordinates of the phase spaces do not commute due to the presence of naturally introduced fields giving rise to minimal couplings. By symplectic realizations methods, physical interpretations of generators coming from the obtained structures are given

Design of wheel-type walking-assist device

International Nuclear Information System (INIS)

Jung, Seung Ho; Kim, Seung Ho; Kim, Chang Hoi; Seo, Yong Chil; Jung, Kyung Min; Lee, Sung Uk

2006-03-01

In this research, a outdoor wheel-type walking-assist device is developed to help an elder having a poor muscular strength at legs for walking, sitting and standing up easily at outdoors, and also for going and downing stairs. In conceptually designing, the environments of an elder's activity, the size of an elder's body and a necessary function of helping an elder are considered. This device has 4 wheels for stability. When an elder walks in incline plane with the proposed device, a rear-wing is rotated to keep the supporting device horizontal, regardless of an angle of inclination. A height-controlling device, which can control the height of the supporting device for adjusting an elder's height, is varied vertically to help an elder to sit and stand-up easily. Moreover, a outdoor wheel-type walking-assist device is conceptually designed and is made. In order to design it, the preview research is investigated firstly. On the basis of the proposed walking-assist device, the outdoor walking-assist device is designed and made. The outdoor wheel-type walking-assist device can go and down stairs automatically. This device go up and down the stair of having maximum 20cm height and an angle of 25 degrees with maximum 4 sec/stairs speed, and move at flatland with 60cm/sec speed

Searching via walking: How to find a marked clique of a complete graph using quantum walks

International Nuclear Information System (INIS)

Hillery, Mark; Reitzner, Daniel; Buzek, Vladimir

2010-01-01

We show how a quantum walk can be used to find a marked edge or a marked complete subgraph of a complete graph. We employ a version of a quantum walk, the scattering walk, which lends itself to experimental implementation. The edges are marked by adding elements to them that impart a specific phase shift to the particle as it enters or leaves the edge. If the complete graph has N vertices and the subgraph has K vertices, the particle becomes localized on the subgraph in O(N/K) steps. This leads to a quantum search that is quadratically faster than a corresponding classical search. We show how to implement the quantum walk using a quantum circuit and a quantum oracle, which allows us to specify the resources needed for a quantitative comparison of the efficiency of classical and quantum searches--the number of oracle calls.

Ways of Walking

DEFF Research Database (Denmark)

Eslambolchilar, Parisa; Bødker, Mads; Chamberlain, Alan

2016-01-01

It seems logical to argue that mobile computing technologies are intended for use "on-the-go." However, on closer inspection, the use of mobile technologies pose a number of challenges for users who are mobile, particularly moving around on foot. In engaging with such mobile technologies and thei......It seems logical to argue that mobile computing technologies are intended for use "on-the-go." However, on closer inspection, the use of mobile technologies pose a number of challenges for users who are mobile, particularly moving around on foot. In engaging with such mobile technologies...... and their envisaged development, we argue that interaction designers must increasingly consider a multitude of perspectives that relate to walking in order to frame design problems appropriately. In this paper, we consider a number of perspectives on walking, and we discuss how these may inspire the design of mobile...... technologies. Drawing on insights from non-representational theory, we develop a partial vocabulary with which to engage with qualities of pedestrian mobility, and we outline how taking more mindful approaches to walking may enrich and inform the design space of handheld technologies....

Can environmental improvement change the population distribution of walking?

Science.gov (United States)

Panter, Jenna; Ogilvie, David

2017-06-01

Few studies have explored the impact of environmental change on walking using controlled comparisons. Even fewer have examined whose behaviour changes and how. In a natural experimental study of new walking and cycling infrastructure, we explored changes in walking, identified groups who changed in similar ways and assessed whether exposure to the infrastructure was associated with trajectories of walking. 1257 adults completed annual surveys assessing walking, sociodemographic and health characteristics and use of the infrastructure (2010-2012). Residential proximity to the new routes was assessed objectively. We used latent growth curve models to assess change in total walking, walking for recreation and for transport, used simple descriptive analysis and latent class analysis (LCA) to identify groups who changed in similar ways and examined factors associated with group membership using multinomial regression. LCA identified five trajectories, characterised by consistently low levels; consistently high levels; decreases; short-lived increases; and sustained increases. Those with lower levels of education and lower incomes were more likely to show both short-lived and sustained increases in walking for transport. However, those with lower levels of education were less likely to take up walking. Proximity to the intervention was associated with both uptake of and short-lived increases in walking for transport. Environmental improvement encouraged the less active to take up walking for transport, as well as encouraging those who were already active to walk more. Further research should disentangle the role of socioeconomic characteristics in determining use of new environments and changes in walking. Published by the BMJ Publishing Group Limited. For permission to use (where not already granted under a licence) please go to http://www.bmj.com/company/products-services/rights-and-licensing/.

Miniaturized Air-Driven Planar Magnetic Generators

Directory of Open Access Journals (Sweden)

Jingjing Zhao

2015-10-01

Full Text Available This paper presents the design, analysis, fabrication and testing of two miniaturized air-driven planar magnetic generators. In order to reduce the magnetic resistance torque, Generator 1 establishes a static magnetic field by consisting a multilayer planar coil as the stator and two multi-pole permanent-magnet (PM rotors on both sides of the coil. To further decrease the starting torque and save more space, Generator 2 adopts the multilayer planar coil as the rotor and the multi-pole PMs as the stator, eliminating the casing without compromising the magnetic structure or output performance. The prototypes were tested gathering energy from wind which can work at a low wind speed of 1~2 m/s. Prototype of Generator 1 is with a volume of 2.61 cm3 and its normalized voltage reaches 485 mV/krpm. Prototype of Generator 2 has a volume of 0.92 cm3 and a normalized voltage as high as 538 mV/krpm. Additionally, output voltage can be estimated at better than 96% accuracy by the theoretical model developed in this paper. The two micro generators are capable of producing substantial electricity with little volume to serve as compact power conversion devices.

Hypotensive response after water-walking and land-walking exercise sessions in healthy trained and untrained women

Directory of Open Access Journals (Sweden)

Bocalini DS

2011-08-01

Full Text Available Daniel Rodriguez1, Valter Silva2, Jonato Prestes3, Roberta Luksevicius Rica4, Andrey Jorge Serra5, Danilo Sales Bocalini6, Francisco Luciano Pontes Junior71São Judas Tadeu University, São Paulo, SP, Brazil; 2College of Physical Education of Sorocaba, Sorocaba, SP, Brazil; 3Graduation Program in Physical Education, Catholic University of Brasilia, Brasilia-DF, Brazil; 4Department of Physical Education, Arbos College, São Bernardo do Campo, SP, Brazil; 5Department of Physical Education and Laboratory of Rehabilitation Science, Nove de Julho University, São Paulo, SP, Brazil; 6Department of Medicine, Federal University of São Paulo – Escola Paulista de Medicina, São Paulo, SP, Brazil; 7School of Arts, Sciences and Humanities, University of São Paulo, São Paulo, SP, BrazilBackground: The aim of this study was to compare post-exercise hypotension after acute sessions of water-walking and land-walking in healthy trained and untrained women.Methods: Twenty-three untrained (n = 12 and trained (n = 11 normotensive women performed two walking sessions in water and on land at 40% of peak VO2 for 45 minutes. Systolic and diastolic blood pressure and mean arterial pressure were measured 15, 30, 45, and 60 minutes after the exercise sessions.Results: No differences were found between the groups for age and anthropometric parameters, but peak VO2 for the trained women (45 ± 8 mL/kg/minute was higher than for the untrained women (31 ± 3 mL/kg/minute. No differences were found between the groups with regard to systolic and diastolic blood pressure and mean arterial pressure after water immersion. The heart rate in the trained group (62 ± 3 beats per minute [bpm] was significantly lower (P < 0.05 than in the untrained group (72 ± 4 bpm on land, and after water immersion, this difference disappeared (58 ± 5 bpm in the trained women and 66 ± 5 bpm in the untrained women. Sixty minutes after water-walking, systolic blood pressure (108 ± 8 mmHg vs

Compliant walking appears metabolically advantageous at extreme step lengths.

Science.gov (United States)

Kim, Jaehoon; Bertram, John E A

2018-05-19

Humans alter gait in response to unusual gait circumstances to accomplish the task of walking. For instance, subjects spontaneously increase leg compliance at a step length threshold as step length increases. Here we test the hypothesis that this transition occurs based on the level of energy expenditure, where compliant walking becomes less energetically demanding at long step lengths. To map and compare the metabolic cost of normal and compliant walking as step length increases. 10 healthy individuals walked on a treadmill using progressively increasing step lengths (100%, 120%, 140% and 160% of preferred step length), in both normal and compliant leg walking as energy expenditure was recorded via indirect calorimetry. Leg compliance was controlled by lowering the center-of-mass trajectory during stance, forcing the leg to flex and extend as the body moved over the foot contact. For normal step lengths, compliant leg walking was more costly than normal walking gait, but compliant leg walking energetic cost did not increase as rapidly for longer step lengths. This led to an intersection between normal and compliant walking cost curves at 114% relative step length (regression analysis; r 2  = 0.92 for normal walking; r 2  = 0.65 for compliant walking). Compliant leg walking is less energetically demanding at longer step lengths where a spontaneous shift to compliant walking has been observed, suggesting the human motor control system is sensitive to energetic requirements and will employ alternate movement patterns if advantageous strategies are available. The transition could be attributed to the interplay between (i) leg work controlling body travel during single stance and (ii) leg work to control energy loss in the step-to-step transition. Compliant leg walking requires more stance leg work at normal step lengths, but involves less energy loss at the step-to-step transition for very long steps. Copyright © 2018 Elsevier B.V. All rights reserved.

Running for exercise mitigates age-related deterioration of walking economy.

Science.gov (United States)

Ortega, Justus D; Beck, Owen N; Roby, Jaclyn M; Turney, Aria L; Kram, Rodger

2014-01-01

Impaired walking performance is a key predictor of morbidity among older adults. A distinctive characteristic of impaired walking performance among older adults is a greater metabolic cost (worse economy) compared to young adults. However, older adults who consistently run have been shown to retain a similar running economy as young runners. Unfortunately, those running studies did not measure the metabolic cost of walking. Thus, it is unclear if running exercise can prevent the deterioration of walking economy. To determine if and how regular walking vs. running exercise affects the economy of locomotion in older adults. 15 older adults (69 ± 3 years) who walk ≥ 30 min, 3x/week for exercise, "walkers" and 15 older adults (69 ± 5 years) who run ≥ 30 min, 3x/week, "runners" walked on a force-instrumented treadmill at three speeds (0.75, 1.25, and 1.75 m/s). We determined walking economy using expired gas analysis and walking mechanics via ground reaction forces during the last 2 minutes of each 5 minute trial. We compared walking economy between the two groups and to non-aerobically trained young and older adults from a prior study. Older runners had a 7-10% better walking economy than older walkers over the range of speeds tested (p = .016) and had walking economy similar to young sedentary adults over a similar range of speeds (p =  .237). We found no substantial biomechanical differences between older walkers and runners. In contrast to older runners, older walkers had similar walking economy as older sedentary adults (p =  .461) and ∼ 26% worse walking economy than young adults (peconomy whereas walking for exercise appears to have minimal effect on the age-related deterioration in walking economy.

Cavemen were better at depicting quadruped walking than modern artists: erroneous walking illustrations in the fine arts from prehistory to today.

Science.gov (United States)

Horvath, Gabor; Farkas, Etelka; Boncz, Ildiko; Blaho, Miklos; Kriska, Gyorgy

2012-01-01

The experts of animal locomotion well know the characteristics of quadruped walking since the pioneering work of Eadweard Muybridge in the 1880s. Most of the quadrupeds advance their legs in the same lateral sequence when walking, and only the timing of their supporting feet differ more or less. How did this scientific knowledge influence the correctness of quadruped walking depictions in the fine arts? Did the proportion of erroneous quadruped walking illustrations relative to their total number (i.e. error rate) decrease after Muybridge? How correctly have cavemen (upper palaeolithic Homo sapiens) illustrated the walking of their quadruped prey in prehistoric times? The aim of this work is to answer these questions. We have analyzed 1000 prehistoric and modern artistic quadruped walking depictions and determined whether they are correct or not in respect of the limb attitudes presented, assuming that the other aspects of depictions used to determine the animals gait are illustrated correctly. The error rate of modern pre-Muybridgean quadruped walking illustrations was 83.5%, much more than the error rate of 73.3% of mere chance. It decreased to 57.9% after 1887, that is in the post-Muybridgean period. Most surprisingly, the prehistoric quadruped walking depictions had the lowest error rate of 46.2%. All these differences were statistically significant. Thus, cavemen were more keenly aware of the slower motion of their prey animals and illustrated quadruped walking more precisely than later artists.

Cavemen were better at depicting quadruped walking than modern artists: erroneous walking illustrations in the fine arts from prehistory to today.

Directory of Open Access Journals (Sweden)

Gabor Horvath

Full Text Available The experts of animal locomotion well know the characteristics of quadruped walking since the pioneering work of Eadweard Muybridge in the 1880s. Most of the quadrupeds advance their legs in the same lateral sequence when walking, and only the timing of their supporting feet differ more or less. How did this scientific knowledge influence the correctness of quadruped walking depictions in the fine arts? Did the proportion of erroneous quadruped walking illustrations relative to their total number (i.e. error rate decrease after Muybridge? How correctly have cavemen (upper palaeolithic Homo sapiens illustrated the walking of their quadruped prey in prehistoric times? The aim of this work is to answer these questions. We have analyzed 1000 prehistoric and modern artistic quadruped walking depictions and determined whether they are correct or not in respect of the limb attitudes presented, assuming that the other aspects of depictions used to determine the animals gait are illustrated correctly. The error rate of modern pre-Muybridgean quadruped walking illustrations was 83.5%, much more than the error rate of 73.3% of mere chance. It decreased to 57.9% after 1887, that is in the post-Muybridgean period. Most surprisingly, the prehistoric quadruped walking depictions had the lowest error rate of 46.2%. All these differences were statistically significant. Thus, cavemen were more keenly aware of the slower motion of their prey animals and illustrated quadruped walking more precisely than later artists.

Biomechanical implications of walking with indigenous footwear.

Science.gov (United States)

Willems, Catherine; Stassijns, Gaetane; Cornelis, Wim; D'Août, Kristiaan

2017-04-01

This study investigates biomechanical implications of walking with indigenous "Kolhapuri" footwear compared to barefoot walking among a population of South Indians. Ten healthy adults from South India walked barefoot and indigenously shod at voluntary speed on an artificial substrate. The experiment was repeated outside, on a natural substrate. Data were collected from (1) a heel-mounted 3D-accelerometer recording peak impact at heel contact, (2) an ankle-mounted 3D-goniometer (plantar/dorsiflexion and inversion/eversion), and (3) sEMG electrodes at the m. tibialis anterior and the m. gastrocnemius medialis. Data show that the effect of indigenous footwear on the measured variables, compared to barefoot walking, is relatively small and consistent between substrates (even though subjects walked faster on the natural substrate). Walking barefoot, compared to shod walking yields higher impact accelerations, but the differences are small and only significant for the artificial substrate. The main rotations of the ankle joint are mostly similar between conditions. Only the shod condition shows a faster ankle rotation over the rapid eversion motion on the natural substrate. Maximal dorsiflexion in late stance differs between the footwear conditions on an artificial substrate, with the shod condition involving a less dorsiflexed ankle, and the plantar flexion at toe-off is more extreme when shod. Overall the activity pattern of the external foot muscles is similar. The indigenous footwear studied (Kolhapuri) seems to alter foot biomechanics only in a subtle way. While offering some degree of protection, walking in this type of footwear resembles barefoot gait and this type of indigenous footwear might be considered "minimal". © 2017 The Authors American Journal of Physical Anthropology Published by Wiley Periodicals, Inc.

I Walk My Dog Because It Makes Me Happy: A Qualitative Study to Understand Why Dogs Motivate Walking and Improved Health

Science.gov (United States)

Marvin, Garry; Perkins, Elizabeth

2017-01-01

Dog walking is a popular everyday physical activity. Dog owners are generally more active than non-owners, but some rarely walk with their dog. The strength of the dog–owner relationship is known to be correlated with dog walking, and this qualitative study investigates why. Twenty-six interviews were combined with autoethnography of dog walking experiences. Dog walking was constructed as “for the dog”, however, owners represented their dog’s needs in a way which aligned with their own. Central to the construction of need was perceptions of dog personality and behaviour. Owners reported deriving positive outcomes from dog walking, most notably, feelings of “happiness”, but these were “contingent” on the perception that their dogs were enjoying the experience. Owner physical activity and social interaction were secondary bonuses but rarely motivating. Perceptions and beliefs of owners about dog walking were continually negotiated, depending on how the needs of the owner and dog were constructed at that time. Complex social interactions with the “significant other” of a pet can strongly motivate human health behaviour. Potential interventions to promote dog walking need to account for this complexity and the effect of the dog-owner relationship on owner mental wellbeing. PMID:28825614

Generating random walks and polygons with stiffness in confinement

International Nuclear Information System (INIS)

Diao, Y; Ernst, C; Saarinen, S; Ziegler, U

2015-01-01

The purpose of this paper is to explore ways to generate random walks and polygons in confinement with a bias toward stiffness. Here the stiffness refers to the curvature angle between two consecutive edges along the random walk or polygon. The stiffer the walk (polygon), the smaller this angle on average. Thus random walks and polygons with an elevated stiffness have lower than expected curvatures. The authors introduced and studied several generation algorithms with a stiffness parameter s>0 that regulates the expected curvature angle at a given vertex in which the random walks and polygons are generated one edge at a time using conditional probability density functions. Our generating algorithms also allow the generation of unconfined random walks and polygons with any desired mean curvature angle. In the case of random walks and polygons confined in a sphere of fixed radius, we observe that, as expected, stiff random walks or polygons are more likely to be close to the confinement boundary. The methods developed here require that the random walks and random polygons be rooted at the center of the confinement sphere. (paper)

Walking Robots Dynamic Control Systems on an Uneven Terrain

Directory of Open Access Journals (Sweden)

MUNTEANU, M. S.

2010-05-01

Full Text Available The paper presents ZPM dynamic control of walking robots, developing an open architecture real time control multiprocessor system, in view of obtaining new capabilities for walking robots. The complexity of the movement mechanism of a walking robot was taken into account, being a repetitive tilting process with numerous instable movements and which can lead to its turnover on an uneven terrain. The control system architecture for the dynamic robot walking is presented in correlation with the control strategy which contains three main real time control loops: balance robot control using sensorial feedback, walking diagram control with periodic changes depending on the sensorial information during each walk cycle, predictable movement control based on a quick decision from the previous experimental data. The results obtained through simulation and experiments show an increase in mobility, stability in real conditions and obtaining of high performances related to the possibility of moving walking robots on terrains with a configuration as close as possible to real situations, respectively developing new technological capabilities of the walking robot control systems for slope movement and walking by overtaking or going around obstacles.

Routed planar networks

Directory of Open Access Journals (Sweden)

David J. Aldous

2016-04-01

Full Text Available Modeling a road network as a planar graph seems very natural. However, in studying continuum limits of such networks it is useful to take {\\em routes} rather than {\\em edges} as primitives. This article is intended to introduce the relevant (discrete setting notion of {\\em routed network} to graph theorists. We give a naive classification of all 71 topologically different such networks on 4 leaves, and pose a variety of challenging research questions.

Quantum walk with one variable absorbing boundary

International Nuclear Information System (INIS)

Wang, Feiran; Zhang, Pei; Wang, Yunlong; Liu, Ruifeng; Gao, Hong; Li, Fuli

2017-01-01

Quantum walks constitute a promising ingredient in the research on quantum algorithms; consequently, exploring different types of quantum walks is of great significance for quantum information and quantum computation. In this study, we investigate the progress of quantum walks with a variable absorbing boundary and provide an analytical solution for the escape probability (the probability of a walker that is not absorbed by the boundary). We simulate the behavior of escape probability under different conditions, including the reflection coefficient, boundary location, and initial state. Moreover, it is also meaningful to extend our research to the situation of continuous-time and high-dimensional quantum walks. - Highlights: • A novel scheme about quantum walk with variable boundary is proposed. • The analytical results of the survival probability from the absorbing boundary. • The behavior of survival probability under different boundary conditions. • The influence of different initial coin states on the survival probability.

Two Legged Walking Robot

OpenAIRE

Kraus, V.

2015-01-01

The aim of this work is to construct a two-legged wirelessly controlled walking robot. This paper describes the construction of the robot, its control electronics, and the solution of the wireless control. The article also includes a description of the application to control the robot. The control electronics of the walking robot are built using the development kit Arduino Mega, which is enhanced with WiFi module allowing the wireless control, a set of ultrasonic sensors for detecting obstacl...

Efficient quantum circuit implementation of quantum walks

International Nuclear Information System (INIS)

Douglas, B. L.; Wang, J. B.

2009-01-01

Quantum walks, being the quantum analog of classical random walks, are expected to provide a fruitful source of quantum algorithms. A few such algorithms have already been developed, including the 'glued trees' algorithm, which provides an exponential speedup over classical methods, relative to a particular quantum oracle. Here, we discuss the possibility of a quantum walk algorithm yielding such an exponential speedup over possible classical algorithms, without the use of an oracle. We provide examples of some highly symmetric graphs on which efficient quantum circuits implementing quantum walks can be constructed and discuss potential applications to quantum search for marked vertices along these graphs.

Planar waveguide laser in Er/Al-doped germanosilicate

DEFF Research Database (Denmark)

Guldberg-Kjær, Søren Andreas; Hübner, Jörg; Kristensen, Martin

1999-01-01

A singlemode DBR laser is demonstrated in an Er/Al-doped germanosilicate planar waveguide. 0.4 mW of output power has been obtained at 1.553 mu m using internal Bragg reflectors produced by UV-induced index modulations.......A singlemode DBR laser is demonstrated in an Er/Al-doped germanosilicate planar waveguide. 0.4 mW of output power has been obtained at 1.553 mu m using internal Bragg reflectors produced by UV-induced index modulations....

On the physical realizability of quantum stochastic walks

Science.gov (United States)

Taketani, Bruno; Govia, Luke; Schuhmacher, Peter; Wilhelm, Frank

Quantum walks are a promising framework that can be used to both understand and implement quantum information processing tasks. The recently developed quantum stochastic walk combines the concepts of a quantum walk and a classical random walk through open system evolution of a quantum system, and have been shown to have applications in as far reaching fields as artificial intelligence. However, nature puts significant constraints on the kind of open system evolutions that can be realized in a physical experiment. In this work, we discuss the restrictions on the allowed open system evolution, and the physical assumptions underpinning them. We then introduce a way to circumvent some of these restrictions, and simulate a more general quantum stochastic walk on a quantum computer, using a technique we call quantum trajectories on a quantum computer. We finally describe a circuit QED approach to implement discrete time quantum stochastic walks.

Does walking strategy in older people change as a function of walking distance?

Science.gov (United States)

Najafi, Bijan; Helbostad, Jorunn L; Moe-Nilssen, Rolf; Zijlstra, Wiebren; Aminian, Kamiar

2009-02-01

This study investigates whether the spatio-temporal parameters of gait in the elderly vary as a function of walking distance. The gait pattern of older subjects (n=27) over both short (SWDLWD>20 m) walking was evaluated using an ambulatory device consisting of body-worn sensors (Physilog). The stride velocity (SV), gait cycle time (GCT), and inter-cycle variability of each parameter (CV) were evaluated for each subject. Analysis was undertaken after evaluating the errors and the test-retest reliability of the Physilog device compared with an electronic walkway system (GaitRite) over the SWD with different walking speeds. While both systems were highly reliable with respect to the SV and GCT parameters (ICC>0.82), agreement for the gait variability was poor. Interestingly, our data revealed that the measured gait parameters over SWD and LWD were significantly different. LWD trials had a mean increase of 5.2% (pLWD trials decreased by an average of 1% relative to the SWD case, the drop was not significant. Moreover, reliability for gait variability measures was poor, irrespective of the instrument and despite a moderate improvement for LWD trials. Taken together, our findings indicate that for valid and reliable comparisons, test and retest should be performed under identical distance conditions. Furthermore, our findings suggest that the older subjects may choose different walking strategies for SWD and LWD conditions.

More Adults Are Walking PSA (:60)

Centers for Disease Control (CDC) Podcasts

This 60 second PSA is based on the August 2012 CDC Vital Signs report. While more adults are walking, only half get the recommended amount of physical activity. Listen to learn how communities, employers, and individuals may help increase walking.

Rhythmic walking interaction with auditory feedback

DEFF Research Database (Denmark)

Maculewicz, Justyna; Jylhä, Antti; Serafin, Stefania

2015-01-01

We present an interactive auditory display for walking with sinusoidal tones or ecological, physically-based synthetic walking sounds. The feedback is either step-based or rhythmic, with constant or adaptive tempo. In a tempo-following experiment, we investigate different interaction modes...

Stride rate and walking intensity in healthy older adults.

Science.gov (United States)

Peacock, Leslie; Hewitt, Allan; Rowe, David A; Sutherland, Rona

2014-04-01

The study investigated (a) walking intensity (stride rate and energy expenditure) under three speed instructions; (b) associations between stride rate, age, height, and walking intensity; and (c) synchronization between stride rate and music tempo during overground walking in a population of healthy older adults. Twenty-nine participants completed 3 treadmill-walking trials and 3 overground-walking trials at 3 self-selected speeds. Treadmill VO2 was measured using indirect calorimetry. Stride rate and music tempo were recorded during overground-walking trials. Mean stride rate exceeded minimum thresholds for moderate to vigorous physical activity (MVPA) under slow (111.41 ± 11.93), medium (118.17 ± 11.43), and fast (123.79 ± 11.61) instructions. A multilevel model showed that stride rate, age, and height have a significant effect (p Music can be a useful way to guide walking cadence.

Continuous-time quantum random walks require discrete space

International Nuclear Information System (INIS)

Manouchehri, K; Wang, J B

2007-01-01

Quantum random walks are shown to have non-intuitive dynamics which makes them an attractive area of study for devising quantum algorithms for long-standing open problems as well as those arising in the field of quantum computing. In the case of continuous-time quantum random walks, such peculiar dynamics can arise from simple evolution operators closely resembling the quantum free-wave propagator. We investigate the divergence of quantum walk dynamics from the free-wave evolution and show that, in order for continuous-time quantum walks to display their characteristic propagation, the state space must be discrete. This behavior rules out many continuous quantum systems as possible candidates for implementing continuous-time quantum random walks

Continuous-time quantum random walks require discrete space

Science.gov (United States)

Manouchehri, K.; Wang, J. B.

2007-11-01

Quantum random walks are shown to have non-intuitive dynamics which makes them an attractive area of study for devising quantum algorithms for long-standing open problems as well as those arising in the field of quantum computing. In the case of continuous-time quantum random walks, such peculiar dynamics can arise from simple evolution operators closely resembling the quantum free-wave propagator. We investigate the divergence of quantum walk dynamics from the free-wave evolution and show that, in order for continuous-time quantum walks to display their characteristic propagation, the state space must be discrete. This behavior rules out many continuous quantum systems as possible candidates for implementing continuous-time quantum random walks.

Planar channeling in superlattices: Theory

International Nuclear Information System (INIS)

Ellison, J.A.; Picraux, S.T.; Allen, W.R.; Chu, W.K.

1988-01-01

The well-known continuum model theory for planar channeled energetic particles in perfect crystals is extended to layered crystalline structures and applied to superlattices. In a strained-layer structure, the planar channels with normals which are not perpendicular to the growth direction change their direction at each interface, and this dramatically influences the channeling behavior. The governing equation of motion for a planar channeled ion in a strained-layer superlattice with equal layer thicknesses is a one degree of freedom nonlinear oscillator which is periodically forced with a sequence of δ functions. These δ functions, which are of equal spacing and amplitude with alternating sign, represent the tilts at each of the interfaces. Thus upon matching an effective channeled particle wavelength, corresponding to a natural period of the nonlinear oscillator, to the period of the strained-layer superlattice, corresponding to the periodic forcing, strong resonance effects are expected. The condition of one effective wavelength per period corresponds to a rapid dechanneling at a well-defined depth (catastrophic dechanneling), whereas two wavelengths per period corresponds to no enhanced dechanneling after the first one or two layers (resonance channeling). A phase plane analysis is used to characterize the channeled particle motion. Detailed calculations using the Moliere continuum potential are compared with our previously described modified harmonic model, and new results are presented for the phase plane evolution, as well as the dechanneling as a function of depth, incident angle, energy, and layer thickness. General scaling laws are developed and nearly universal curves are obtained for the dechanneling versus depth under catastrophic dechanneling

Efficient quantum circuits for Szegedy quantum walks

International Nuclear Information System (INIS)

Loke, T.; Wang, J.B.

2017-01-01

A major advantage in using Szegedy’s formalism over discrete-time and continuous-time quantum walks lies in its ability to define a unitary quantum walk by quantizing a Markov chain on a directed or weighted graph. In this paper, we present a general scheme to construct efficient quantum circuits for Szegedy quantum walks that correspond to classical Markov chains possessing transformational symmetry in the columns of the transition matrix. In particular, the transformational symmetry criteria do not necessarily depend on the sparsity of the transition matrix, so this scheme can be applied to non-sparse Markov chains. Two classes of Markov chains that are amenable to this construction are cyclic permutations and complete bipartite graphs, for which we provide explicit efficient quantum circuit implementations. We also prove that our scheme can be applied to Markov chains formed by a tensor product. We also briefly discuss the implementation of Markov chains based on weighted interdependent networks. In addition, we apply this scheme to construct efficient quantum circuits simulating the Szegedy walks used in the quantum Pagerank algorithm for some classes of non-trivial graphs, providing a necessary tool for experimental demonstration of the quantum Pagerank algorithm. - Highlights: • A general theoretical framework for implementing Szegedy walks using quantum circuits. • Explicit efficient quantum circuit implementation of the Szegedy walk for several classes of graphs. • Efficient implementation of Szegedy walks for quantum page-ranking of a certain class of graphs.

Walking ability in patients with glioblastoma: prognostic value of the Berg Balance Scale and the 10 meter walk test.

Science.gov (United States)

Liljehult, Monique Mesot; Buus, Lise; Liljehult, Jacob; Rasmussen, Birthe Krogh

2017-11-01

Primary brain tumors frequently cause considerable functional impairments and the survival time when diagnosed with glioblastoma is 14.6 months. The aim of this study was to examine if baseline postural control and walking ability in patients with glioblastoma could predict long term walking ability and 1 year mortality. Data were gathered from prospective recordings in a brain cancer database supplemented by retrospective review of electronic patient records. We included 109 patients with glioblastoma, 47 women and 62 men with mean age 65 years. At admission 84 patients were tested with Berg Balance Scale and 57 were tested with 10 meter walk test. Binary logistic regression analysis showed no statistical significance in favour of the 10 meter walk test. Berg Balance Scale showed an ability to predict walking ability 4-8 months after admission. The risk of dying within a year was 6.9 times higher in patients who lost their ability to walk within 4-8 months of the first admission. This study showed that Berg Balance Scale has some ability to predict the loss of walking ability 4-8 months after admission. This could be an important indicator pin pointing patients most in need of more intensive specialized neurorehabilitation efforts early in the disease course.

Quantum random-walk search algorithm

International Nuclear Information System (INIS)

Shenvi, Neil; Whaley, K. Birgitta; Kempe, Julia

2003-01-01

Quantum random walks on graphs have been shown to display many interesting properties, including exponentially fast hitting times when compared with their classical counterparts. However, it is still unclear how to use these novel properties to gain an algorithmic speedup over classical algorithms. In this paper, we present a quantum search algorithm based on the quantum random-walk architecture that provides such a speedup. It will be shown that this algorithm performs an oracle search on a database of N items with O(√(N)) calls to the oracle, yielding a speedup similar to other quantum search algorithms. It appears that the quantum random-walk formulation has considerable flexibility, presenting interesting opportunities for development of other, possibly novel quantum algorithms

Neuromechanical adaptations during a robotic powered exoskeleton assisted walking session.

Science.gov (United States)

Ramanujam, Arvind; Cirnigliaro, Christopher M; Garbarini, Erica; Asselin, Pierre; Pilkar, Rakesh; Forrest, Gail F

2017-04-20

To evaluate gait parameters and neuromuscular profiles of exoskeleton-assisted walking under Max Assist condition during a single-session for; (i) able bodied (AB) individuals walking assisted with (EXO) and without (non-EXO) a powered exoskeleton, (ii) non-ambulatory SCI individuals walking assisted with a powered exoskeleton. Single-session. Motion analysis laboratory. Four AB individuals and four individuals with SCI. Powered lower extremity exoskeleton. Temporal-spatial parameters, kinematics, walking velocity and electromyography data. AB individuals in exoskeleton showed greater stance time and a significant reduction in walking velocity (P exoskeleton movements, they walked with an increased velocity and lowered stance time to resemble that of slow walking. For SCI individuals, mean percent stance time was higher and walking velocity was lower compared to all AB walking conditions (P exoskeleton and moreover with voluntary control there is a greater temporal-spatial response of the lower limbs. Also, there are neuromuscular phasic adaptions for both AB and SCI groups while walking in the exoskeleton that are inconsistent to non-EXO gait muscle activation.

Parallel-fed planar dipole antenna arrays for low-observable platforms

CERN Document Server

Singh, Hema; Jha, Rakesh Mohan

2016-01-01

This book focuses on determination of scattering of parallel-fed planar dipole arrays in terms of reflection and transmission coefficients at different levels of the array system. In aerospace vehicles, the phased arrays are often in planar configuration. The radar cross section (RCS) of the vehicle is mainly due to its structure and the antennas mounted over it. There can be situation when the signatures due to antennas dominate over the structural RCS of the platform. This necessitates the study towards the reduction and control of antenna/ array RCS. The planar dipole array is considered as a stacked linear dipole array. A systematic, step-by-step approach is used to determine the RCS pattern including the finite dimensions of dipole antenna elements. The mutual impedance between the dipole elements for planar configuration is determined. The scattering till second-level of couplers in parallel feed network is taken into account. The phase shifters are modelled as delay line. All the couplers in the feed n...

Dilemma Produced by Infinity of a Random Walk

International Nuclear Information System (INIS)

Li Jing-Hui

2015-01-01

We report a dilemma produced by the infinity of a random walk moving along a two-dimensional space sidestep. For this random walk, our investigation shows that using a different model can lead to a different diffusion coefficient of the random walk, which is produced by the infinity of the random walk. The result obtained by us in the present work can serve as a warning to us when we build the models to investigate the corresponding scientific problems. (paper)

A planar microfluidic mixer based on logarithmic spirals

International Nuclear Information System (INIS)

Scherr, Thomas; Nandakumar, Krishnaswamy; Quitadamo, Christian; Tesvich, Preston; Park, Daniel Sang-Won; Hayes, Daniel; Monroe, W Todd; Tiersch, Terrence; Choi, Jin-Woo

2012-01-01

A passive, planar micromixer design based on logarithmic spirals is presented. The device was fabricated using polydimethylsiloxane soft photolithography techniques, and mixing performance was characterized via numerical simulation and fluorescent microscopy. Mixing efficiency initially declined as the Reynolds number increased, and this trend continued until a Reynolds number of 15 where a minimum was reached at 53%. Mixing efficiency then began to increase reaching a maximum mixing efficiency of 86% at Re = 67. Three-dimensional (3D) simulations of fluid mixing in this design were compared to other planar geometries such as the Archimedes spiral and Meandering-S mixers. The implementation of logarithmic curvature offers several unique advantages that enhance mixing, namely a variable cross-sectional area and a logarithmically varying radius of curvature that creates 3D Dean vortices. These flow phenomena were observed in simulations with multilayered fluid folding and validated with confocal microscopy. This design provides improved mixing performance over a broader range of Reynolds numbers than other reported planar mixers, all while avoiding external force fields, more complicated fabrication processes and the introduction of flow obstructions or cavities that may unintentionally affect sensitive or particulate-containing samples. Due to the planar design requiring only single-step lithographic features, this compact geometry could be easily implemented into existing micro-total analysis systems requiring effective rapid mixing. (paper)

Efficient quantum walk on a quantum processor

Science.gov (United States)

Qiang, Xiaogang; Loke, Thomas; Montanaro, Ashley; Aungskunsiri, Kanin; Zhou, Xiaoqi; O'Brien, Jeremy L.; Wang, Jingbo B.; Matthews, Jonathan C. F.

2016-01-01

The random walk formalism is used across a wide range of applications, from modelling share prices to predicting population genetics. Likewise, quantum walks have shown much potential as a framework for developing new quantum algorithms. Here we present explicit efficient quantum circuits for implementing continuous-time quantum walks on the circulant class of graphs. These circuits allow us to sample from the output probability distributions of quantum walks on circulant graphs efficiently. We also show that solving the same sampling problem for arbitrary circulant quantum circuits is intractable for a classical computer, assuming conjectures from computational complexity theory. This is a new link between continuous-time quantum walks and computational complexity theory and it indicates a family of tasks that could ultimately demonstrate quantum supremacy over classical computers. As a proof of principle, we experimentally implement the proposed quantum circuit on an example circulant graph using a two-qubit photonics quantum processor. PMID:27146471

A physical model of sensorimotor interactions during locomotion

Science.gov (United States)

Klein, Theresa J.; Lewis, M. Anthony

2012-08-01

In this paper, we describe the development of a bipedal robot that models the neuromuscular architecture of human walking. The body is based on principles derived from human muscular architecture, using muscles on straps to mimic agonist/antagonist muscle action as well as bifunctional muscles. Load sensors in the straps model Golgi tendon organs. The neural architecture is a central pattern generator (CPG) composed of a half-center oscillator combined with phase-modulated reflexes that is simulated using a spiking neural network. We show that the interaction between the reflex system, body dynamics and CPG results in a walking cycle that is entrained to the dynamics of the system. We also show that the CPG helped stabilize the gait against perturbations relative to a purely reflexive system, and compared the joint trajectories to human walking data. This robot represents a complete physical, or ‘neurorobotic’, model of the system, demonstrating the usefulness of this type of robotics research for investigating the neurophysiological processes underlying walking in humans and animals.

Nb multilayer planarization technology for a subnanosecond Josephson 1K-bit RAM

International Nuclear Information System (INIS)

Nagasawa, S.; Wada, Y.; Tsuge, H.; Hidaka, M.; Ishida, I.; Tahara, S.

1989-01-01

Nb multilayer planarization technology has been developed. This planarization technology consists of an etch-back technique using 2000-molecular weight polystyrene and SiO/sub 2/ for the junction layer and wiring layers, and a tapered edge etching technique for contact between individual wiring layers. A Josephson 1K-bit random access memory (RAM) has been fabricated using this planarization technology. Excellent planarity, wherein level differences in all step areas are reduced to less than 1/20th of their original value, was achieved in the multilayer structure of the RAM. Moreover, appropriate RAM operations, with 570ps minimum access time and 13mW power dissipation, were confirmed

Does parkland influence walking? The relationship between area of parkland and walking trips in Melbourne, Australia

Directory of Open Access Journals (Sweden)

King Tania L

2012-09-01

Full Text Available Abstract Background Using two different measures of park area, at three buffer distances, we sought to investigate the ways in which park area and proximity to parks, are related to the frequency of walking (for all purposes in Australian adults. Little previous research has been conducted in this area, and results of existing research have been mixed. Methods Residents of 50 urban areas in metropolitan Melbourne, Australia completed a physical activity survey (n = 2305. Respondents reported how often they walked for ≥10 minutes in the previous month. Walking frequency was dichotomised to ‘less than weekly’ (less than 1/week and ‘at least weekly’ (1/week or more. Using Geographic Information Systems, Euclidean buffers were created around each respondent’s home at three distances: 400metres (m, 800 m and 1200 m. Total area of parkland in each person’s buffer was calculated for the three buffers. Additionally, total area of ‘larger parks’, (park space ≥ park with Australian Rules Football oval (17,862 m2, was calculated for each set of buffers. Area of park was categorised into tertiles for area of all parks, and area of larger parks (the lowest tertile was used as the reference category. Multilevel logistic regression, with individuals nested within areas, was used to estimate the effect of area of parkland on walking frequency. Results No statistically significant associations were found between walking frequency and park area (total and large parks within 400 m of respondent’s homes. For total park area within 800 m, the odds of walking at least weekly were lower for those in the mid (OR 0.65, 95% CI 0.46-0.91 and highest (OR 0.65, 95% CI 0.44-0.95 tertile of park area compared to those living in areas with the least amount of park area. Similar results were observed for total park area in the 1200 m buffers. When only larger parks were investigated, again more frequent walking was less likely when respondents had

Flat panel planar optic display. Revision 4/95

Energy Technology Data Exchange (ETDEWEB)

Veligdan, J.T.

1995-05-01

A prototype 10 inch flat panel Planar Optic display, (POD), screen has been constructed and tested. This display screen is comprised of hundreds of planar optic glass sheets bonded together with a cladding layer between each sheet where each glass sheet represents a vertical line of resolution. The display is 9 inches wide by 5 inches high and approximately 1 inch thick. A 3 milliwatt HeNe laser is used as the illumination source and a vector scanning technique is employed.

Morphing Planar Graph Drawings with a Polynomial Number of Steps

DEFF Research Database (Denmark)

Alamdari, Soroush; Angelini, Patrizio; Chan, Timothy M.

2013-01-01

In 1944, Cairns proved the following theorem: given any two straight-line planar drawings of a triangulation with the same outer face, there exists a morph (i.e., a continuous transformation) between the two drawings so that the drawing remains straight-line planar at all times. Cairns’s original...

Biomechanics of stair walking and jumping.

Science.gov (United States)

Loy, D J; Voloshin, A S

1991-01-01

Physical activities such as stair walking and jumping result in increased dynamic loading on the human musculoskeletal system. Use of light weight, externally attached accelerometers allows for in-vivo monitoring of the shock waves invading the human musculoskeletal system during those activities. Shock waves were measured in four subjects performing stair walking up and down, jumping in place and jumping off a fixed elevation. The results obtained show that walking down a staircase induced shock waves with amplitude of 130% of that observed in walking up stairs and 250% of the shock waves experienced in level gait. The jumping test revealed levels of the shock waves nearly eight times higher than that in level walking. It was also shown that the shock waves invading the human musculoskeletal system may be generated not only by the heel strike, but also by the metatarsal strike. To moderate the risk of degenerative joint disorders four types of viscoelastic insoles were utilized to reduce the impact generated shock waves. The insoles investigated were able to reduce the amplitude of the shock wave by between 9% and 41% depending on the insole type and particular physical activity. The insoles were more effective in the reduction of the heel strike impacts than in the reduction of the metatarsal strike impacts. In all instances, the shock attenuation capacities of the insoles tested were greater in the jumping trials than in the stair walking studies. The insoles were ranked in three groups on the basis of their shock absorbing capacity.

Walking adaptability after a stroke and its assessment in clinical settings.

Science.gov (United States)

Balasubramanian, Chitralakshmi K; Clark, David J; Fox, Emily J

2014-01-01

Control of walking has been described by a tripartite model consisting of stepping, equilibrium, and adaptability. This review focuses on walking adaptability, which is defined as the ability to modify walking to meet task goals and environmental demands. Walking adaptability is crucial to safe ambulation in the home and community environments and is often severely compromised after a stroke. Yet quantification of walking adaptability after stroke has received relatively little attention in the clinical setting. The objectives of this review were to examine the conceptual challenges for clinical measurement of walking adaptability and summarize the current state of clinical assessment for walking adaptability. We created nine domains of walking adaptability from dimensions of community mobility to address the conceptual challenges in measurement and reviewed performance-based clinical assessments of walking to determine if the assessments measure walking adaptability in these domains. Our literature review suggests the lack of a comprehensive well-tested clinical assessment tool for measuring walking adaptability. Accordingly, recommendations for the development of a comprehensive clinical assessment of walking adaptability after stroke have been presented. Such a clinical assessment will be essential for gauging recovery of walking adaptability with rehabilitation and for motivating novel strategies to enhance recovery of walking adaptability after stroke.

Walking with Students To Increase Satisfaction and Retention.

Science.gov (United States)

Steinhaus, Carol s.

1999-01-01

Describes "walking office hours," an activity in which students (n=64) in introductory health topics and human resources management classes each took a one-half hour walk with the professor around the campus. In both classes students unanimously reported higher "comfort levels" with the instructor following the walk. (DB)

Daily intermittent hypoxia enhances walking after chronic spinal cord injury

Science.gov (United States)

Hayes, Heather B.; Jayaraman, Arun; Herrmann, Megan; Mitchell, Gordon S.; Rymer, William Z.

2014-01-01

Objectives: To test the hypothesis that daily acute intermittent hypoxia (dAIH) and dAIH combined with overground walking improve walking speed and endurance in persons with chronic incomplete spinal cord injury (iSCI). Methods: Nineteen subjects completed the randomized, double-blind, placebo-controlled, crossover study. Participants received 15, 90-second hypoxic exposures (dAIH, fraction of inspired oxygen [Fio2] = 0.09) or daily normoxia (dSHAM, Fio2 = 0.21) at 60-second normoxic intervals on 5 consecutive days; dAIH was given alone or combined with 30 minutes of overground walking 1 hour later. Walking speed and endurance were quantified using 10-Meter and 6-Minute Walk Tests. The trial is registered at ClinicalTrials.gov (NCT01272349). Results: dAIH improved walking speed and endurance. Ten-Meter Walk time improved with dAIH vs dSHAM after 1 day (mean difference [MD] 3.8 seconds, 95% confidence interval [CI] 1.1–6.5 seconds, p = 0.006) and 2 weeks (MD 3.8 seconds, 95% CI 0.9–6.7 seconds, p = 0.010). Six-Minute Walk distance increased with combined dAIH + walking vs dSHAM + walking after 5 days (MD 94.4 m, 95% CI 17.5–171.3 m, p = 0.017) and 1-week follow-up (MD 97.0 m, 95% CI 20.1–173.9 m, p = 0.014). dAIH + walking increased walking distance more than dAIH after 1 day (MD 67.7 m, 95% CI 1.3–134.1 m, p = 0.046), 5 days (MD 107.0 m, 95% CI 40.6–173.4 m, p = 0.002), and 1-week follow-up (MD 136.0 m, 95% CI 65.3–206.6 m, p walking improved walking speed and distance in persons with chronic iSCI. The impact of dAIH is enhanced by combination with walking, demonstrating that combinatorial therapies may promote greater functional benefits in persons with iSCI. Classification of evidence: This study provides Class I evidence that transient hypoxia (through measured breathing treatments), along with overground walking training, improves walking speed and endurance after iSCI. PMID:24285617

Brownian Optimal Stopping and Random Walks

International Nuclear Information System (INIS)

Lamberton, D.

2002-01-01

One way to compute the value function of an optimal stopping problem along Brownian paths consists of approximating Brownian motion by a random walk. We derive error estimates for this type of approximation under various assumptions on the distribution of the approximating random walk

Pseudo-Hermitian continuous-time quantum walks

Energy Technology Data Exchange (ETDEWEB)

Salimi, S; Sorouri, A, E-mail: shsalimi@uok.ac.i, E-mail: a.sorouri@uok.ac.i [Department of Physics, University of Kurdistan, PO Box 66177-15175, Sanandaj (Iran, Islamic Republic of)

2010-07-09

In this paper we present a model exhibiting a new type of continuous-time quantum walk (as a quantum-mechanical transport process) on networks, which is described by a non-Hermitian Hamiltonian possessing a real spectrum. We call it pseudo-Hermitian continuous-time quantum walk. We introduce a method to obtain the probability distribution of walk on any vertex and then study a specific system. We observe that the probability distribution on certain vertices increases compared to that of the Hermitian case. This formalism makes the transport process faster and can be useful for search algorithms.

Walking on a moving surface: energy-optimal walking motions on a shaky bridge and a shaking treadmill can reduce energy costs below normal.

Science.gov (United States)

Joshi, Varun; Srinivasan, Manoj

2015-02-08

Understanding how humans walk on a surface that can move might provide insights into, for instance, whether walking humans prioritize energy use or stability. Here, motivated by the famous human-driven oscillations observed in the London Millennium Bridge, we introduce a minimal mathematical model of a biped, walking on a platform (bridge or treadmill) capable of lateral movement. This biped model consists of a point-mass upper body with legs that can exert force and perform mechanical work on the upper body. Using numerical optimization, we obtain energy-optimal walking motions for this biped, deriving the periodic body and platform motions that minimize a simple metabolic energy cost. When the platform has an externally imposed sinusoidal displacement of appropriate frequency and amplitude, we predict that body motion entrained to platform motion consumes less energy than walking on a fixed surface. When the platform has finite inertia, a mass- spring-damper with similar parameters to the Millennium Bridge, we show that the optimal biped walking motion sustains a large lateral platform oscillation when sufficiently many people walk on the bridge. Here, the biped model reduces walking metabolic cost by storing and recovering energy from the platform, demonstrating energy benefits for two features observed for walking on the Millennium Bridge: crowd synchrony and large lateral oscillations.

Development of a Planar Undulator

International Nuclear Information System (INIS)

Deyhim, Alex; Johnson, Eric; Kulesza, Joe; Lyndaker, Aaron; Waterman, Dave; Eisert, Dave; Green, Michael A.; Rogers, Greg; Blomqvist, K. Ingvar

2007-01-01

The design of a planar pure permanent magnet undulator is presented. The design requirements and mechanical difficulties for holding, positioning, and driving the magnetic arrays are explored. The structural, thermal, and electrical considerations that influenced the design are then analyzed. And finally detailed magnetic measurements are presented

Poling of Planar Silica Waveguides

DEFF Research Database (Denmark)

Arentoft, Jesper; Kristensen, Martin; Jensen, Jesper Bo

1999-01-01

UV-written planar silica waveguides are poled using two different poling techniques, thermal poling and UV-poling. Thermal poling induces an electro-optic coefficient of 0.067 pm/V. We also demonstrate simultaneous UV-writing and UV-poling. The induced electro-optic effect shows a linear dependence...

Recent Studies on the Aromaticity and Antiaromaticity of Planar Cyclooctatetraene

Directory of Open Access Journals (Sweden)

Masahiko Iyoda

2010-02-01

Full Text Available Cyclooctatetraene (COT, the first 4nπ-electron system to be studied, adopts an inherently nonplanar tub-shaped geometry of D2d symmetry with alternating single and double bonds, and hence behaves as a nonaromatic polyene rather than an antiaromatic compound. Recently, however, considerable 8π-antiaromatic paratropicity has been shown to be generated in planar COT rings even with the bond alternated D4h structure. In this review, we highlight recent theoretical and experimental studies on the antiaromaticity of hypothetical and actual planar COT. In addition, theoretically predicted triplet aromaticity and stacked aromaticity of planar COT are also briefly described.

Dynamic Planar Convex Hull

DEFF Research Database (Denmark)

Brodal, Gerth Stølfting; Jacob, Rico

2002-01-01

In this paper we determine the computational complexity of the dynamic convex hull problem in the planar case. We present a data structure that maintains a finite set of n points in the plane under insertion and deletion of points in amortized O(log n) time per operation. The space usage of the d......In this paper we determine the computational complexity of the dynamic convex hull problem in the planar case. We present a data structure that maintains a finite set of n points in the plane under insertion and deletion of points in amortized O(log n) time per operation. The space usage...... of the data structure is O(n). The data structure supports extreme point queries in a given direction, tangent queries through a given point, and queries for the neighboring points on the convex hull in O(log n) time. The extreme point queries can be used to decide whether or not a given line intersects...... the convex hull, and the tangent queries to determine whether a given point is inside the convex hull. We give a lower bound on the amortized asymptotic time complexity that matches the performance of this data structure....

Spectroelectrochemical sensing: planar waveguides

Energy Technology Data Exchange (ETDEWEB)

Ross, Susan E.; Shi Yining; Seliskar, Carl J.; Heineman, William R

2003-09-30

The spectroelectrochemical sensor combines in a single device electrochemistry, spectroscopy, and selective partitioning into a film, giving improved selectivity for applications that involve complex samples. Sensing is based on the change in optical signal that accompanies electrochemical modulation of analyte that has partitioned into the film. Two classes of optical quality chemically-selective films based on two different host materials, namely, sol-gel processed silica and cross-linked poly(vinyl alcohol) have been developed. Films are typically 400-700 nm thick. Three types of sensor platforms are discussed: a multiple internal reflection (MIR) optic consisting of a bilayer of an indium tin oxide (ITO) optically transparent electrode deposited on a 1-mm thick glass substrate, a planar waveguide in which a potassium ion-exchanged BK7 glass waveguide (5-9 {mu}m thick) was over-coated with a thin film of ITO, and a planar waveguide in which a potassium ion-exchanged BK7 glass waveguide channel was formed and a pair of electrodes deposited along side the channel. These sensors were evaluated with ferrocyanide and a selective film of PDMDAAC-SiO{sub 2}, where PDMDAAC=poly(dimethyl diallylammonium chloride)

Spectroelectrochemical sensing: planar waveguides

International Nuclear Information System (INIS)

Ross, Susan E.; Shi Yining; Seliskar, Carl J.; Heineman, William R.

2003-01-01

The spectroelectrochemical sensor combines in a single device electrochemistry, spectroscopy, and selective partitioning into a film, giving improved selectivity for applications that involve complex samples. Sensing is based on the change in optical signal that accompanies electrochemical modulation of analyte that has partitioned into the film. Two classes of optical quality chemically-selective films based on two different host materials, namely, sol-gel processed silica and cross-linked poly(vinyl alcohol) have been developed. Films are typically 400-700 nm thick. Three types of sensor platforms are discussed: a multiple internal reflection (MIR) optic consisting of a bilayer of an indium tin oxide (ITO) optically transparent electrode deposited on a 1-mm thick glass substrate, a planar waveguide in which a potassium ion-exchanged BK7 glass waveguide (5-9 μm thick) was over-coated with a thin film of ITO, and a planar waveguide in which a potassium ion-exchanged BK7 glass waveguide channel was formed and a pair of electrodes deposited along side the channel. These sensors were evaluated with ferrocyanide and a selective film of PDMDAAC-SiO 2 , where PDMDAAC=poly(dimethyl diallylammonium chloride)

The influence of incline walking on joint mechanics.

Science.gov (United States)

Haggerty, Mason; Dickin, D Clark; Popp, Jennifer; Wang, Henry

2014-04-01

Walking is a popular form of exercise and is associated with many health benefits; however, frontal-plane knee joint loading brought about by a large internal knee-abduction moment and cyclic loading could lead to cartilage degeneration over time. Therefore, knee joint mechanics during an alternative walking exercise needs to be analyzed. The purpose of this study was to examine the lower-extremity joint mechanics in the frontal and sagittal planes during incline walking. Fifteen healthy males walked on a treadmill at five gradients (0%, 5%, 10%, 15%, and 20%) at 1.34m/s, and lower-extremity joint mechanics in the frontal and sagittal planes were quantified. The peak internal knee-abduction moment significantly decreased from the level walking condition at all gradients except 5%. Also, a negative relationship between the internal knee-abduction moment and the treadmill gradient was found to exist in 10% increments (0-10%, 5-15%, and 10-20%). The decrease in the internal knee-abduction moment during incline walking could have positive effects on knee joint health such as potentially reducing cartilage degeneration of the knee joint, reducing pain, and decreasing the rate of development of medial tibiofemoral osteoarthritis. This would be beneficial for a knee surgery patient, obese persons, and older adults who are using incline walking for rehabilitation and exercise protocols. Findings from the current study can provide guidance for the development of rehabilitation and exercise prescriptions incorporating incline walking. Copyright © 2014 Elsevier B.V. All rights reserved.

Fitness Club / Nordic Walking

CERN Multimedia

Fitness Club

2011-01-01

Nordic Walking at CERN Enrollments are open for Nordic Walking courses and outings at CERN. Classes will be on Tuesdays as of 20 September, and outings for the more experienced will be on Thursdays as of 15 September. We meet at the CERN Club barracks car park (near entrance A). • 18:00 to 19:00 on 20 & 27 September, as well as 4 & 11 October. Check out our schedule and rates and enroll at: http://cern.ch/club-fitness Hope to see you among us! CERN Fitness Club fitness.club@cern.ch  

Transition of W7-X non-planar coils from manufacturing to assembly

Energy Technology Data Exchange (ETDEWEB)

Ehrke, G. [Max-Planck-Institut fuer Plasmaphysik (IPP), EURATOM Association, Wendelsteinstrasse 1, D-17491 Greifswald (Germany)], E-mail: gunnar.ehrke@ipp.mpg.de

2009-06-15

The main magnetic field of Wendelstein 7-X fusion experiment (W7-X) at Max-Planck-Institut fuer Plasmaphysik Greifswald, Germany will be provided by 50 non-planar coils and supported by 20 planar coils. The non-planar coils were delivered by a consortium (CON) consisting of Babcock Noell GmbH Germany (BNG) and ASG Superconductors S.p.A. Italy (ASG). The coil production ended with the delivery of the last non-planar coil in March 2008 at the manufacturing branch of BNG in Zeitz, Germany. The construction of the coils was characterised by design changes, many rework actions and resulting time delays. Due to these numerous adjustments and changes a continuous improvement process was needed. This paper will give an overview about the transition of the non-planar coils from the acceptance tests at the manufacturer site to the beginning of the assembly at IPP. Furthermore this report will highlight technical interfaces in the period of transition.

Paving the Way Towards Reactive Planar Spanner Construction in Wireless Networks

Science.gov (United States)

Frey, Hannes; Rührup, Stefan

A spanner is a subgraph of a given graph that supports the original graph's shortest path lengths up to a constant factor. Planar spanners and their distributed construction are of particular interest for geographic routing, which is an efficient localized routing scheme for wireless ad hoc and sensor networks. Planarity of the network graph is a key criterion for guaranteed delivery, while the spanner property supports efficiency in terms of path length. We consider the problem of reactive local spanner construction, where a node's local topology is determined on demand. Known message-efficient reactive planarization algorithms do not preserve the spanner property, while reactive spanner constructions with a low message overhead have not been described so far. We introduce the concept of direct planarization which may be an enabler of efficient reactive spanner construction. Given an edge, nodes check for all incident intersecting edges a certain geometric criterion and withdraw the edge if this criterion is not satisfied. We use this concept to derive a generic reactive topology control mechanism and consider two geometric criteria. Simulation results show that direct planarization increases the performance of localized geographic routing by providing shorter paths than existing reactive approaches.

Push Recovery for Humanoid Robot in Dynamic Environment and Classifying the Data Using K-Mean

Directory of Open Access Journals (Sweden)

Anubha Parashar

2016-12-01

Full Text Available Push recovery is prime ability that is essential to be incorporated in the process of developing a robust humanoid robot to support bipedalism. In real environment it is very essential for humanoid robot to maintain balance. In this paper we are generating a control system and push recovery controller for humanoid robot walking. We apply different kind of pushes to humanoid robot and the algorithm that can bring a change in the walking stage to sustain walking. The simulation is done in 3D environment using Webots. This paper describes techniques for feature selection to foreshow push recovery for hip, ankle and knee joint. We train the system by K-Mean algorithm and testing is done on crouch data and tested results are reported. Random push data of humanoid robot is collected and classified to see whether push lie in safer region and then tested on given proposed system.

Using built environment characteristics to predict walking for exercise

Directory of Open Access Journals (Sweden)

Siscovick David S

2008-02-01

Full Text Available Abstract Background Environments conducive to walking may help people avoid sedentary lifestyles and associated diseases. Recent studies developed walkability models combining several built environment characteristics to optimally predict walking. Developing and testing such models with the same data could lead to overestimating one's ability to predict walking in an independent sample of the population. More accurate estimates of model fit can be obtained by splitting a single study population into training and validation sets (holdout approach or through developing and evaluating models in different populations. We used these two approaches to test whether built environment characteristics near the home predict walking for exercise. Study participants lived in western Washington State and were adult members of a health maintenance organization. The physical activity data used in this study were collected by telephone interview and were selected for their relevance to cardiovascular disease. In order to limit confounding by prior health conditions, the sample was restricted to participants in good self-reported health and without a documented history of cardiovascular disease. Results For 1,608 participants meeting the inclusion criteria, the mean age was 64 years, 90 percent were white, 37 percent had a college degree, and 62 percent of participants reported that they walked for exercise. Single built environment characteristics, such as residential density or connectivity, did not significantly predict walking for exercise. Regression models using multiple built environment characteristics to predict walking were not successful at predicting walking for exercise in an independent population sample. In the validation set, none of the logistic models had a C-statistic confidence interval excluding the null value of 0.5, and none of the linear models explained more than one percent of the variance in time spent walking for exercise. We did not

Skyrmion burst and multiple quantum walk in thin ferromagnetic films

International Nuclear Information System (INIS)

Ezawa, Motohiko

2011-01-01

We propose a new type of quantum walk in thin ferromagnetic films. A giant Skyrmion collapses to a singular point in a thin ferromagnetic film, emitting spin waves, when external magnetic field is increased beyond the critical one. After the collapse the remnant is a quantum walker carrying spin S. We determine its time evolution and show the diffusion process is a continuous-time quantum walk. We also analyze an interference of two quantum walkers after two Skyrmion bursts. The system presents a new type of quantum walk for S>1/2, where a quantum walker breaks into 2S quantum walkers. -- Highlights: → A giant Skyrmion collapses to a singular point by applying strong magnetic field. → Quantum walk is realized in thin ferromagnetic films by Skyrmion collapsing. → Quantum walks for S=1/2 and 1 are exact solvable, where S represents the spin. → Quantum walks for >1/2 presents a new type of quantum walks, i.e., 'multiple quantum walks'. → Skyrmion bursts which occur simultaneously exhibit an interference as a manifestation of quantum walk.

Planar and non-planar nucleus-acoustic shock structures in self-gravitating degenerate quantum plasma systems

Science.gov (United States)

Zaman, D. M. S.; Amina, M.; Dip, P. R.; Mamun, A. A.

2017-11-01

The basic properties of planar and non-planar (spherical and cylindrical) nucleus-acoustic (NA) shock structures (SSs) in a strongly coupled self-gravitating degenerate quantum plasma system (containing strongly coupled non-relativistically degenerate heavy nuclear species, weakly coupled non-relativistically degenerate light nuclear species, and inertialess non-/ultra-relativistically degenerate electrons) have been investigated. The generalized quantum hydrodynamic model and the reductive perturbation method have been used to derive the modified Burgers equation. It is shown that the strong correlation among heavy nuclear species acts as the source of dissipation and is responsible for the formation of the NA SSs with positive (negative) electrostatic (self-gravitational) potential. It is also observed that the effects of non-/ultra-relativistically degenerate electron pressure, dynamics of non-relativistically degenerate light nuclear species, spherical geometry, etc., significantly modify the basic features of the NA SSs. The applications of our results in astrophysical compact objects like white dwarfs and neutron stars are briefly discussed.

Learning to walk changes infants' social interactions.

Science.gov (United States)

Clearfield, Melissa W

2011-02-01

The onset of crawling marks a motor, cognitive and social milestone. The present study investigated whether independent walking marks a second milestone for social behaviors. In Experiment 1, the social and exploratory behaviors of crawling infants were observed while crawling and in a baby-walker, resulting in no differences based on posture. In Experiment 2, the social behaviors of independently walking infants were compared to age-matched crawling infants in a baby-walker. Independently walking infants spent significantly more time interacting with the toys and with their mothers, and also made more vocalizations and more directed gestures compared to infants in the walker. Experiment 3 tracked infants' social behaviors longitudinally across the transition from crawling and walking. Even when controlled for age, the transition to independent walking marked increased interaction time with mothers, as well as more sophisticated interactions, including directing mothers' attention to particular objects. The results suggest a developmental progression linking social interactions with milestones in locomotor development. Copyright © 2010 Elsevier Inc. All rights reserved.

Effects of a 6-month exercise program pilot study on walking economy, peak physiological characteristics, and walking performance in patients with peripheral arterial disease

Directory of Open Access Journals (Sweden)

Crowther RG

2012-04-01

Full Text Available Robert G Crowther1, Anthony S Leicht1, Warwick L Spinks1, Kunwarjit Sangla2, Frank Quigley2, Jonathan Golledge2,31Institute of Sport and Exercise Science, James Cook University, Townsville, Queensland, Australia; 2Townsville Hospital, Townsville, Queensland, Australia; 3The Vascular Biology Unit, James Cook University, Townsville, Queensland, AustraliaAbstract : The purpose of this study was to examine the effects of a 6-month exercise program on submaximal walking economy in individuals with peripheral arterial disease and intermittent claudication (PAD-IC. Participants (n = 16 were randomly allocated to either a control PAD-IC group (CPAD-IC, n = 6 which received standard medical therapy, or a treatment PAD-IC group (TPAD-IC; n = 10 which took part in a supervised exercise program. During a graded treadmill test, physiological responses, including oxygen consumption, were assessed to calculate walking economy during submaximal and maximal walking performance. Differences between groups at baseline and post-intervention were analyzed via Kruskal–Wallis tests. At baseline, CPAD-IC and TPAD-IC groups demonstrated similar walking performance and physiological responses. Postintervention, TPAD-IC patients demonstrated significantly lower oxygen consumption during the graded exercise test, and greater maximal walking performance compared to CPAD-IC. These preliminary results indicate that 6 months of regular exercise improves both submaximal walking economy and maximal walking performance, without significant changes in maximal walking economy. Enhanced walking economy may contribute to physiological efficiency, which in turn may improve walking performance as demonstrated by PAD-IC patients following regular exercise programs.Keywords: vascular disease, peripheral vascular disease, walking economy

Iterated random walks with shape prior

DEFF Research Database (Denmark)

Pujadas, Esmeralda Ruiz; Kjer, Hans Martin; Piella, Gemma

2016-01-01

the parametric probability density function. Then, random walks is performed iteratively aligning the prior with the current segmentation in every iteration. We tested the proposed approach with natural and medical images and compared it with the latest techniques with random walks and shape priors......We propose a new framework for image segmentation using random walks where a distance shape prior is combined with a region term. The shape prior is weighted by a confidence map to reduce the influence of the prior in high gradient areas and the region term is computed with k-means to estimate....... The experiments suggest that this method gives promising results for medical and natural images....

Modeling Framework and Software Tools for Walking Robots

NARCIS (Netherlands)

Duindam, V.; Stramigioli, Stefano; Groen, F.N.J.

2005-01-01

In research on passive dynamic walking, the aim is to study and design robots that walk naturally, i.e., with little or no control effort. McGeer [1] and others (e.g. [2, 3]) have shown that, indeed, robots can walk down a shallow slope with no actuation, only powered by gravity. In this work, we

Automated curved planar reformation of 3D spine images

International Nuclear Information System (INIS)

Vrtovec, Tomaz; Likar, Bostjan; Pernus, Franjo

2005-01-01

Traditional techniques for visualizing anatomical structures are based on planar cross-sections from volume images, such as images obtained by computed tomography (CT) or magnetic resonance imaging (MRI). However, planar cross-sections taken in the coordinate system of the 3D image often do not provide sufficient or qualitative enough diagnostic information, because planar cross-sections cannot follow curved anatomical structures (e.g. arteries, colon, spine, etc). Therefore, not all of the important details can be shown simultaneously in any planar cross-section. To overcome this problem, reformatted images in the coordinate system of the inspected structure must be created. This operation is usually referred to as curved planar reformation (CPR). In this paper we propose an automated method for CPR of 3D spine images, which is based on the image transformation from the standard image-based to a novel spine-based coordinate system. The axes of the proposed spine-based coordinate system are determined on the curve that represents the vertebral column, and the rotation of the vertebrae around the spine curve, both of which are described by polynomial models. The optimal polynomial parameters are obtained in an image analysis based optimization framework. The proposed method was qualitatively and quantitatively evaluated on five CT spine images. The method performed well on both normal and pathological cases and was consistent with manually obtained ground truth data. The proposed spine-based CPR benefits from reduced structural complexity in favour of improved feature perception of the spine. The reformatted images are diagnostically valuable and enable easier navigation, manipulation and orientation in 3D space. Moreover, reformatted images may prove useful for segmentation and other image analysis tasks

Comparison of functional ramp walk test and 6-min walk test in healthy volunteers: A new approach in functional capacity evaluation

Directory of Open Access Journals (Sweden)

Manivel Arumugam

2017-01-01

Full Text Available Objective: Inclined surfaces or ramps are the common obstacles faced by elderly and cardiopulmonary disabled in accessing public amenities. Ramp walking is one of the most common functional demands to be met by a common man in the industrialized world. To assess the functional (uphill walking capacity, we need a different functional stress test over the routinely used 6-min walk test (6MWT. Hence, a new 3-min steep ramp walk test (3MRWT was constructed to meet the demands similar to an uphill walk and to provide more functional stress than routinely used 6MWT. Methodology: The observational, crossover study design was adopted for this study. Fifteen healthy participants (8 males, 7 females performed both tests in a randomized order with a washout time of 6 h in between the tests. Walking distance to both ramp and ground, heart rate, blood pressure, saturation (SpO2, dyspnea, and fatigue with Borg exertion scale were compared prior and after the two walk tests. Results: The average distances covered in 6MWT were 510.5 ± 55.06 and 440.65 ± 25.08 meters and in 3MRWT were 270.18 ± 30.8, 230.05 ± 15.06 meters for male and female respectively. The difference between 3MRWT and 6MWT distances covered by the participants was statistically significant (t = 0.893. The mean difference between the heart rate, saturation and perceptions were highly significant (P < 0.001. Conclusion: The study results show that 3MRWT is valid over routinely administered 6MWT and may provide greater functional stress (uphill or ramp walk capacity in a shorter duration in healthy individuals in assessing the maximal functional capacity in a ramp or uphill walking.

Analysis of coined quantum walks with renormalization

Science.gov (United States)

Boettcher, Stefan; Li, Shanshan

2018-01-01

We introduce a framework to analyze quantum algorithms with the renormalization group (RG). To this end, we present a detailed analysis of the real-space RG for discrete-time quantum walks on fractal networks and show how deep insights into the analytic structure as well as generic results about the long-time behavior can be extracted. The RG flow for such a walk on a dual Sierpinski gasket and a Migdal-Kadanoff hierarchical network is obtained explicitly from elementary algebraic manipulations, after transforming the unitary evolution equation into Laplace space. Unlike for classical random walks, we find that the long-time asymptotics for the quantum walk requires consideration of a diverging number of Laplace poles, which we demonstrate exactly for the closed-form solution available for the walk on a one-dimensional loop. In particular, we calculate the probability of the walk to overlap with its starting position, which oscillates with a period that scales as NdwQ/df with system size N . While the largest Jacobian eigenvalue λ1 of the RG flow merely reproduces the fractal dimension, df=log2λ1 , the asymptotic analysis shows that the second Jacobian eigenvalue λ2 becomes essential to determine the dimension of the quantum walk via dwQ=log2√{λ1λ2 } . We trace this fact to delicate cancellations caused by unitarity. We obtain identical relations for other networks, although the details of the RG analysis may exhibit surprisingly distinct features. Thus, our conclusions—which trivially reproduce those for regular lattices with translational invariance with df=d and dwQ=1 —appear to be quite general and likely apply to networks beyond those studied here.

Conservation of Planar Polarity Pathway Function Across the Animal Kingdom.

Science.gov (United States)

Hale, Rosalind; Strutt, David

2015-01-01

Planar polarity is a well-studied phenomenon resulting in the directional coordination of cells in the plane of a tissue. In invertebrates and vertebrates, planar polarity is established and maintained by the largely independent core and Fat/Dachsous/Four-jointed (Ft-Ds-Fj) pathways. Loss of function of these pathways can result in a wide range of developmental or cellular defects, including failure of gastrulation and problems with placement and function of cilia. This review discusses the conservation of these pathways across the animal kingdom. The lack of vital core pathway components in basal metazoans suggests that the core planar polarity pathway evolved shortly after, but not necessarily alongside, the emergence of multicellularity.

Walking: Paths of a political and artistic practice

Directory of Open Access Journals (Sweden)

Sergio Martínez Luna

2016-11-01

Full Text Available Walking is a practice that involves issues related to body, landscape, nature and city. The article provides a historical overview of some of these practices from English Romanticism to contemporary art. Within this historical framework walking is approached as a political and aesthetic practice that questions the logics of economic efficiency, as well as the parallel processes of privatization of public space. The different modalities of walking (alone, in group, around the city, through natural landscapes come together as different poetics and politics. Walking is to make a public discourse that stablishes a dialectic between traces and presences.

Scaling Argument of Anisotropic Random Walk

International Nuclear Information System (INIS)

Xu Bingzhen; Jin Guojun; Wang Feifeng

2005-01-01

In this paper, we analytically discuss the scaling properties of the average square end-to-end distance (R 2 ) for anisotropic random walk in D-dimensional space (D≥2), and the returning probability P n (r 0 ) for the walker into a certain neighborhood of the origin. We will not only give the calculating formula for (R 2 ) and P n (r 0 ), but also point out that if there is a symmetric axis for the distribution of the probability density of a single step displacement, we always obtain (R p erpendicular n 2 )∼n, where perpendicular refers to the projections of the displacement perpendicular to each symmetric axes of the walk; in D-dimensional space with D symmetric axes perpendicular to each other, we always have (R n 2 )∼n and the random walk will be like a purely random motion; if the number of inter-perpendicular symmetric axis is smaller than the dimensions of the space, we must have (R n 2 )∼n 2 for very large n and the walk will be like a ballistic motion. It is worth while to point out that unlike the isotropic random walk in one and two dimensions, which is certain to return into the neighborhood of the origin, generally there is only a nonzero probability for the anisotropic random walker in two dimensions to return to the neighborhood.

Optically amplifying planar glass waveguides: Laser on a chip

DEFF Research Database (Denmark)

Guldberg-Kjær, Søren Andreas

with UV-light and that permanent Bragg-gratings can be induced. Planar waveguide lasers with integrated Bragg-gratings are manufactured and characterised. It is shown that linewidths below 125 kHz and output powers around 0.5 mW can be obtained, and that the manufactured lasers are resistant to mechanical...... lightwave circuits, as well as provide the gain medium for integrated planar waveguide lasers. The work and the obtained results are presented in this thesis: The manufacturing of silica thin films is described and it is shown that the refractive index of the films can be controlled by germanium co...... as well as thermal influence. A simple method for producing an array of planar waveguide lasers is presented and it is shown that the difference in output wavelength of the individual lasers can be controlled with great accuracy....

Planar waveguide amplifiers and laser in erbium doped silica

DEFF Research Database (Denmark)

Guldberg-Kjær, Søren Andreas; Kristensen, Martin

1999-01-01

with UV-light and that permanent Bragg-gratings can be induced. Planar waveguide lasers with integrated Bragg-gratings are manufactured and characterised. It is shown that linewidths below 125 kHz and output powers around 0.5 mW can be obtained, and that the manufactured lasers are resistant to mechanical...... lightwave circuits, as well as provide the gain medium for integrated planar waveguide lasers. The work and the obtained results are presented in this thesis: The manufacturing of silica thin films is described and it is shown that the refractive index o fthe films can be controlled by germanium co...... as well as thermal influence. A simple method for producing an array of planar waveguide lasers is presented and it is shown that the difference in output wavelength of the individual lasers can be controlled with great accuracy....

Cardiorespiratory Responses to Pool Floor Walking in People Poststroke.

Science.gov (United States)

Jeng, Brenda; Fujii, Takuto; Lim, Hyosok; Vrongistinos, Konstantinos; Jung, Taeyou

2018-03-01

To compare cardiorespiratory responses between pool floor walking and overground walking (OW) in people poststroke. Cross-sectional study. University-based therapeutic exercise facility. Participants (N=28) were comprised of 14 community-dwelling individuals poststroke (5.57±3.57y poststroke) and 14 age- and sex-matched healthy adults (mean age, 58.00±15.51y; male/female ratio, 9:5). Not applicable. A telemetric metabolic system was used to collect cardiorespiratory variables, including oxygen consumption (V˙o 2 ), energy expenditure (EE), and expired volume per unit time (V˙e), during 6-minute walking sessions in chest-depth water and on land at a matched speed, determined by average of maximum walking speed in water. Individuals poststroke elicited no significant differences in cardiorespiratory responses between pool floor walking and OW. However, healthy controls showed significant increases in mean V˙o 2 values by 94%, EE values by 109%, and V˙e values by 94% (all Pstroke group did not. Our results indicate that people poststroke, unlike healthy adults, do not increase EE while walking in water compared with on land. Unlike stationary walking on an aquatic treadmill, forward locomotion during pool floor walking at faster speeds may have increased drag force, which requires greater EE from healthy adults. Without demanding excessive EE, walking in water may offer a naturally supportive environment for gait training in the early stages of rehabilitation. Copyright © 2017 American Congress of Rehabilitation Medicine. All rights reserved.

Growth and characterization of textured well-faceted ZnO on planar Si(100, planar Si(111, and textured Si(100 substrates for solar cell applications

Directory of Open Access Journals (Sweden)

Chin-Yi Tsai

2017-09-01

Full Text Available In this work, textured, well-faceted ZnO materials grown on planar Si(100, planar Si(111, and textured Si(100 substrates by low-pressure chemical vapor deposition (LPCVD were analyzed by X-ray diffraction (XRD, scanning electron microscopy (SEM, atomic force microscopy (AFM, and cathode luminescence (CL measurements. The results show that ZnO grown on planar Si(100, planar Si(111, and textured Si(100 substrates favor the growth of ZnO(110 ridge-like, ZnO(002 pyramid-like, and ZnO(101 pyramidal-tip structures, respectively. This could be attributed to the constraints of the lattice mismatch between the ZnO and Si unit cells. The average grain size of ZnO on the planar Si(100 substrate is slightly larger than that on the planar Si(111 substrate, while both of them are much larger than that on the textured Si(100 substrate. The average grain sizes (about 10–50 nm of the ZnO grown on the different silicon substrates decreases with the increase of their strains. These results are shown to strongly correlate with the results from the SEM, AFM, and CL as well. The reflectance spectra of these three samples show that the antireflection function provided by theses samples mostly results from the nanometer-scaled texture of the ZnO films, while the micrometer-scaled texture of the Si substrate has a limited contribution. The results of this work provide important information for optimized growth of textured and well-faceted ZnO grown on wafer-based silicon solar cells and can be utilized for efficiency enhancement and optimization of device materials and structures, such as heterojunction with intrinsic thin layer (HIT solar cells.

Treadmill training and body weight support for walking after stroke.

Science.gov (United States)

Mehrholz, Jan; Thomas, Simone; Elsner, Bernhard

2017-08-17

Treadmill training, with or without body weight support using a harness, is used in rehabilitation and might help to improve walking after stroke. This is an update of the Cochrane review first published in 2003 and updated in 2005 and 2014. To determine if treadmill training and body weight support, individually or in combination, improve walking ability, quality of life, activities of daily living, dependency or death, and institutionalisation or death, compared with other physiotherapy gait-training interventions after stroke. The secondary objective was to determine the safety and acceptability of this method of gait training. We searched the Cochrane Stroke Group Trials Register (last searched 14 February 2017), the Cochrane Central Register of Controlled Trials (CENTRAL) and the Database of Reviews of Effects (DARE) (the Cochrane Library 2017, Issue 2), MEDLINE (1966 to 14 February 2017), Embase (1980 to 14 February 2017), CINAHL (1982 to 14 February 2017), AMED (1985 to 14 February 2017) and SPORTDiscus (1949 to 14 February 2017). We also handsearched relevant conference proceedings and ongoing trials and research registers, screened reference lists, and contacted trialists to identify further trials. Randomised or quasi-randomised controlled and cross-over trials of treadmill training and body weight support, individually or in combination, for the treatment of walking after stroke. Two review authors independently selected trials, extracted data, and assessed risk of bias and methodological quality. The primary outcomes investigated were walking speed, endurance, and dependency. We included 56 trials with 3105 participants in this updated review. The average age of the participants was 60 years, and the studies were carried out in both inpatient and outpatient settings. All participants had at least some walking difficulties and many could not walk without assistance. Overall, the use of treadmill training did not increase the chances of walking

The "Interval Walking in Colorectal Cancer" (I-WALK-CRC) study: Design, methods and recruitment results of a randomized controlled feasibility trial.

Science.gov (United States)

Banck-Petersen, Anna; Olsen, Cecilie K; Djurhuus, Sissal S; Herrstedt, Anita; Thorsen-Streit, Sarah; Ried-Larsen, Mathias; Østerlind, Kell; Osterkamp, Jens; Krarup, Peter-Martin; Vistisen, Kirsten; Mosgaard, Camilla S; Pedersen, Bente K; Højman, Pernille; Christensen, Jesper F

2018-03-01

Low physical activity level is associated with poor prognosis in patients with colorectal cancer (CRC). To increase physical activity, technology-based platforms are emerging and provide intriguing opportunities to prescribe and monitor active lifestyle interventions. The "Interval Walking in Colorectal Cancer"(I-WALK-CRC) study explores the feasibility and efficacy a home-based interval-walking intervention delivered by a smart-phone application in order to improve cardio-metabolic health profile among CRC survivors. The aim of the present report is to describe the design, methods and recruitment results of the I-WALK-CRC study.Methods/Results: The I-WALK-CRC study is a randomized controlled trial designed to evaluate the feasibility and efficacy of a home-based interval walking intervention compared to a waiting-list control group for physiological and patient-reported outcomes. Patients who had completed surgery for local stage disease and patients who had completed surgery and any adjuvant chemotherapy for locally advanced stage disease were eligible for inclusion. Between October 1st , 2015, and February 1st , 2017, 136 inquiries were recorded; 83 patients were eligible for enrollment, and 42 patients accepted participation. Age and employment status were associated with participation, as participants were significantly younger (60.5 vs 70.8 years, P CRC survivors was feasible but we aim to better the recruitment rate in future studies. Further, the study clearly favored younger participants. The I-WALK-CRC study will provide important information regarding feasibility and efficacy of a home-based walking exercise program in CRC survivors.

Adaptive control of dynamic balance in human gait on a split-belt treadmill.

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