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Dynamic Stabilisation of the Biped Lucy Powered by Actuators with Controllable Stiffness
This book reports on the developments of the bipedal walking robot Lucy. Special about it is that the biped is not actuated with the classical electrical drives but with pleated pneumatic artificial muscles. In an antagonistic setup of such muscles both the torque and the compliance are controllable. From human walking there is evidence that joint compliance plays an important role in energy efficient walking and running. Moreover pneumatic artificial muscles have a high power to weight ratio and can be coupled directly without complex gearing mechanism, which can be beneficial towards legged mechanisms. Additionally, they have the capability of absorbing impact shocks and store and release motion energy. This book gives a complete description of Lucy: the hardware, the electronics and the software. A hybrid simulation program, combining the robot dynamics and muscle/valve thermodynamics, has been written to evaluate control strategies before implementing them in the real biped.
Statement of Disbursements of the House as Compiled by the Chief Administrative Officer from ...
Covers receipts and expenditures of appropriations and other funds.
Cooccurrence of Fe-, Fe-Ca-, and Ca-phosphate Minerals in Concretions Within the Monterey Formation
Phosphatic concretions occur within diatomite in the upper part of the Miocene Monterey Formation near Lompoc, Calif. Absence of disruption of fine laminar bedding in the associated sediment by the concretions shows that they formed after complete compaction of the enclosing sediment. The concretions exhibit a strongly concentric color, chemical, and mineralogic zonation. Many of them are composed of a nucleus in which vivianite is the dominant mineral. Amorphous ferric phosphate, mitridatite, and francolite are the dominant phosphatic phases in successive layers toward the surface of the concretions. Cd and As contents increase tenfold from the nucleus outward, reaching a maximum of 2,000 ppm, whereas Ni content, with a maximum of 720 ppm, and Co content show the opposite trend. This mineralogy and elemental composition favor accretion under conditions of continuously increasing Eh and pH, during uplift into the fresh-ground-water zone of the terrestrial environment. Shale-normalized rare-earth-element patterns, however, suggest a marine source for the elements biogenic debris consisting of opal-A, organic matter, and carbonates of the enclosing sediment.
The Green Side of the Water Cycle: New Advances in the Study of Plant Water Dynamics
This eBook is a collection of articles from a Frontiers Research Topic. Frontiers Research Topics are very popular trademarks of the Frontiers Journals Series: they are collections of at least ten articles, all centered on a particular subject. With their unique mix of varied contributions from Original Research to Review Articles, Frontiers Research Topics unify the most influential researchers, the latest key findings and historical advances in a hot research area! Find out more on how to host your own Frontiers Research Topic or contribute to one as an author by contacting the Frontiers Editorial Office: frontiersin.org/about/contact.
Toxic Plants of North America
Toxic Plants of North America, Second Edition is an up-to-date, comprehensive reference for both wild and cultivated toxic plants on the North American continent. In addition to compiling and presenting information about the toxicology and classification of these plants published in the years since the appearance of the first edition, this edition significantly expands coverage of human and wildlife—both free-roaming and captive—intoxications and the roles of secondary compounds and fungal endophytes in plant intoxications. More than 2,700 new literature citations document identification of previously unknown toxicants, mechanisms of intoxication, additional reports of intoxication problems, and significant changes in the classification of plant families and genera and associated changes in plant nomenclature. Toxic Plants of North America, Second Edition is a comprehensive, essential resource for veterinarians, toxicologists, agricultural extension agents, animal scientists, and poison control professionals.
