In this paper, we extend state of the art Model Predictive Control (MPC) approaches to generate safe bipedal walking on slippery surfaces. In this setting, we formulate walking as a trade off between realizing a desired walking velocity and preserving robust foot-ground contact (slippage and tipover avoidance). Exploiting this formulation inside MPC, we show that safe walking on various terrain...

We present in this Letter an experimental characterization of liquid flow slippage over superhydrophobic surfaces made of carbon nanotube forests, incorporated in microchannels. We make use of a particle image velocimetry technique to achieve the submicrometric resolution on the flow profile necessary for accurate measurement of the surface hydrodynamic properties. We demonstrate boundary slipp...

field capacity, fuel consumption and drive wheel slippage in massey ferguson (mf399) tractor with standard and liquid ballasted (630 kg) axle load and at 4wd mode was evaluated and compared. the tests were conducted at the experimental station, college of agriculture, shiraz university, in a field with clay loam soil at average moisture content of 18% d.b. the experiment was of a randomized com...

Tactile sensing is fundamental for the human hand to achieve high dexterity. Most prosthetic hands are still devoid of tactile sensors, implying that user cannot perceive external stimulation nor react in a fine manner. As consequence, unforeseen events, e.g., slippage, difficult manage. This article proposes an algorithm perform slippage detection with sensors integrated into hands. The based ...

The ClC family encompasses two classes of proteins with distinct transport functions: anion channels and transporters. ClC-type transporters usually mediate secondary active anion-proton exchange. However, under certain conditions they assume slippage mode behavior in which proton and anion transport are uncoupled, resulting in passive anion fluxes without associated proton movements. Here, we ...

We performed deep sequencing of the nuclear and organellar genomes of three mungbean genotypes: Vigna radiata ssp. sublobata TC1966, V. radiata var. radiata NM92 and the recombinant inbred line RIL59 derived from a cross between TC1966 and NM92. Moreover, we performed deep sequencing of the RIL59 transcriptome to investigate transcript variability. The mungbean chloroplast genome has a quadripa...

This study aims to investigate the effects of shoe traction and obstacle height on friction during walking to better understand the mechanisms required to avoid slippage following obstacle clearance. Ten male subjects walked at a self-selected pace during eight different conditions: four obstacle heights (0%, 10%, 20% and 40% of limb length) while wearing two different pairs of shoes (low and h...

DNA hypomethylation is frequently seen in cancer and imparts genomic instability in mouse models and some tissue culture systems. However, the effects of genomic DNA hypomethylation on mutation rates are still elusive. We have developed a model system to analyze the effects of DNA methyltransferase 1 (Dnmt1) deficiency on DNA mismatch repair (MMR) in mouse embryonic stem (ES) cells. We generate...