Bipedal robots are diicult to analyze mathematically. However, successful control strategies can be discovered using simple physical intuition and can be described in simple terms. Five things have to happen for a planar bipedal robot to walk. Height has to be stabilized. Pitch has to be stabilized. Speed has to be stabilized. The swing leg has to move so that the feet are in locations which al...

This article describes a mechanical vertical attenuation system capable to provide large attenuation factors above 1Hz. This system is derived from, and improves, the passive Geometric Anti-Spring seismic attenuation filters minimizing their vertical resonant frequency by means of a tunable electromagnetic spring mounted in parallel with the main spring. The tunable spring is also used to compe...

Abstract This paper investigates sources of early signs nitrate pollution in a karst aquifer and major spring. Te Waikoropupu Springs are the largest springs New Zealand amongst Southern Hemisphere with mean outflow 13.4 m 3 /s. They discharge clearest water ever recorded from spring, but warning quality deterioration is signalled by increasing concentrations. The partly artesian 2.85 km volume...

Dissolved concentrations of four forms of arsenic: arsenite, arsenate, monomethylarsenic, and dimethylarsenic, were measured in the Patuxent River Estuary near Benedict, Maryland, over two annual cycles. In each year, total arsenic concentrations peaked in the summer, in lateJuly and August, while minimum concentrations occurred in winter. Except in late winter, arsenate was a predominant form ...

Identifying the authorship either of an anonymous or a doubtful document constitutes a cornerstone for automatic forensic applications. Moreover, it is a challenging task for both humans and computers. Clustering documents according to the linguistic style of the authors who wrote them has been a task little studied by the research community. In order to address this problem, PAN Evaluation Fra...

Groups of the Guatemalan black howler monkey (Alouatta pigra) in a fragmented northern Guatemalan cloud forest in the Sierra Yalijux were analyzed for group composition and size using an ornithological census technique. Audio and visual records were combined to estimate each group’s home range size. The 361 observations in 2002 estimated 50 individuals in seven groups. Two home range classes we...

The objective of this study was to assess the effects of two types of commercial suspension (leaf-spring (LS) vs. air suspension (AS)) installed on two similar double-decked trucks on blood cortisol and lactate concentration, lairage behavior, carcass skin lesions and pork quality traits of 120 crossbred pigs. The suspension type neither influenced pig behaviour in lairage nor blood cortisol an...

This paper shows that an integrable approximation of the spring pendulum, when tuned to be in 1 : 1 : 2 resonance, has monodromy. The stepwise precession angle of the swing plane of the resonant spring pendulum is shown to be a rotation number of the integrable approximation. Due to the monodromy, this rotation number is not a globally defined function of the integrals. In fact at lowest order ...

The facility layout problem is concerned with finding the most efficient arrangement of a given number of departments with unequal area requirements within a facility. The facility layout problem is a hard problem, and therefore, exact solution methods are only feasible for small or greatly restricted problems. In this paper, we propose a spring-embedding approach that unlike previous approache...