In this paper, we report on a new stability analysis for hybrid legged locomotion systems based on factorization of return maps. We apply this analysis to a family of models of the Spring Loaded Inverted Pendulum (SLIP) with different leg recirculation strategies. We obtain a necessary condition for the asymptotic stability of those models, which is formulated as an exact algebraic expression d...

Global warming has shifted the onset of spring plant phenology towards earlier dates. This shift can lead to “false springs” (plants get frost damage) because the date of last frost has not advanced at the same pace than the advancement of spring onset. Here, we use a cloud computing approach for processing big and high spatial resolution grids of temperature data to map the occurrence of false...

We derive a hybrid feedback control law for the lateral leg spring (LLS) model so that the center of mass of a legged runner follows a curved path in horizontal plane. The control law enables the runner to change the placement and the elasticity of its legs to move in a desired direction. Stable motion along a curved path is achieved using curvature, bearing and relative distance between the ru...

This paper presents an adaptive compliant multi-finger grasp approach control strategy based on based on a new interpretation of the virtual spatial spring framework, to improve the grasp performance for target objects with position errors. An n-finger virtual spatial spring frame is proposed to achieve the adaptive compliant grasp control. Twofinger grasp control based on a single virtual spri...

Closed coil spring is an additional tool in a fixed-orthodontic treatment. NiTi orthodontic alloy that has shape memory and elasticity features, while stainless steel properties of malleability, low friction between wire-bracket, as well easy soldering welding. Various closed springs have been widely studied, but research on the stretching time remains unclear. This study aimed to determine eff...

mahallat hot springs located in the northeast of mahallat, in central iran. there are 6 main hot springs namely shafa, abejoush, donbeh, soleimanie, hakim and soda. in this research, geology, physico-chemical characteristics and petrography of basement rocks of these hot springs have been investigated. the results show that hot springs have an average temperature of 45°c and acidic to neutral p...

Abstract In the spring of 2020, town Fort McMurray, which lies on banks Athabasca River, experienced an ice-jam flood event that was most severe in approximately 60 years. order to capture severity event, a stochastic modelling approach, previously developed by author for forecasting, has been refined hazard and risk assessments mitigation feasibility studies, is subject this paper. Scenarios a...

Abstract Assessing the spatiotemporal behaviour of alien species is pivotal to designing effective management plans. Interspecific niche partitioning among ungulates reported as a strategy avoid direct interactions. The Mediterranean mouflon and wild boar are two introduced Elba island for hunting aesthetic purposes. We used intensive camera trapping test whether occupancy temporal activity rhy...

Several rodent species cause damage in vineyards and orchards. Current efforts to reduce chemicals used to control rodents are encouraging development of alternative practices, such as biological control. For several years growers in California have been installing artificial owl nest boxes to attract barn owls with the hope of reducing rodents, especially gophers, through predation. Effectiven...

The glossy cauliflower PI 234599 has been used in breeding programs as a source of resistance to diamondback moth, Plutella xylostella (L.), and other lepidopterous larvae, but the relationship between insect resistance and glossiness has not been clear. One way to clarify this relationship is to find glossy lines carrying different genes for glossiness and test their resistance to insects. In ...