The HEGRA experiment is a hybrid installation characterized by four diierent types of detectors (scintillator counters, open Cerenkov counters, Cerenkov telescopes and Geiger towers) located within one detector array. The Geiger towers are built with the objective to measure the local energy deposition and to reconstruct and identify muon tracks. In addition each tower may serve as an independe...

Lobopodians, a nonmonophyletic assemblage of worm-shaped soft-bodied animals most closely related to arthropods, show two major morphotypes: long-legged and short-legged forms. The morphotype with stubby, conical legs has a long evolutionary history, from the early Cambrian through the Carboniferous, including the living onychophorans and tardigrades. Species with tubular lobopods exceeding the...

Learning gaits for walking robots is difficult because the elements of control require repetition of a sequence of integrated steps. Controllers for the six-legged robots, such as the Stiquito, and the eight-legged spider robots, in development, exemplify the difficulties of evolving gaits. The controllers for these robots store the actuator commands in a field-programmable gate array as a list...

This research realizes and analyze Multi-legged Passive Dynamic Walking(PDW). Although various PDW studies have been conducted based on its interesting features, most of them dealt with bipedal robots. There are many kinds of multi-legged creatures, not only quadrupedal animals but also creatures with more than six legs. In this paper, we focus on a “Multi-legged PDW,” which is a PDW with more ...

and development in physical agents, namely, fully autonomous legged robots. In this article, we describe our work using Sony’s legged robots to participate at the RoboCup-98 legged robot demonstration and competition. Robotic soccer represents a challenging environment for research in systems with multiple robots that need to achieve concrete objectives, particularly in the presence of an adver...

Many open problems and important theorems in low-dimensional topology have been formulated as statements about certain 2–complexes called gropes. This paper describes a precise correspondence between embedded gropes in 4–manifolds and the failure of the Whitney move in terms of iterated 'towers' of Whitney disks. The 'flexibility' of these Whitney towers is used to demonstrate some geometric co...

Towers of function fields (resp., of algebraic curves) with positive limit provide examples of curves with large genus having many rational points over a finite field. It is in general a difficult task to calculate the genus of a wild tower. In this paper, we present a method for calculating the genus of certain Artin–Schreier towers. As an illustration of our method, we obtain a very simple an...