Detection of gait perturbations based on proprioceptive information. Application to Limit Cycle Walkers

Walking on irregular surfaces and in the presence of unexpected events is a challenging problem for bipedal machines. Up to date, their ability to cope with gait disturbances is far less successful than humans': Neither trajectory controlled robots, nor dynamic walking machines (Limit CycleWalkers) are able to handle them satisfactorily. On the contrary, humans reject gait perturbations naturally and efficiently relying on their sensory organs that, if needed, elicit a recovery action. A similar approach may be envisioned for bipedal robots and exoskeletons: An algorithm continuously observes the state of the walker and, if an unexpected event happens, triggers an adequate reaction. This paper presents a monitoring algorithm that provides immediate detection of any type of perturbation based solely on a phase representation of the normal walking of the robot. The proposed method was evaluated in a Limit Cycle Walker prototype that suffered push and trip perturbations at different moments of the gait cycle, providing 100% successful detections for the current experimental apparatus and adequately tuned parameters, with no false positives when the robot is walking unperturbed.

TYPE-ZERO SADDLE-NODE BIFURCATIONS AND STABILITY REGION ESTIMATION OF NONLINEAR AUTONOMOUS DYNAMICAL SYSTEMS

A complete characterization of the stability boundary of a class of nonlinear dynamical systems that admit energy functions is developed in this paper. This characterization generalizes the existing results by allowing the type-zero saddle-node nonhyperbolic equilibrium points on the stability boundary. Conceptual algorithms to obtain optimal estimates of the stability region (basin of attraction) in the form of level sets of a given family of energy functions are derived. The behavior of the stability region and the corresponding estimates are investigated for parameter variation in the neighborhood of a type-zero saddle-node bifurcation value.

A new, brightly colored species of Pseudoboa Schneider, 1801 from the Amazon Basin (Serpentes, Xenodontinae)

A new species of Pseudoboa, P. martinsi, is described from the Amazon basin of Brazil, with records from the states of Para, Amazonas, Roraima and Rondonia. The new species is distinguished from the other five species of the genus by a combination of scalation and coloration characters. Individuals of the new species were found in both primary and disturbed forested areas. The species seems to be predominantly nocturnal and secretive because specimens were found foraging in the litter during night.

An extension of the invariance principle for dwell-time switched nonlinear systems

In this paper, we propose an extension of the invariance principle for nonlinear switched systems under dwell-time switched solutions. This extension allows the derivative of an auxiliary function V, also called a Lyapunov-like function, along the solutions of the switched system to be positive on some sets. The results of this paper are useful to estimate attractors of nonlinear switched systems and corresponding basins of attraction. Uniform estimates of attractors and basin of attractions with respect to time-invariant uncertain parameters are also obtained. Results for a common Lyapunov-like function and multiple Lyapunov-like functions are given. Illustrative examples show the potential of the theoretical results in providing information on the asymptotic behavior of nonlinear dynamical switched systems. (C) 2012 Elsevier B.V. All rights reserved.

Composition of the Ant Fauna (Hymenoptera: Formicidae) in Public Squares in Southern Brazil

The composition of the ant fauna was examined in public squares of three municipalities that compose the hydrographic basin of the Upper Tiete River: Biritiba Mirim, Salesopolis, and Mogi das Cruzes. Richness, frequency of occurrence, similarity, and influence of seasons on the species composition were examined. The method was standardized as sampling units consisted of a set of three baits arranged in a triangle with vertices two meters apart. Sardines in oil were used as attractant. A total of 86 species was collected. Myrmicinae and Pheidole were the richest subfamily and genus, respectively. Eighty species were collected in Mogi das Cruzes, 49 in Salesopolis, and 45 in Biritiba Mirim, with 34 species common to the three areas. The ordination analysis (NMDS) revealed the presence of two distinct communities: one in Mogi das Cruzes and another in Biritiba Mirim-Salesopolis. These data were supported by the dendogram based on the Bray-Curtis dissimilarity index. This result might be associated with the distinct geographic and demographic characteristics of the areas. Regarding seasonality, the composition of the fauna of Mogi das Cruzes is independent of the season of the year, unlike the observed in Biritiba Mirim and Salesopolis.

Herbicides in the upper Poxim River, Sergipe, and the risk of contamination of water resources

Increased agricultural activity in watershed areas has been causing concern over contamination by herbicides in agricultural areas. The problem becomes more important when contamination can affect water for human consumption, as happens with water from the Poxim river, which supplies the city of Aracaju, capital of the State of Sergipe. The aim of this study was to evaluate the risk of contamination by herbicides to both surface and groundwater in the upper sub-basin of the Poxim River, and to detect the presence of the active ingredients Diuron and Ametrine up-river from the sugar-cane plantations. Risk analysis was carried out using criteria from the Environmental Protection Agency (EPA), the GUS index, and the GOSS method. It was observed that several active ingredients are at risk of leaching, demonstrating the importance of monitoring the river to control both the quality of water and the frequency and volume of herbicides used in the region. Based on the results, monitoring was carried out bi-monthly from July 2009 to July 2010 at two sampling points. Water samples were analyzed in the laboratory, where the presence of Diuron and Ametrine was noted. Water quality in the Sub-basin of the Rio Poxim is being influenced by the use of herbicides in the region. There was an increase in herbicide concentration in the surface water during the rainy season, possibly caused by soil runoff.

Characterization of Stability Region for General Autonomous Nonlinear Dynamical Systems

The existing characterization of stability regions was developed under the assumption that limit sets on the stability boundary are exclusively composed of hyperbolic equilibrium points and closed orbits. The characterizations derived in this technical note are a generalization of existing results in the theory of stability regions. A characterization of the stability boundary of general autonomous nonlinear dynamical systems is developed under the assumption that limit sets on the stability boundary are composed of a countable number of disjoint and indecomposable components, which can be equilibrium points, closed orbits, quasi-periodic solutions and even chaotic invariant sets.

Seafloor geological impacts associated with drilling disturbance

This study describes the sedimentological composition and morphology of the sea bottom in an area located at 902 m depth in the Campos Basin of Brazil, and compares characteristics before and after drilling activity for oil exploration. The results show no significant sedimentological variation in the area affected by drilling. The most noticeable effects were observed during the second (MD(2)) of three cruises, in terms of change to grain size distribution, total organic carbon and clay mineral composition around the Eagle well. This impact occurred over the seabed in a direction that corresponds to the near-bottom circulation pattern, predominantly northward. In the third cruise (MD3), 12 months after drilling, some recovery was observed. Side-scan sonar imaging was used to explore the extent of the area affected by drilling, and sedimentological samples from it confirmed the effects of drilling. (C) 2008 Elsevier Ltd. All rights reserved.

Disproportionate single-species contribution to canopy-soil nutrient flux in an Amazonian rainforest

Rainfall, throughfall and stemflow were monitored on an event basis in an undisturbed open tropical rainforest with a large number of palm trees located in the southwestern Amazon basin of Brazil. Stemflow samples were collected from 24 trees with a diameter at breast height (DBH) > 5 cm, as well as eight young and four full-grown babassu palms (Attalea speciosa Mart.) for 5 weeks during the peak of the wet season. We calculated rainfall, throughfall and stemflow concentrations and fluxes of Na+, K+, Ca2+, Mg2+,, Cl-, SO42-, NO3- and H+ and stemflow volume-weighted mean concentrations and fluxes for three size classes of broadleaf trees and three size classes of palms. The concentrations of most solutes were higher in stemflow than in rainfall and increased with increasing tree and palm size. Concentration enrichments from rainfall to stemflow and throughfall were particularly high (81-fold) for NO3-. Stemflow fluxes of NO3- and H+ exceeded throughfall fluxes but stemflow fluxes of other solutes were less than throughfall fluxes. Stemflow solute fluxes to the forest soil were dominated by fluxes on babassu palms, which represented only 4% of total stem number and 10% of total basal area. For NO3-, stemflow contributed 51% of the total mass of nitrogen delivered to the forest floor (stemflow + throughfall) and represented more than a 2000-fold increase in NO3- flux compared what would have been delivered by rainfall alone on the equivalent area. Because these highly localized fluxes of both water and NO3- persist in time and space, they have the potential to affect patterns of soil moisture, microbial populations and other features of soil biogeochemistry conducive to the creation of hotspots for nitrogen leaching and denitrification, which could amount to an important fraction of total ecosystem fluxes. Because these hotspots occur over very small areas, they have likely gone undetected in previous studies and need to be considered as an important feature of the biogeochemistry of palm-rich tropical forest. (C) 2011 Elsevier B.V. All rights reserved.