Biologically inspired joint control for a humanoid robot

The GuRm is a 1.2m tall, 23 degree of freedom humanoid consuucted at the University of Queensland for research into humanoid robotics. The key challenge being addressed by the GuRw projcct is the development of appropriate learning strategies for control and coodinadon of the robot’s many joints. The development of learning strategies is Seen as a way to sidestep the inherent intricacy of modeling a multi-DOP biped robot. This paper outlines the approach taken to generate an appmpria*e control scheme for the joinis of the GuRoo. The paper demonsrrates the determination of local feedback control parameters using a genetic algorithm. The feedback loop is then augmented by a predictive modulator that learns a form of feed-fonward control to overcome the irregular loads experienced at each joint during the gait cycle. The predictive modulator is based on thc CMAC architecture. Results from tats on the GuRoo platform show that both systems provide improvements in stability and tracking of joint control.

Microvertebrate assemblages from the Upper Silurian of Cornwallis Island, Arctic Canada

Microvertebrate assemblages from four Upper Silurian (?Ludlow-Pridoli) localities on Cornwallis Island, Arctic Canada, comprise mainly scales, plus dentition cones and jaw fragments from ischnacanthid acanthodians, with rare scales assigned to heterostracan Lepidaspis? sp., ?chondrichthyan Arauzia? sp., and Placodermi? gen. et sp. indet. Most of the scales in sample C-11460 are assigned to the poracanthodid acanthodian Poracanthodes canadensis sp.nov., which shows closest affinity to Poracanthodes punctatus Brotzen variants from the Baltic Pridoli. The flank scales of the new species resemble those of P. punctatus s.s. (Silurian variant; the zone fossil for the late Pridoli in the Standard Silurian microvertebrate scheme), with their superposed crown growth zones, rows of small pores aligned with the underlying zones, number of radial canals, and arcade canals connecting these radial canals. They differ in having numerous anterior crown riblets, zig-zag rather than straight crown pore rows, and V-shaped arcade canals.

Practical scheme for error control using feedback

We describe a scheme for quantum-error correction that employs feedback and weak measurement rather than the standard tools of projective measurement and fast controlled unitary gates. The advantage of this scheme over previous protocols [for example, Ahn Phys. Rev. A 65, 042301 (2001)], is that it requires little side processing while remaining robust to measurement inefficiency, and is therefore considerably more practical. We evaluate the performance of our scheme by simulating the correction of bit flips. We also consider implementation in a solid-state quantum-computation architecture and estimate the maximal error rate that could be corrected with current technology.