Energy-Economical Heuristically Based Control of Compass Gait Walking on Stochastically Varying Terrain

Investigation uses simulation to explore the inherent tradeoffs ofcontrolling high-speed and highly robust walking robots while minimizing energy consumption. Using a novel controller which optimizes robustness, energy economy, and speed of a simulated robot on rough terrain, the user can adjust their priorities between these three outcome measures and systematically generate a performance curveassessing the tradeoffs associated with these metrics.

Evolution of the Morphology of Bottom Walking Turtles

Ecomorphology and functional morphology are two distinct disciplines within biology that are often conflated and erroneously used interchangeably. By investigating the morphological distinctiveness of bottom-walking turtles relative to aquatic swimmers and terrestrial walkers, we can disentangle the effects of ecology and performance. Shell morphology, tail length, digit length, webbing length, and integumental differences were examined using dry and wet preserved specimens. Bottom-walkers were hypothesized to be distinct in all measurements. Instead, bottom-walkers were typically distinct from terrestrial taxa but not aquatic taxa, although for integumentary structures, only bottom-walkers were found to have significantly more integumentary structures than terrestrial turtles. This demonstrates that, despite sometimes highly differential locomotor modes, ecology, defined as habitat type, can show a stronger morphological signal than function.

Bacchus and Civic Order: The Culture of Drink in Early Modern Germany / Bacchus und die bürgerliche Ordnung. Die Kultur des Trinkens im frühneuzeitlichen Augsburg

Lining the streets inside the city's gates, clustered in its center, and thinly scattered among its back quarters were Augsburg's taverns and drinking rooms. These institutions ranged from the poorly lit rooms of backstreet wine sellers to the elaborate marble halls frequented by society's most privileged members. Urban drinking rooms provided more than food, drink, and lodging for their guests. They also conferred upon their visitors a sense of social identity commensurate with their status. Like all German cities, Augsburg during the sixteenth and seventeenth centuries had a history shaped by the political events attending the Reformation, the post-Reformation, and the Thirty Years' War; its social and political character was also reflected and supported by its public and private drinking rooms. In Bacchus and Civic Order: The Culture of Drink in Early Modern Germany, Ann Tlusty examines the social and cultural functions served by drinking and tavern life in Germany between 1500 and 1700, and challenges existing theories about urban identity, sociability, and power. Through her reconstruction of the social history of Augsburg, from beggars to council members, Tlusty also sheds light on such diverse topics as social ritual, gender and household relations, medical practice, and the concerns of civic leaders with public health and poverty. Drunkenness, dueling, and other forms of tavern comportment that may appear "disorderly" to us today turn out to be the inevitable, even desirable result of a society functioning according to its own rules.