970 resultados para INVERTED PENDULUM
Resumo:
The main task of this work has been to investigate the effects of anisotropy onto the propagation of seismic waves along the Upper Mantle below Germany and adjacent areas. Refraction- and reflexion seismic experiments proved the existence of Upper Mantle anisotropy and its influence onto the propagation of Pn-waves. By the 3D tomographic investigations that have been done here for the crust and the upper mantle, considering the influence of anisotropy, a gap for the investigations in Europe has been closed. These investigations have been done with the SSH-Inversionprogram of Prof. Dr. M. Koch, which is able to compute simultaneously the seismic structure and hypocenters. For the investigation, a dataset has been available with recordings between the years 1975 to 2003 with a total of 60249 P- and 54212 S-phase records of 10028 seismic events. At the beginning, a precise analysis of the residuals (RES, the difference between calculated and observed arrivaltime) has been done which confirmed the existence of anisotropy for Pn-phases. The recognized sinusoidal distribution has been compensated by an extension of the SSH-program by an ellipse with a slow and rectangular fast axis with azimuth to correct the Pn-velocities. The azimuth of the fast axis has been fixed by the application of the simultaneous inversion at 25° - 27° with a variation of the velocities at +- 2.5 about an average value at 8 km/s. This new value differs from the old one at 35°, recognized in the initial residual analysis. This depends on the new computed hypocenters together with the structure. The application of the elliptical correction has resulted in a better fit of the vertical layered 1D-Model, compared to the results of preceding seismological experiments and 1D and 2D investigations. The optimal result of the 1D-inversion has been used as initial starting model for the 3D-inversions to compute the three dimensional picture of the seismic structure of the Crust and Upper Mantle. The simultaneous inversion has showed an optimization of the relocalization of the hypocenters and the reconstruction of the seismic structure in comparison to the geology and tectonic, as described by other investigations. The investigations for the seismic structure and the relocalization have been confirmed by several different tests. First, synthetic traveltime data are computed with an anisotropic variation and inverted with and without anisotropic correction. Further, tests with randomly disturbed hypocenters and traveltime data have been proceeded to verify the influence of the initial values onto the relocalization accuracy and onto the seismic structure and to test for a further improvement by the application of the anisotropic correction. Finally, the results of the work have been applied onto the Waldkirch earthquake in 2004 to compare the isotropic and the anisotropic relocalization with the initial optimal one to verify whether there is some improvement.
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Despite its young history, Computer Science Education has seen a number of "revolutions". Being a veteran in the field, the author reflects on the many changes he has seen in computing and its teaching. The intent of this personal collection is to point out that most revolutions came unforeseen and that many of the new learning initiatives, despite high financial input, ultimately failed. The author then considers the current revolution (MOOC, inverted lectures, peer instruction, game design) and, based on the lessons learned earlier, argues why video recording is so successful. Given the fact that this is the decade we lost print (papers, printed books, book shops, libraries), the author then conjectures that the impact of the Internet will make this revolution different from previous ones in that most of the changes are irreversible. As a consequence he warns against storming ahead blindly and suggests to conserve - while it is still possible - valuable components of what might soon be called the antebellum age of education.
Resumo:
RNA mediated gene silencing pathways are highly conserved among eukaryotes and they have been well investigated in animals and in plants. Longer dsRNA molecules trigger the silencing pathways: RNase III proteins and their dsRNA binding protein (dsRBP) partners recognize those molecules as a substrate and process 21 nucleotide long microRNAs (miRNAs) or small interfering RNAs (siRNAs). Some organisms encode RNA dependent RNA polymerases (RdRPs), which are able to expand the pool of existing siRNAs. Argonaute proteins are able to bind small regulatory RNAs and are subsequently recruited to target mRNAs by base complementary. This leads in turn to transcriptional or posttranscriptional silencing of respective genes. The Dictyostelium discoideum genome encodes two Dicer homologues (DrnA and DrnB), five Argonaute proteins (AgnA to AgnE) and three RdRPs (RrpA to RrpC). In addition, the amoeba is known to express miRNAs and siRNAs, while the latter derive mainly from the DIRS-1 retrotransposon. One part of this work focused on the miRNA biogenesis pathway of D. discoideum. It was shown that the dsRNA binding protein RbdB is a necessary component for miRNA processing in the amoeba. There were no mature miRNAs detectable by Northern blot analysis in rbdB- strains, which is also true for drnB mutants. Moreover, primary miRNA-transcripts (pri-miRNAs) accumulated in rbdB- and drnB- strains. Fluorescence microscopy studies showed a nuclear localization of RbdB. RbdB accumulated in distinct perinucleolar foci. These were reminiscent of plant dicing bodies that contain essential protein components for miRNA processing. It is well known that RNase III enzymes and dsRBPs work together during miRNA processing in higher eukaryotes. This work demonstrated that the same is true for members of the amoebozoa supergroup. In Arabidopsis the nuclear zinc finger protein Serrate (SE) is also necessary for miRNA processing. The D. discoideum homologue SrtA, however, is not relevant which has been shown by the analysis of the respective knockdown strain. MiRNAs are known to be differentially expressed in several RNAi knockout strains. The accumulation of miRNAs in agnA- strains and a strong decrease in rbdB- strains were criteria that could thus be successfully used (among others) to identify and validate new miRNAs candidates by Illumina®-RNA sequencing. In another part of this study, the silencing and amplification of the DIRS-1 retrotransposons was analyzed in more detail. It was already known that DIRS-1 transcripts and extrachromosomal DIRS-1 DNA molecules accumulated in agnA- strains. This phenotype was correlated with the loss of endogenous DIRS-1 siRNAs in the knockout strain. By deep sequencing analysis of small RNAs from the AX2 wild type and the agnA- strain, the strong decrease of endogenous DIRS-1 siRNAs in the mutant strain (accounting for 70 %) could be confirmed. Further analysis of the data revealed an unequal distribution of DIRS-1 derived siRNAs along the retroelement in the wild type strain, since only very few of them matched the inverted terminal repeats (ITRs) and the 5’- half of the first open reading frame (ORF). Besides, sense and antisense siRNAs were asymmetrically distributed, as well. By using different reporter constructs it was shown indirectly that AgnA is necessary for the RrpC mediated production of secondary DIRS-1 siRNAs. These analyses also demonstrated an amplification of siRNAs in 5’- and in 3’-direction. Further analysis of the agnA- strain revealed that not only DIRS-1 sense transcripts but also ORF2 and ORF3 encoded proteins were enriched. In contrast, the ORF1 encoded protein GAG was equally expressed in the mutant and the wild type. This might reflect the unequal distribution of endogenous DIRS-1 siRNAs along the retrotransposon. Southern Blot and PCR-analyses showed that extrachromosomal DIRS-1 DNA molecules are present in the cytoplasm of angA- strains and that they are complementary to sense transcripts of intact DIRS-1 elements. Thus, the extrachromosomal DIRS-1 intermediates are likely incomplete cDNA molecules generated by the DIRS-1 encoded reverse transcriptase. One could hypothesize that virus like particles (VLPs) are the places of DIRS-1 cDNA synthesis. At least, DIRS-1 GAG proteins interact and fluorescence microscopy studies showed that they localize in distinct cytoplasmic foci which accumulate in close proximity to the nuclei.
Resumo:
Characteristics of DIRS-1 Mediated Knock-Downs __ We have previously shown that the most abundant Dictyostelium discoideum retroelement DIRS-1 is suppressed by RNAi mechanisms. Here we provide evidence that both inverted terminal repeats have strong promoter activity and that bidirectional expression apparently generates a substrate for Dicer. A cassette containing the inverted terminal repeats and a fragment of a gene of interest was sufficient to activate the RNAi response, resulting in the generation of ~21 nt siRNAs, a reduction of mRNA and protein expression of the respective endogene. Surprisingly, no transitivity was observed on the endogene. This was in contrast to previous observations, where endogenous siRNAs caused spreading on an artificial transgene. Knock-down was successful on seven target genes that we examined. In three cases a phenotypic analysis proved the efficiency of the approach. One of the target genes was apparently essential because no knock-out could be obtained; the RNAi mediated knock-down, however, resulted in a very slow growing culture indicating a still viable reduction of gene expression.
Resumo:
Since robots are typically designed with an individual actuator at each joint, the control of these systems is often difficult and non-intuitive. This thesis explains a more intuitive control scheme called Virtual Model Control. This thesis also demonstrates the simplicity and ease of this control method by using it to control a simulated walking hexapod. Virtual Model Control uses imagined mechanical components to create virtual forces, which are applied through the joint torques of real actuators. This method produces a straightforward means of controlling joint torques to produce a desired robot behavior. Due to the intuitive nature of this control scheme, the design of a virtual model controller is similar to the design of a controller with basic mechanical components. The ease of this control scheme facilitates the use of a high level control system which can be used above the low level virtual model controllers to modulate the parameters of the imaginary mechanical components. In order to apply Virtual Model Control to parallel mechanisms, a solution to the force distribution problem is required. This thesis uses an extension of Gardner`s Partitioned Force Control method which allows for the specification of constrained degrees of freedom. This virtual model control technique was applied to a simulated hexapod robot. Although the hexapod is a highly non-linear, parallel mechanism, the virtual models allowed text-book control solutions to be used while the robot was walking. Using a simple linear control law, the robot walked while simultaneously balancing a pendulum and tracking an object.
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Understanding how the human visual system recognizes objects is one of the key challenges in neuroscience. Inspired by a large body of physiological evidence (Felleman and Van Essen, 1991; Hubel and Wiesel, 1962; Livingstone and Hubel, 1988; Tso et al., 2001; Zeki, 1993), a general class of recognition models has emerged which is based on a hierarchical organization of visual processing, with succeeding stages being sensitive to image features of increasing complexity (Hummel and Biederman, 1992; Riesenhuber and Poggio, 1999; Selfridge, 1959). However, these models appear to be incompatible with some well-known psychophysical results. Prominent among these are experiments investigating recognition impairments caused by vertical inversion of images, especially those of faces. It has been reported that faces that differ "featurally" are much easier to distinguish when inverted than those that differ "configurally" (Freire et al., 2000; Le Grand et al., 2001; Mondloch et al., 2002) ??finding that is difficult to reconcile with the aforementioned models. Here we show that after controlling for subjects' expectations, there is no difference between "featurally" and "configurally" transformed faces in terms of inversion effect. This result reinforces the plausibility of simple hierarchical models of object representation and recognition in cortex.
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Tanto los Sistemas de Información Geográfica como la Recuperación de Información han sido campos de investigación muy importantes en las últimas décadas. Recientemente, un nuevo campo de investigación llamado Recuperación de Información Geográfica ha surgido fruto de la confluencia de estos dos campos. El objetivo principal de este campo es definir estructuras de indexación y técnicas para almacenar y recuperar documentos de manera eficiente empleando tanto las referencias textuales como las referencias geográficas contenidas en el texto. En este artículo presentamos la arquitectura de un sistema para recuperación de información geográfica y definimos el flujo de trabajo para la extracción de las referencias geográficas de los documentos. Presentamos además una nueva estructura de indexación que combina un índice invertido, un índice espacial y una ontología. Esta estructura mejora las capacidades de consulta de otras propuestas
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We document the existence of a Crime Kuznets Curve in US states since the 1970s. As income levels have risen, crime has followed an inverted U-shaped pattern, first increasing and then dropping. The Crime Kuznets Curve is not explained by income inequality. In fact, we show that during the sample period inequality has risen monotonically with income, ruling out the traditional Kuznets Curve. Our finding is robust to adding a large set of controls that are used in the literature to explain the incidence of crime, as well as to controlling for state and year fixed effects. The Curve is also revealed in nonparametric specifications. The Crime Kuznets Curve exists for property crime and for some categories of violent crime.
Resumo:
Inside the stones of its most famous buildings, Évora keeps mysteries and secrets which constitute the most hidden side of its cultural identity. A World Heritage site, this town seems to preserve, in its medieval walls, a precious knowledge of the most universal and ancient human emotion: fear. Trying to transcend many of its past and future fears, some of its historical monuments in Gothic style were erected against the fear of death, the most terrible of all fears, which the famous inscription, in the Bones Chapel of the Church of São Francisco, insistently reminds us, through the most disturbing words: “Nós ossos que aqui estamos pelos vossos esperamos”. If the first inquisitors worked in central Europe (Germany, northern Italy, eastern France), later the centres of the Inquisition were established in the Mediterranean regions, especially southern France, Italy, Portugal, and Spain. Consequently, the roots of fear in Évora are common to other towns, where the Inquisition developed a culture of fear, through which we can penetrate into the dark side of the Mediterranean, where people were subjected to the same terrifying methods of persecution and torture. This common geographical and historical context was not ignored by one of the most famous masters of American gothic fiction, Edgar Allan Poe. Through the pages of The Pit and the Pendulum, readers get precise images of the fearful instruments of terror that were able to produce the legend that has made the first grand inquisitor, Tomas de Torquemada, a symbol of ultimate cruelty, bigotry, intolerance, and religious fanaticism, which unfortunately are still the source of our present fears in a time when religious beliefs can be used again as a motif of war and destruction. As Krishnamurti once suggested, only a fundamental realization of the root of all fear can free our minds.
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"Exhibiting is or should be to work against ignorance, especially against the most refractory of all ignorance: the pre-conceived idea of stereo typed culture. To exhibit is to take a calculated risk of disorientation - in the etymological sense : ( to lose your bearings), disturbs the harmony, the evident , and the consensus, that constitutes the common place ( the banal). Needless to say however it is obvious that an exhibition that deliberately tries to scandalise will create an inverted perversion which results in an obscurantist pseudo-luxury - culture ... between demagogy and provocation, one has to find visual communication's subtle itinerary. Even though an intermediary route is not so stimulating : as Gaston Bachelard said "All the roads lead to Rome, except the roads of compromise."
Resumo:
Exhibiting is or should be to work against ignorance, especially against the most refractory of all ignorance: the pre-conceived idea of stereo typed culture. To exhibit is to take a calculated risk of disorientation - in the etymological sense: (to lose your bearings), disturbs the harmony, the evident , and the consensus, that constitutes the common place (the banal). Needless to say however it is obvious that an exhibition that deliberately tries to scandalise will create an inverted perversion which results in an obscurantist pseudo-luxury - culture ... between demagogy and provocation, one has to find visual communication's subtle itinerary. Even though an intermediary route is not so stimulating: as Gaston Bachelard said "All the roads lead to Rome, except the roads of compromise." It is becoming ever more evident that museums have undergone changes that are noticeable in numerous areas. As well as the traditional functions of collecting, conserving and exhibiting objects. museums have tried to become a means of communication, open and aware of the worries of modern society. In order to do this , it has started to utilise modern technology now available and lead by the hand of "marketing" and modern business management.
Resumo:
Resistivity imaging was carried out on four large Roman barrows at Bartlow in Cambridgeshire. The geophysical survey formed part of a wider research project designed to record and assess the landscape context of the largest surviving Roman burial mounds in Britain. The barrows today range in height from 6.6 m to 13.2 m and their steep profile loosed particular practical and modelling challenges. Data were obtained using a Campus Geopulse resistance meter with up to 50 electrodes spaced at 1 m intervals and lines up to 76 m long. A total of 24 lines was obtained. Topographic corrections were applied to the pseudosections, whichwere inverted using Res 2 Dinv and Res3 Dinv. Resistivity imaging was particularly successful in identifying evidence for the antiquarian explorations of the site. Central collapse features or in-filled tunnels image as high resistance features in all barrows and in one (Barrow IV) there is also a low resistance feature in the approximate position of a known antiquarian tunnel. Barrow VI had a thick covering of high-resistivity that may relate to nineteenth century landscaping and reconstruction of this monument. Resistivity imaging also revealed possible evidence for ancient revetments in all four large barrows. Copyright (c) 2006 John Wiley & Sons, Ltd.
Resumo:
It has been previously demonstrated that extensive activation in the dorsolateral temporal lobes associated with masking a speech target with a speech masker, consistent with the hypothesis that competition for central auditory processes is an important factor in informational masking. Here, masking from speech and two additional maskers derived from the original speech were investigated. One of these is spectrally rotated speech, which is unintelligible and has a similar (inverted) spectrotemporal profile to speech. The authors also controlled for the possibility of “glimpsing” of the target signal during modulated masking sounds by using speech-modulated noise as a masker in a baseline condition. Functional imaging results reveal that masking speech with speech leads to bilateral superior temporal gyrus (STG) activation relative to a speech-in-noise baseline, while masking speech with spectrally rotated speech leads solely to right STG activation relative to the baseline. This result is discussed in terms of hemispheric asymmetries for speech perception, and interpreted as showing that masking effects can arise through two parallel neural systems, in the left and right temporal lobes. This has implications for the competition for resources caused by speech and rotated speech maskers, and may illuminate some of the mechanisms involved in informational masking.
Resumo:
Inversions breaking the 1041 bp int1h-1 or the 9.5-kb int22h-1 sequence of the F8 gene cause hemophilia A in 1/30,000 males. These inversions are due to homologous recombination between the above sequences and their inverted copies on the same DNA molecule, respectively, int1h-2 and int22h-2 or int22h-3. We find that (1) int1h and int22h duplicated more than 25 million years ago; (2) the identity of the copies (>99%) of these sequences in humans and other primates is due to gene conversion; (3) gene conversion is most frequent in the internal regions of int22h; (4) breakpoints of int22h-related inversions also tend to involve the internal regions of int22h; (5) sequence variations in a sample of human X chromosomes defined eight haplotypes of int22h-1 and 27 of int22h-2 plus int22h-3; (6) the latter two sequences, which lie, respectively, 500 and 600 kb telomeric to int22h-1 are five-fold more identical when in cis than when in trans, thus suggesting that gene conversion may be predominantly intrachromosomal; (7) int1h, int22h, and flanking sequences evolved at a rate of about 0.1% substitutions per million years during the divergence between humans and other primates, except for int1h during the human-chimpanzee divergence, when its rate of evolution was significantly lower. This is reminiscent of the slower evolution of palindrome arms in the male specific regions of the Y chromosome and we propose, as an explanation, that intrachromosomal gene conversion and cosegregation of the duplicated regions favors retention of the ancestral sequence and thus reduces the evolution rate.
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Data on the vibrational energy levels and rotational constants of carbon suboxide for the low-wavenumber bending mode ν7 are reviewed, in the ground-state manifold, and in the ν2-, ν3-, ν4-, and ν2 + ν4-state manifolds. Following the procedure developed by Duckett, Mills, and Robiette [J. Mol. Spectrosc. 63, 249 (1976)] the data have been inverted to give the effective bending potential in ν7 for each of these five states. Values are obtained for various other parameters in the effective vibration-rotation Hamiltonian. The potential and rotational constants in ν2 + ν4 are given to a close approximation by linear extrapolation from the ground state through the ν2 and ν4 states.