Proposal of a floating mechanism based on magnetic levitation method toward EEG-driven robotic system

We discussed a floating mechanism based on quasi-magnetic levitation method that can be attached at the endpoint of a robot arm in order to construct a novel redundant robot arm for producing compliant motions. The floating mechanism can be composed of magnets and a constraint mechanism such that the repelling force of the magnets floats the endpoint part of the mechanism stable for the guided motions. The analytical and experimental results show that the proposed floating mechanism can produce stable floating motions with small inertia and viscosity. The results also show that the proposed mechanism can detect small force applied to the endpoint part because the friction force of the mechanism is very small.

Ground-based observations of the auroral zone and polar cap ionospheric responses to dayside transient reconnection

Observations from the EISCAT VHF incoherent scatter radar system in northern Norway, during a run of the common programme CP-4, reveal a series of polewardpropagating F-region electron density enhancements in the pre-noon sector on 23 November 1999. These plasma density features, which are observed under conditions of a strongly southward interplanetary magnetic field, exhibit a recurrence rate of under 10 min and appear to emanate from the vicinity of the open/closed field-line boundary from where they travel into the polar cap; this is suggestive of their being an ionospheric response to transient reconnection at the dayside magnetopause (flux transfer events). Simultaneous with the density structures detected by the VHF radar, polewardmoving radar auroral forms (PMRAFs) are observed by the Finland HF coherent scatter radar. It is thought that PMRAFs, which are commonly observed near local noon by HF radars, are also related to flux transfer events, although the specific mechanism for the generation of the field-aligned irregularities within such features is not well understood. The HF observations suggest, that for much of their existence, the PMRAFs trace fossil signatures of transient reconnection rather than revealing the footprint of active reconnection itself; this is evidenced not least by the fact that the PMRAFs become narrower in spectral width as they evolve away from the region of more classical, broad cusp scatter in which they originate. Interpretation of the HF observations with reference to the plasma parameters diagnosed by the incoherent scatter radar suggests that as the PMRAFs migrate away from the reconnection site and across the polar cap, entrained in the ambient antisunward flow, the irregularities therein are generated by the presence of gradients in the electron density, with these gradients having been formed through structuring of the ionosphere in the cusp region in response to transient reconnection.

Large plasma velocities along the magnetic field line in the auroral zone

In the auroral zone, ionospheric plasma often moves horizontally at more than 1 km s−1, driven by magnetospheric electric fields, but it has usually been assumed that vertical velocities are much smaller. On occasions, however, plasma has been seen to move upwards along the magnetic field line at several hundred m s−1. These upward velocities are associated with electric fields strong enough to heat the ion population and drive it into a non-thermal state1,2. Here we report observations of substantial upwards acceleration of plasma, to velocities as high as 500 m s−1. An initial upthrust was provided by a combined upwelling of the neutral atmosphere and ionosphere but the continued acceleration at greater heights is explained by a combination of enhanced plasma pressure and the 'hydrodynamic mirror force'3. This acceleration marks an important stage in the transport of plasma from the ionosphere into the magnetosphere.

RE1 silencing transcription factor/neuron-restrictive silencing factor regulates expansion of adult mouse subventricular zone-derived neural stem/progenitor cells in vitro

Adult neural stem cell (aNSC) activity is tuned by external stimuli through the recruitment of transcription factors. This study examines the RE1 silencing transcription factor (REST) in neural stem/progenitor cells isolated from the subventricular zone of adult mouse brain and provides the first extensive characterization of REST-mediated control of the cellular and molecular properties. This study shows that REST knockdown affects the capacity of progenitor cells to generate neurospheres, reduces cell proliferation, and triggers cell differentiation despite the presence of growth factors. Genome- and transcriptome-wide analyses show that REST binding sites are significantly enriched in genes associated with synaptic transmission and nervous system development and function. Seeking candidate regulators of aNSC function, this study identifies a member of the bone morphogenetic protein (BMP) family, BMP6, the mRNA and protein of which increased after REST knockdown. The results of this study extend previous findings, demonstrating a reciprocal control of REST expression by BMPs. Administration of exogenous BMP6 inhibits aNSC proliferation and induces the expression of the astrocytic marker glial fibrillary acidic protein, highlighting its antimitogenic and prodifferentiative effects. This study suggests that BMP6 produced in a REST-regulated manner together with other signals can contribute to regulation of NSC maintenance and fate. © 2015 Wiley Periodicals, Inc.

A unified approach to the recognition of complex actions from sequences of zone-crossings

We present a method for the recognition of complex actions. Our method combines automatic learning of simple actions and manual definition of complex actions in a single grammar. Contrary to the general trend in complex action recognition that consists in dividing recognition into two stages, our method performs recognition of simple and complex actions in a unified way. This is performed by encoding simple action HMMs within the stochastic grammar that models complex actions. This unified approach enables a more effective influence of the higher activity layers into the recognition of simple actions which leads to a substantial improvement in the classification of complex actions. We consider the recognition of complex actions based on person transits between areas in the scene. As input, our method receives crossings of tracks along a set of zones which are derived using unsupervised learning of the movement patterns of the objects in the scene. We evaluate our method on a large dataset showing normal, suspicious and threat behaviour on a parking lot. Experiments show an improvement of ~ 30% in the recognition of both high-level scenarios and their composing simple actions with respect to a two-stage approach. Experiments with synthetic noise simulating the most common tracking failures show that our method only experiences a limited decrease in performance when moderate amounts of noise are added.

Interacting controls on innate sources of CO2 efflux from a calcareous arid zone soil under experimental acidification and wetting

More than half of global soil carbon is stored as carbonates, primarily in arid and semi-arid zones. Climate change models predict more frequent and severe rainfall events in some parts of the globe, many of which are dominated by calcareous soils. Such events trigger substantial increases in soil CO2 efflux. We hypothesised that the primary source of CO2 emissions from calcareous, arid zone soil during a single wetting event is abiotic and that soil acidification and wetting have a positive, potentially interacting, effect. We manipulated soil pH, soil moisture, and controlled soil respiration by gamma irradiating half of an 11 day incubation experiment. All manipulated experimental treatments had a rapid and enormous effect on CO2 emission. Respiration contributed ca. 5% of total CO2 efflux; the major source (carbonate buffering) varied depending on the extent of acidification and wetting. Maximum CO2 efflux occurred when pH was lowest and at intermediate matric potential. CO2 efflux was lowest at native pH when soil was air dry. Our data suggest that there may be an underestimate of soil-atmosphere carbon fluxes in arid ecosystems with calcareous soils. There is also a clear potential that these soils may become net carbon sources depending on changes in rainfall patterns, rainfall acidity, and future land management. Our findings have major implications for carbon cycling in arid zone soil and further study of carbon dynamics in these terrestrial systems at a landscape level will be required if we are to improve global climate and carbon cycling models.

EMD performance comparison: single vs double floating points

Empirical mode decomposition (EMD) is a data-driven method used to decompose data into oscillatory components. This paper examines to what extent the defined algorithm for EMD might be susceptible to data format. Two key issues with EMD are its stability and computational speed. This paper shows that for a given signal there is no significant difference between results obtained with single (binary32) and double (binary64) floating points precision. This implies that there is no benefit in increasing floating point precision when performing EMD on devices optimised for single floating point format, such as graphical processing units (GPUs).

Generic construction of monitors for floating point unit designs

This paper proposes a set of well defined steps to design functional verification monitors intended to verify Floating Point Units (FPU) described in HDL. The first step consists on defining the input and output domain coverage. Next, the corner cases are defined. Finally, an already verified reference model is used in order to test the correctness of the Device Under Verification (DUV). As a case study a monitor for an IEEE754-2008 compliant design is implemented. This monitor is built to be easily instantiated into verification frameworks such as OVM. Two different designs were verified reaching complete input coverage and successful compliant results.

Temporal and spatial variability of surface fluxes over the ice edge zone in the northern Baltic Sea

Three land-fast ice stations (one of them was the Finnish research ice breaker Aranda) and the German research aircraft Falcon were applied to measure the turbulent and radiation fluxes over the ice edge zone in the northern Baltic Sea during the Baltic Air-Sea-Ice Study (BASIS) field experiment from 16 February to 6 March 1998. The temporal and spatial variability of the surface fluxes is discussed. Synoptic weather systems passed the experimental area in a rapid sequence and dominated the conditions (wind speed, airsurface temperature difference, cloud field) for the variability of the turbulent and radiation fluxes. At the ice stations, the largest upward sensible heat fluxes of about 100 Wm�2 were measured during the passage of a cold front when the air cooled faster (�5 K per hour) than the surface. The largest downward flux of about �200 Wm�2 occurred during warm air advection when the air temperature reached +10�C but the surface temperature remained at 0�C. Spatial variability of fluxes was observed from the small scale (scale of ice floes and open water spots) to the mesoscale (width of the ice edge zone). The degree of spatial variability depends on the synoptic situation: during melting conditions downward heat fluxes were the same over ice and open water, whereas during strong cold-air advection upward heat fluxes differed by more than 100 Wm�2. A remarkable amount of grey ice with intermediate surface temperature was observed. The ice in the Baltic Sea cannot be described by one ice type only.

Intraplate earthquake swarm in Belo Jardim, NE Brazil: reactivation of a major Neoproterozoic shear zone (Pernambuco Lineament)

Intraplate earthquakes in stable continental areas have been explained basically by reactivation of pre-existing zones of weakness, stress concentration, or both. Zones of weakness are usually identified as sites of the last major orogeny, provinces of recent alkaline intrusions, or stretched crust in ancient rifts. However, it is difficult to identify specific zones of weakness and intraplate fault zones are not always easily correlated with known geological features. Although Northeastern Brazil is one of the most seismically active areas in the country (magnitudes 5 roughly every 5 yr), with hypocentral depths shallower than similar to 10 km and seismic zones as long as 30-40 km, no clear relationship with the known surface geology can be usually established with confidence, and a clear identification of zones of weakness has not yet been possible. Here we present the first clear case of seismic activity occurring as reactivation of an old structure in Brazil: the Pernambuco Lineament, a major Neoproterozoic shear zone. The 2004 earthquake swarm of Belo Jardim (magnitudes up to 3.1) and the recurrent activities in the nearby towns of Sao Caetano and Caruaru (magnitudes up to 4.0 and 3.8), show that the Pernambuco Lineament is a weak zone. A local seismic network showed that the Belo Jardim swarm of 2004 November occurred by normal faulting on a North dipping, E-W oriented fault plane in close agreement with the E-W trending structures within the Pernambuco Lineament. The Belo Jardim activity was concentrated in a 1.5 km (E-W) by 2 km (downdip) fault area, and average depth of 4.5 km. The nearby Caruaru activity occurs as both strike-slip and normal faulting, also consistent with local structures of the Pernambuco Lineament. The focal mechanisms of Belo Jardim, Caruaru and S. Caetano, indicate E-W compressional and N-S extensional principal stresses. The NS extension of this stress field is larger than that predicted by numerical models such as those of Coblentz & Richardson and we propose that additional factors such as flexural stresses from the nearby Sergipe-Alagoas marginal basin could also affect the current stress field in the Pernambuco Lineament.

The intraplate Porto dos Gauchos seismic zone in the Amazon craton - Brazil

The largest earthquake observed in the stable continental interior of the South American plate occurred in Serra do Tombador, Mato Grosso state - Brazil, on January 31,1955 with a magnitude of 6.2 m(b). Since then no other earthquake has been located near the 1955 epicentre. However, in Porto dos Gauchos, 100 km northeast of Serra do Tombador, a recurrent seismicity has been observed since 1959. Both Serra do Tombador and Porto dos Gauchos are located in the Phanerozoic Parecis basin. Two magnitude 5 earthquakes occurred in Porto dos Gauchos, in 1998 and 2005, with intensities up to VI and V, respectively. These two main shocks were followed by aftershock sequences lasting more than three years each. Local seismic stations have been deployed by the Seismological Observatory of the University of Brasilia since 1998 to study the ""Porto dos Gauchos"" seismic zone (PGSZ). A local seismic refraction survey was carried out with two explosions to help define the seismic velocity model. Both the 1998 and 2005 earthquake sequences occurred in the same WSW-ENE oriented fault zone with right-lateral strike-slip mechanisms. The epicentral zone is in the Parecis basin, near its northern border where there are buried grabens, generally trending WNW-ESE, such as the deep Mesoproterozoic Caiabis graben which lies partly beneath the Parecis basin. However, the epicentral distribution indicates that the 1998 and 2005 sequences are related to a N60 degrees E fault which probably crosses the entire Caiabis graben. The 1955 earthquake, despite the uncertainty in its epicentre, does not seem to be directly related to any buried graben either. The seismicity in the Porto dos Gauchos seismic zone, therefore, is not directly related to rifted crust. The probable direction of the maximum horizontal stress near Porto dos Gauchos is roughly E-W, consistent with other focal mechanisms further south in the Pantanal basin and Paraguay. but seems to be different from the NW-SE direction observed further north in the Amazon basin. The recurrent seismicity observed in Porto dos Gauchos, and the large 1955 earthquake nearby, make this area of the Parecis basin one of the most important seismic zones of Brazil. (C) 2009 Elsevier B.V. All rights reserved.

Basement depths in the Parecis Basin (Amazon) with receiver functions from small local earthquakes in the Porto dos Gauchos seismic zone

Receiver functions from small local earthquakes were used to determine sediment thicknesses in Porto dos Gauchos seismic zone (PGSZ), Parecis basin, Amazonian craton, Brazil. The high velocity contrast between basement and sediments (P-wave velocities of 6.1 and 3.0 km/s, respectively) favors the generation of clear P-to-S converted phases (Ps) seen in the radial component, and also S-to-P conversions (Sp) seen in the vertical component. A reference 10 velocity model determined with shallow refraction experiment in PGSZ helped to convert Ps P time differences to basement depths at 15 stations deployed for aftershocks studies. The results of receiver function integrated with the shallow refraction reveal that the basement depths in the PGSZ increases from the basin border in the north up to about 600 m depth in the south. The basement topography, however, does not vary smoothly and a basement high with a steep topography was detected near the epicentral area. A 400 m elevation difference within 1.7 km distance suggests a possible border fault of a buried graben. This feature seems to be oriented roughly WSW-ENE and could indicate basement structures related to the seismicity of the Porto dos Gauchos Seismic Zone. (C) 2011 Elsevier Ltd. All rights reserved.

A Floating-point Extended Kalman Filter Implementation for Autonomous Mobile Robots

Localization and Mapping are two of the most important capabilities for autonomous mobile robots and have been receiving considerable attention from the scientific computing community over the last 10 years. One of the most efficient methods to address these problems is based on the use of the Extended Kalman Filter (EKF). The EKF simultaneously estimates a model of the environment (map) and the position of the robot based on odometric and exteroceptive sensor information. As this algorithm demands a considerable amount of computation, it is usually executed on high end PCs coupled to the robot. In this work we present an FPGA-based architecture for the EKF algorithm that is capable of processing two-dimensional maps containing up to 1.8 k features at real time (14 Hz), a three-fold improvement over a Pentium M 1.6 GHz, and a 13-fold improvement over an ARM920T 200 MHz. The proposed architecture also consumes only 1.3% of the Pentium and 12.3% of the ARM energy per feature.

Chromium ions phytoaccumulation by three floating aquatic macrophytes from a nutrient medium

In the present work, the trivalent and hexavalent chromium phytoaccumulation by three living free floating aquatic macrophytes Salvinia auriculata, Pistia stratiotes, and Eicchornia crassipes was investigated in greenhouse. These plants were grown in hydroponic solutions supplied with non-toxic Cr3+ and Cr6+ chromium concentrations, performing six collections of nutrient media and plants in time from a batch system. The total chromium concentrations into Cr-doped hydroponic media and dry roots and aerial parts were assayed, by using the Synchrotron radiation X-ray fluorescence technique. The aquatic plant-based chromium removal data were described by using a nonstructural kinetic model, obtaining different bioaccumulation rate, ranging from 0.015 to 0.837 1 mg(-1) d(-1). The Cr3+ removal efficiency was about 90%, 50%, and 90% for the E. crassipes, P. stratiotes, and S. auriculata, respectively; while it was rather different for Cr6+ one, with values about 50%, 70%, and 90% for the E. crassipes, P. stratiotes, and S. auriculata.