Standing up with motor primitives

As observed in nature, complex locomotion can be generated based on an adequate combination of motor primitives. In this context, the paper focused on experiments which result in the development of a quality criterion for the design and analysis of motor primitives. First, the impact of different vocabularies on behavioural diversity, robustness of prelearned behaviours and learning process is elaborated. The experiments are performed with the quadruped robot MiniDog6M for which a running and standing up behaviour is implemented. Further, a reinforcement learning approach based on Q-learning is introduced which is used to select an adequate sequence of motor primitives. © 2006 Springer-Verlag Berlin Heidelberg.

Complete assignment of H-1-NMR resonances of the king cobra neurotoxin CM-11

The king cobra(Ophiophagus hannah) neurotoxin CM-11 is long-chain peptide with 72 amino acid residues. Its complete assignment of H-1-NMR resonances was obtained using various 2D-NMR technologies, including DQF-COSY, clean-TOCSY and NOESY.

Determination of the secondary structure of the king cobra neurotoxin CM-11

The king cobra neuotoxin CM-11 is a small protein with 72 amino acid residues. After its complete assignments of H-1-NMR resonance's were obtained using various 2D-NMR technologies, including of DQF-COSY, clean-TOCSY AND NOESY, the secondary structure was analysed by studying the various NOEs extracted from the NOESY spectra and the distribution of chemical shifts. The secondary structure was finally determined by MCD as follows: a triple-strand antiparallel beta sheet with I20-W36, R37-A43 and V53--S59 as its beta strands, a short alpha helix formed by W30-G35 and four turns formed by P7-K10, C14-G17, K50-V53 and D61-N64.

水声信道对声信号传输的影响及CAR型声释放器可靠性分析

论文分两部分：第一部分在参阅大量文献的基础上，对海洋声信道的特性及其对声遥控的影响做了分析和总结，并根据FSK调制信号的传播实验，对海洋声信道的一些特性进行了定性分析。第二部分详细地分析了CAR型声释放器的电路特性，并结合海洋声信道的特性及海上实验情况分析了CAR型声释放器的工作性能。

Roles of Knowledge in Motor Learning

The goal of this thesis is to apply the computational approach to motor learning, i.e., describe the constraints that enable performance improvement with experience and also the constraints that must be satisfied by a motor learning system, describe what is being computed in order to achieve learning, and why it is being computed. The particular tasks used to assess motor learning are loaded and unloaded free arm movement, and the thesis includes work on rigid body load estimation, arm model estimation, optimal filtering for model parameter estimation, and trajectory learning from practice. Learning algorithms have been developed and implemented in the context of robot arm control. The thesis demonstrates some of the roles of knowledge in learning. Powerful generalizations can be made on the basis of knowledge of system structure, as is demonstrated in the load and arm model estimation algorithms. Improving the performance of parameter estimation algorithms used in learning involves knowledge of the measurement noise characteristics, as is shown in the derivation of optimal filters. Using trajectory errors to correct commands requires knowledge of how command errors are transformed into performance errors, i.e., an accurate model of the dynamics of the controlled system, as is demonstrated in the trajectory learning work. The performance demonstrated by the algorithms developed in this thesis should be compared with algorithms that use less knowledge, such as table based schemes to learn arm dynamics, previous single trajectory learning algorithms, and much of traditional adaptive control.

Motor Control and Learning by the State Space Model

A model is presented that deals with problems of motor control, motor learning, and sensorimotor integration. The equations of motion for a limb are parameterized and used in conjunction with a quantized, multi-dimensional memory organized by state variables. Descriptions of desired trajectories are translated into motor commands which will replicate the specified motions. The initial specification of a movement is free of information regarding the mechanics of the effector system. Learning occurs without the use of error correction when practice data are collected and analyzed.

Cultivo do cará.

Introdução; Clima; Solos; Sistema de plantio; Propagação; Época de plantio; Variedades; Adubação; Cobertura morta; Tutoramento; Doenças; Pragas; Colheita.

Sustainable urban transport in Central America - a future without the car?

Is it conceivable to contemplate a future without the car as the center of an urban transportation system? Can emerging economies grow without concomitant growth in car usage? San Pedro Sula, Honduras, is one city at a critical decision point about the future of transportation and mobility. Will it be a sustainable transport future that balances economic, environmental and social needs or will it be the traditional “predict and provide” approach that attempts to expand the capacity of the road system to meet future travel demand. This paper provides some background into the issue for this Central American city by describing the current urban transport system, current plans for improvement and outlines a process for defining a vision for a sustainable transport future in San Pedro Sula. The paper concludes with a challenge to all cities that currently have low automobile ownership rates to consider a sustainable transport system in order to “thrive” with transport choices for all residents rather than “choke” on congestion and the negative side effects thereof.

Growth of Motor Coordination in Early Robot Learning

M. H. Lee and Q. Meng, Growth of Motor Coordination in Early Robot Learning, IJCAI-05, 2005.

King Solomon's Miners- Starvation and Bioaccumulation? An Environmental Archaeological Investigation in Southern Jordan

Pyatt, B. Barker, G. Birch, P. Gilbertson, D. Grattan, J. Mattingly, D. King Solomon's Miners - Starvation and Bioaccumulation? An Environmental Archaeological Investigation in Southern Jordan. Ecotoxicology and Environmental safety 43, 305-308 (1999) Environmental Research, Section B