A navigating rat animat

This paper presents a new rat animat, a rat-sized bio-inspired robot platform currently being developed for embodied cognition and neuroscience research. The rodent animat is 150mm x 80mm x 70mm and has a different drive, visual, proximity, and odometry sensors, x86 PC, and LCD interface. The rat animat has a bio-inspired rodent navigation and mapping system called RatSLAM which demonstrates the capabilities of the platform and framework. A case study is presented of the robot's ability to learn the spatial layout of a figure of eight laboratory environment, including its ability to close physical loops based on visual input and odometry. A firing field plot similar to rodent 'non-conjunctive grid cells' is shown by plotting the activity of an internal network. Having a rodent animat the size of a real rat allows exploration of embodiment issues such as how the robot's sensori-motor systems and cognitive abilities interact. The initial observations concern the limitations of the deisgn as well as its strengths. For example, the visual sensor has a narrower field of view and is located much closer to the ground than for other robots in the lab, which alters the salience of visual cues and the effectiveness of different visual filtering techniques. The small size of the robot relative to corridors and open areas impacts on the possible trajectories of the robot. These perspective and size issues affect the formation and use of the cognitive map, and hence the navigation abilities of the rat animat.

Reactive stepping behaviour in response to forward loss of balance predicts future falls in community-dwelling older adults

Background: a fall occurs when an individual experiences a loss of balance from which they are unable to recover. Assessment of balance recovery ability in older adults may therefore help to identify individuals at risk of falls. The purpose of this 12-month prospective study was to assess whether the ability to recover from a forward loss of balance with a single step across a range of lean magnitudes was predictive of falls. Methods: two hundred and one community-dwelling older adults, aged 65–90 years, underwent baseline testing of sensorimotor function and balance recovery ability followed by 12-month prospective falls evaluation. Balance recovery ability was defined by whether participants required either single or multiple steps to recover from forward loss of balance from three lean magnitudes, as well as the maximum lean magnitude participants could recover from with a single step. Results: forty-four (22%) participants experienced one or more falls during the follow-up period. Maximal recoverable lean magnitude and use of multiple steps to recover at the 15% body weight (BW) and 25%BW lean magnitudes significantly predicted a future fall (odds ratios 1.08–1.26). The Physiological Profile Assessment, an established tool that assesses variety of sensori-motor aspects of falls risk, was also predictive of falls (Odds ratios 1.22 and 1.27, respectively), whereas age, sex, postural sway and timed up and go were not predictive. Conclusion: reactive stepping behaviour in response to forward loss of balance and physiological profile assessment are independent predictors of a future fall in community-dwelling older adults. Exercise interventions designed to improve reactive stepping behaviour may protect against future falls.

Evaluation of Interconnect Fabrics for an Embedded MPSoC in 28 nm FD-SOI

Embedded many-core architectures contain dozens to hundreds of CPU cores that are connected via a highly scalable NoC interconnect. Our Multiprocessor-System-on-Chip CoreVAMPSoC combines the advantages of tightly coupled bus-based communication with the scalability of NoC approaches by adding a CPU cluster as an additional level of hierarchy. In this work, we analyze different cluster interconnect implementations with 8 to 32 CPUs and compare them in terms of resource requirements and performance to hierarchical NoCs approaches. Using 28nm FD-SOI technology the area requirement for 32 CPUs and AXI crossbar is 5.59mm2 including 23.61% for the interconnect at a clock frequency of 830 MHz. In comparison, a hierarchical MPSoC with 4 CPU cluster and 8 CPUs in each cluster requires only 4.83mm2 including 11.61% for the interconnect. To evaluate the performance, we use a compiler for streaming applications to map programs to the different MPSoC configurations. We use this approach for a design-space exploration to find the most efficient architecture and partitioning for an application.

Ravinnon hiilihydraattien glykemiaindeksin vaikutus keskiglukoosipitoisuuteen ja glukoosikäyrän alaiseen pinta-alaan henkilöillä, joilla on heikentynyt glukoosinsieto

Johdanto Korkeat aterianjälkeiset veren glukoosipitoisuushuiput ovat haitallisia verisuonille jo ennen varsinaisten diabeteskriteerien täyttymistä. Valitsemalla alhaisen glykemiaindeksin (GI) hiilihydraatteja ruokavalioon, voidaan veren glukoosipitoisuutta alentaa diabeetikoilla. Tyypin 2 diabeteksen lisääntymisen takia on tarpeellista etsiä keinoja ehkäistä sairauden puhkeamista riskiryhmissä. Glukoosimonitorilla on mahdollista seurata aiempaa tarkemmin glykemiaindeksin vaikutusta veren glukoosipitoisuuteen. Tavoitteet Selvittää, miten korvaamalla ruokavalion tavanomaiset hiilihydraatit joko korkean tai alhaisen GI:n hiilihydraateilla voidaan vaikuttaa vuorokauden keskiglukoosipitoisuuteen. Lisäksi tavoitteena oli selvittää, voidaanko vain hiilihydraattien laatua muuttamalla, puuttumatta niiden määrään tai muuhun ruokavalioon, vaikuttaa glukoosiaineenvaihduntaan henkilöillä, joilla on heikentynyt glukoosin sieto. Tutkittavat ja menetelmät Tutkimus toteutettiin satunnaistettuna vaihtovuorokokeena, jossa tutkittavina oli 56 51-73-vuotiasta henkilöä, joista naisia oli 41 ja miehiä 15. Tutkittavilla oli heikentynyt glukoosinsieto tai ruokavaliohoitoinen tyypin 2 diabetes. Tutkittavat korvasivat ruokavalionsa päähiilihydraatit 7-10 vuorokauden ajaksi glykemiaindeksiltään joko alhaiseksi (GI = 38) tai korkeaksi (GI = 72) arvioiduilla tutkimushiilihydraateilla. Kolmen viimeisen vuorokauden ajaksi tutkittaville asennettiin glukoosimonitoriin kytketty ihonalainen sensori, joka mittasi kudosnesteen glukoosipitoisuutta ja tutkimusjaksojen lopuksi tutkittaville tehtiin oraalinen glukoosirasituskoe. Tulokset Alhaisen GI:n ruokavaliolla kahden vuorokauden glukoosikäyrien alainen pinta-ala oli pienempi kuin korkean GI:n ruokavaliolla (16487 vs. 17270 mmol/l*48h; p = 0,009, n = 47). Vastaavasti kahden vuorokauden keskiglukoosipitoisuudet olivat 5,7 mmol/l ja 6,0 mmol/l, p = 0,009, n = 47. Glykosyloitunut hemoglobiini oli alhaisen GI:n ruokavalion jälkeen pienempi (5,33% vs. 5,38 %, p = 0,017, n = 53). Tutkittavien paino pieneni kummallakin ruokavaliolla; alhaisen GI:n ruokavaliolla 1,02 kg ja korkean GI:n ruokavaliolla 0,31 kg (p alle 0,001, n = 56). Vaikutusta plasman paastoglukoosiin ja seerumin paastoinsuliiniin ei ollut. Johtopäätökset Korvaamalla ruokavalion päähiilihydraatit alhaisen GI:n hiilihydraateilla, voidaan pitkäaikaista glukoositasoa pienentää ja näin ollen mahdollisesti ehkäistä heikentyneen glukoosinsiedon kehittymistä tyypin 2 diabetekseksi. Koska paastoglukoosipitoisuus ja paastoinsuliinipitoisuus eivät muuttuneet, lienee erityisesti aterianjälkeisillä glukoosihuipuilla merkitystä elimistön pitkäaikaiselle glukoositasolle henkilöillä, joilla on heikentynyt glukoosinsieto.

Waves in branched hydraulic pipes

The paper deals with the classical problem of axi-symmetric transmission of low amplitude waves through a circular pipe containing a viscous liquid. Exact governing equations are identified and solved, the radial as well as the axial component of the velocity being considered. Attention is drawn to certain fallacies underlying the conventional approach. The parameters required in the formulation of the transfer matrix for a pipe have been evaluated. In order to evaluate the response at the terminal point of a branched system for a sinusoidal input at one of the ends, a general algorithm has been developed.

Vertical uplift resistance of circular plate anchors in clays under undrained condition

The vertical uplift resistance of circular plate anchors, embedded horizontally in a clayey stratum whose cohesion increases linearly with depth, has been obtained under undrained (phi = 0) condition. The axi-symmetric static limit analysis formulation in combination with finite elements proposed recently by the authors has been employed. The variation of the uplift factor (F,) with changes in the embedment ratio (H/B) has been computed for several rates of increases of soil cohesion with depth. It is noted that in all the cases, the magnitude of F-c increases continuously with depth up to a certain value of H-cr/B beyond which the uplift factor becomes essentially constant. The proposed static limit analysis formulation is seen to provide acceptable results even for the two other simple chosen axi-symmetric problems.

Simultaneous measurement of aerodynamic and heat transfer data for large angle blunt cones in hypersonic shock tunnel

Aerodynamic forces and fore-body convective surface heat transfer rates over a 60 degrees apex-angle blunt cone have been simultaneously measured at a nominal Mach number of 5.75 in the hypersonic shock tunnel HST2. An aluminum model incorporating a three-component accelerometer-based balance system for measuring the aerodynamic forces and an array of platinum thin-film gauges deposited on thermally insulating backing material flush mounted on the model surface is used for convective surface heat transfer measurement in the investigations. The measured value of the drag coefficient varies by about +/-6% from the theoretically estimated value based on the modified Newtonian theory, while the axi-symmetric Navier-Stokes computations overpredict the drag coefficient by about 9%. The normalized values of measured heat transfer rates at 0 degrees angle of attack are about 11% higher than the theoretically estimated values. The aerodynamic and the heat transfer data presented here are very valuable for the validation of CFD codes used for the numerical computation of How fields around hypersonic vehicles.

Extension of the universal erosive burning law to partly symmetric propellant grain geometries

This paper aims at extending the universal erosive burning law developed by two of the present authors from axi-symmetric internally burning grains to partly symmetric burning grains. This extension revolves around three dimensional flow calculations inside highly loaded grain geometry and benefiting from an observation that the flow gradients normal to the surface in such geometries have a smooth behavior along the perimeter of the grain. These are used to help identify the diameter that gives the same perimeter the characteristic dimension rather than a mean hydraulic diameter chosen earlier. The predictions of highly loaded grains from the newly chosen dimension in the erosive burning law show better comparison with measured pressure-time curves while those with mean hydraulic diameter definitely over-predict the pressures. (c) 2013 IAA. Published by Elsevier Ltd. All rights reserved.

Influence of exhaust gas heating and L/D ratios on the discharge efficiencies for an activated carbon natural gas storage system

A transient 2D axi-symmetric and lumped parameter (LP) model with constant outflow conditions have been developed to study the discharge capacity of an activated carbon bed. The predicted discharge times and variations in bed pressure and temperature are in good agreement with experimental results obtained from a 1.82 l adsorbed natural gas (ANG) storage system. Under ambient air conditions, a maximum temperature drop of 29.5 K and 45.5 K are predicted at the bed center for discharge rates of 1.0 l min(-1) and 5.0 l min(-1) respectively. The corresponding discharge efficiencies are 77% and 71.5% respectively with discharge efficiencies improving with decreasing outflow rates. Increasing the LID ratio from 1.9 to 7.8 had only a marginal increase in the discharge efficiency. Forced convection (exhaust gas) heating had a significant effect on the discharge efficiency, leading to efficiencies as high as 92.8% at a discharge of 1.0 l min(-1) and 88.7% at 5 l min(-1). Our study shows that the LP model can be reliably used to obtain discharge times due to the uniform pressure distributions in the bed. Temperature predictions with the LP model were more accurate at ambient conditions and higher discharge rates, due to greater uniformity in bed temperatures. For the low thermal conductivity carbon porous beds, our study shows that exhaust gas heating can be used as an effective and convenient strategy to improve the discharge characteristics and performance of an ANG system. (C) 2013 Elsevier Ltd. All rights reserved.

Effects of Natural Convection on the Characteristics of a Long Laminar Argon Plasma Jet Issuing Horizontally into Ambient Air

Three-dimensional modeling results show that the appearance of the long laminar plasma jet is less influenced by natural convection even as it is issuing into ambient air horizontally. However, plasma parameter distributions may deviate from axi-symmetry

Stability Analysis Of The Moving Interface In Piston- And Non-Piston-Like Displacements

From the macroscopic point of view, expressions involving reservoir and operational parameters are established for investigating the stability of moving interface in piston- and non-piston-like displacements. In the case of axi-symmetrical piston-like displacement, the stability is related to the moving interface position and water to oil mobility ratio. The capillary effect on the stability of moving interface depends on whether or not the moving interface is already stable and correlates with the wettability of the reservoir rock. In the case of non-piston-like displacement, the stability of the front is governed by both the relative permeability and the mobility ratio.

Hydrothermal Instability Of Thermocapillary Convection In Large-Prandtl-Number Liquid Bridges Under Microgravity

Linear stability analysis was performed to study the mechanism of transition of thermocapillary convection in liquid bridges with liquid volume ratios ranging from 0.4 to 1.2, aspect ratio of 0.75 and Prandtl number of 100. 2-D governing equations were solved to obtain the steady axi-symmetric basic flow and temperature distributions. 3-D perturbation equations were discretized at the collocation grid points using the Chebyshev-collocation method. Eigenvalues and eigenfunctions were obtained by using the Q-R. method. The predicted critical Marangoni numbers and critical frequencies were compared with data from space experiments. The disturbance of the temperature distribution on the free surface causes the onset of oscillatory convection. It is shown that the origin of instability is related to the hydrothermal origin for convections in large-Prandtl-number liquid bridges. (C) 2007 COSPAR. Published by Elsevier Ltd. All rights reserved.

Numerical simulation of g-jitter effects on half floating zone convection under microgravity environment

The g-jitter effects on the thermocapillary convection in liquid bridge of floating half zone were studied by numerical simulation for unsteady and axi-symmetric model in the cylindrical coordinate system. The g-jitter field was given by a steady microgravity field in addition to an oscillatory low-gravity field, and the effects on the flow field, temperature distribution and free surface deformation were analyzed numerically.

Applications of plasticity theory to selected problems in soil mechanics

Two topics in plane strain perfect plasticity are studied using the method of characteristics. The first is the steady-state indentation of an infinite medium by either a rigid wedge having a triangular cross section or a smooth plate inclined to the direction of motion. Solutions are exact and results include deformation patterns and forces of resistance; the latter are also applicable for the case of incipient failure. Experiments on sharp wedges in clay, where forces and deformations are recorded, showed a good agreement with the mechanism of cutting assumed by the theory; on the other hand the indentation process for blunt wedges transforms into that of compression with a rigid part of clay moving with the wedge. Finite element solutions, for a bilinear material model, were obtained to establish a correspondence between the response of the plane strain wedge and its axi-symmetric counterpart, the cone. Results of the study afford a better understanding of the process of indentation of soils by penetrometers and piles as well as the mechanism of failure of deep foundations (piles and anchor plates).

The second topic concerns the plane strain steady-state free rolling of a rigid roller on clays. The problem is solved approximately for small loads by getting the exact solution of two problems that encompass the one of interest; the first is a steady-state with a geometry that approximates the one of the roller and the second is an instantaneous solution of the rolling process but is not a steady-state. Deformations and rolling resistance are derived. When compared with existing empirical formulae the latter was found to agree closely.