全方位六足步行机器人运动规划的相对运动算法

本文提出了步行机器人运动控制算法。该方法以相对运动学原理为基础,把机体的运动规划问题转化为腿的足端轨迹规划问题,从而使步行机器人运动控制问题得到大大简化.并应用该方法对全方位三角步态算法及稳定性进行分析求解.

Presbyterians and science in the north of Ireland before 1874

In his presidential address to the Belfast meeting of the British Association for the Advancement of Science in 1874, John Tyndall launched what David Livingstone has called a ‘frontal assault on teleology and Christian theism’. Using Tyndall's intervention as a starting point, this paper seeks to understand the attitudes of Presbyterians in the north of Ireland to science in the first three-quarters of the nineteenth century. The first section outlines some background, including the attitude of Presbyterians to science in the eighteenth century, the development of educational facilities in Ireland for the training of Presbyterian ministers, and the specific cultural and political circumstances in Ireland that influenced Presbyterian responses to science more generally. The next two sections examine two specific applications by Irish Presbyterians of the term ‘science’: first, the emergence of a distinctive Presbyterian theology of nature and the application of inductive scientific methodology to the study of theology, and second, the Presbyterian conviction that mind had ascendancy over matter which underpinned their commitment to the development of a science of the mind. The final two sections examine, in turn, the relationship between science and an eschatological reading of the signs of the times, and attitudes to Darwinian evolution in the fifteen years between the publication of The Origin of Species in 1859 and Tyndall's speech in 1874.

Chromium, iron, ruthenium and gold complexes of 3,3-(biphenyl-2,2 '-diyl)-1-diphenylphosphino-1-phenylallene: A versatile ligand

Successive treatment of 9-(phenylethynyl)fluoren-9-ol (1a), with HBr, butyllithium and chlorodiphenylphosphine furnishes 3,3-(biphenyl-2,2'-diyl)-1-diphenylphosphino-1-phenylallene (5). Moreover, reaction of 1a directly with chlorodiphenylphosphine yields the corresponding allenylphosphine oxide (6). The allenylphosphine (5), and Fe-2(CO)(9) initially form the phosphine-Fe(CO)(4) complex, 11, which is very thermally sensitive and readily loses a carbonyl ligand. In the resulting phosphine-Fe(CO)(3) system, 12, the additional site at iron is coordinated by the allene double bond adjacent to phosphorus; the Fe(CO) 3 tripod in 12 exhibits restricted rotation on the NMR time-scale even at room temperature. The corresponding chromium complex, (5)-Cr(CO)5 (9), has also been prepared. The gold complexes (5)AuCl (13), and [(5)-Au(THT)](+) X-, where (THT) is tetrahydrothiophene, and X = PF6 (14a), or ClO4 (14b), are analogous to the known triphenylphosphine-gold complexes. In contrast, in the (arene)(allenylphosphine) RuCl2 system the allene double bond adjacent to phosphorus displaces a chloride, and the resulting cationic species undergoes nucleophilic attack by water yielding ultimately a five-membered Ru-P-C=C-O ruthenacycle (17). Thus, the allenylphosphine (5), reacts initially as a conventional mono-phosphine but, when the metal centre has a readily displaceable ligand such as a carbonyl or halide, the allene double bond adjacent to the phosphorus can also function as a donor. X- ray crystal structures are reported for 5, 6, 11, 12, 13, 14a, 14b and 17.

“ Humanitarian Competition: An Intellectual History in Perspective”.

Competition has become the mantra for survival in a globalised world where meaningful existence is fraught with demands, which go beyond the material to the immaterial ‘byte-size’. This has been exemplified by our obsession with illusions of immediate fame and fortune. This paper contextualises and extends the debate about the role of competition in general. Here the four major myths of competition are explored and deconstructed, from a Darwinian perspective to a more demonstrably engaged perspective on ‘capabilities’ (Sen, 1999). The second section deals particularly with the key debates, theories that influenced Tsunesaburo Makiguchi’s seminal ideas of ‘humanitarian competition’ in 1903. The final part of the paper seeks to decipher the relevance of the key ideas of ‘humanitarian competition’ as proposed by Dr Daisaku Ikeda in his 2009 peace proposal. Here the transition from competition to cooperation is explored by tying together the key principles of global coexistence enunciated by both Makiguchi and Ikeda in the context of expanding spiritual influence by the forces of culture, morality and virtue. To engage with humanitarian competition calls for a major shift from hard power to soft power, from subordination to one of engagement. In other words this concept advances the Buddhist principle of peaceful co-existence, or Panchsheel, as a norm for human behaviour of love, kindness, sacrifice and peace through cooperation, where equality and mutual benefit are critical. Humanitarian competition provides the essential framework to establish a new world order as highlighted by both Makiguchi and Ikeda.

Knowledge, innovation and emulation in the evolutionary thought of Bernard Mandeville

Of the early modern writers on the division of labour, Bernard Mandeville alone extended it to all aspects of human activity and emphasised its role in a cumulative process of evolution in which each generation modified and built on what had been achieved by earlier generations. This required exploration of the mechanisms through which new knowledge was developed as well as the means by which knowledge was transmitted between the generations. The present article examines Mandeville’s treatment of these mechanisms and explores their theoretical origins. It examines Mandeville’s understanding of the role of the division of labour in facilitating discovery and learning and the role of education and imitation in transmitting social knowledge. It shows that, for Mandeville, innovators were people of ordinary capacity who were alert to the opportunities and challenges of their environment. As a result of specialisation, they possessed tacit knowledge which was actualised in what they did rather than in theoretical propositions. Mandeville’s evolutionary thought influenced subsequent writers on political economy and evolutionary social thinkers. It may also have had some influence on Charles Darwin, though it is not, in itself, Darwinian. © The Author 2013. Published by Oxford University Press on behalf of the Cambridge Political Economy Society. All rights reserved.

Neutral Genomic Microevolution of a Recently Emerged Pathogen, Salmonella enterica Serovar Agona

Salmonella enterica serovar Agona has caused multiple food-borne outbreaks of gastroenteritis since it was first isolated in 1952. We analyzed the genomes of 73 isolates from global sources, comparing five distinct outbreaks with sporadic infections as well as food contamination and the environment. Agona consists of three lineages with minimal mutational diversity: only 846 single nucleotide polymorphisms (SNPs) have accumulated in the non-repetitive, core genome since Agona evolved in 1932 and subsequently underwent a major population expansion in the 1960s. Homologous recombination with other serovars of S. enterica imported 42 recombinational tracts (360 kb) in 5/143 nodes within the genealogy, which resulted in 3,164 additional SNPs. In contrast to this paucity of genetic diversity, Agona is highly diverse according to pulsed-field gel electrophoresis (PFGE), which is used to assign isolates to outbreaks. PFGE diversity reflects a highly dynamic accessory genome associated with the gain or loss (indels) of 51 bacteriophages, 10 plasmids, and 6 integrative conjugational elements (ICE/IMEs), but did not correlate uniquely with outbreaks. Unlike the core genome, indels occurred repeatedly in independent nodes (homoplasies), resulting in inaccurate PFGE genealogies. The accessory genome contained only few cargo genes relevant to infection, other than antibiotic resistance. Thus, most of the genetic diversity within this recently emerged pathogen reflects changes in the accessory genome, or is due to recombination, but these changes seemed to reflect neutral processes rather than Darwinian selection. Each outbreak was caused by an independent clade, without universal, outbreak-associated genomic features, and none of the variable genes in the pan-genome seemed to be associated with an ability to cause outbreaks. © 2013 Achtman et al

Debating Darwin at the Cape

This paper focuses attention on the fortunes of Darwin's theory among the English-speaking community in Cape Colony during the latter part of the nineteenth century. The paper begins with a review of early encounters with Darwin dwelling particularly on the response of figures like Roderick Noble - professor and editor of the Cape Monthly Magazine, the geologist John Shaw, and Sir Henry Barkly, governor of the colony. Besides these more theoretical responses, Darwin's ideas were also mobilised in a range of scientific inquiries on such subjects as birds and butterflies. But most conspicuous was the use of evolutionary thought-forms in the work of the eminent philologist Wilhelm Bleek, cousin of Darwin's leading German apologist, Ernst Haeckel. The prevailing sense is of a liberal intelligentsia calmly interacting with a novel theory with all due deference. During the 1870s, an address by Langham Dale at the South African Public Library injected new energy into the Darwin discussion. Dale expressed disquiet over some of the anthropological implications of evolution as well as its apparent reductionism, and this stimulated a range of reactions. Several anonymous commentators responded but the most sustained evaluation of Dale's position emanated from the Queenstown physician and later politician, Sir William Bisset Berry. Then, in 1874, copious extracts from John Tyndall's infamous 'Belfast Address' were printed in the Cape Monthly and this added yet further impetus to the debate. Tyndall's seeming materialism bothered a number of readers, not least Hon William Porter, former attorney-general of Cape Colony. To figures like these the materialist extrapolations of radical Darwinians such as Haeckel were deeply disturbing, not just for religious reasons, but because they seemed to destabilise the moral and pedagogic progressivism that lay at the heart of their civilising credo. While reservations about Darwin's proposals were certainly audible, taken in the round Darwinian conversations among the English-speaking literati at the Cape were conducted with liberal sentiments, not least when evolutionary science approached questions of race. For Darwin's writings were seen to confirm a monogenetic account of the origin and unity of the human race, and could readily be called upon to justify the paternalistic ideology that governed colonial affairs.

In the Shadows of the Old Town: Thomas Anna and 19th-century Glasgow

In 1858, a volume entitled Midnight Scenes and Social Photographs – being sketches of life in the streets, wynds and dens of the city of Glasgow was published under the pseudonym of ‘Shadow’ by Alexander Brown, a Glaswegian flâneur and reformer. Its frontispiece is an etching which depicts a theatre-like proscenium arch whose curtains have been withdrawn to reveal to the audience all the poverty, destitution and disorder that one was likely to find after dark in the insalubrious quarters of the city. At the extreme left-hand side, partly obscured by the curtain a silhouetted figure stands behind an unwieldy camera perched on a tripod. Distinctly unaffected by the mêlée, an arm is calmly raised and a finger precisely arched in the moment before the shutter is clicked and the scene committed to record. The volume, however, relies exclusively on textual descriptions to evoke the underside of the city and contains no photographs at all. Instead, the use of the word photograph in the title can be understood as a metaphor for detached scientific objectivity, a quality much celebrated by nineteenth-century reformers and investigators of social ills. As it happened, a decade after Shadow disappeared into the labyrinthine back-lands of Old Town Glasgow, he was followed there by a real photographer. In 1868, Thomas Annan was commissioned by the City Improvements Trust to take photographs of the Old Town in its last moments of existence before it was pulled down under a series of legislative acts. But perhaps paradoxically, given Shadow’s faith in the analytical properties of photography, Annan’s work seems to refute much of the material contained in Midnight Scenes and other similar tracts. Instead of the dens, shebeens, labyrinths and rowdy crowds described by Shadow, Annan’s depictions of the Old Town convey a static, calm environment, one which is often sparsely inhabited by a curious but apparently orderly population.

Taking account of the sensational tendencies of many reformists’ texts, this paper investigates the discrepancies between the two representations, focussing in particular on the constraints which operated on Annan during his commission. It argues that Annan’s compositions – which became very influential on other 19th century photographers of everyday life such as John Thomson or Jacob Riis – far from being dispassionate analytical works, emerged as a result of a matrix of factors which included: photographic and artistic precedents; Annan’s own predilections as a photographer; technological limitations; the nature of the commission from the City Improvements Trust and political climate in which it was given; the medieval urban fabric in which he had to operate; and, perhaps, most importantly, the identity of the Old Towns inhabitants themselves.

Novel system for distant assessment of cataract surgical quality in rural China

BACKGROUND: This study aims to assess the quality of various steps of manual small incision cataract surgery and predictors of quality, using video recordings.
DESIGN: This paper applies a retrospective study.
PARTICIPANTS: Fifty-two trainees participated in a hands-on small incision cataract surgery training programme at rural Chinese hospitals.
METHODS: Trainees provided one video each recorded by a tripod-mounted digital recorder after completing a one-week theoretical course and hands-on training monitored by expert trainers. Videos were graded by two different experts, using a 4-point scale developed by the International Council of Ophthalmology for each of 12 surgical steps and six global factors. Grades ranged from 2 (worst) to 5 (best), with a score of 0 if the step was performed by trainers.
MAIN OUTCOME MEASURES: Mean score for the performance of each cataract surgical step rated by trainers.
RESULTS: Videos and data were available for 49/52 trainees (94.2%, median age 38 years, 16.3% women and 77.5% completing > 50 training cases). The majority (53.1%, 26/49) had performed ≤ 50 cataract surgeries prior to training. Kappa was 0.57∼0.98 for the steps (mean 0.85). Poorest-rated steps were draping the surgical field (mean ± standard deviation = 3.27 ± 0.78), hydro-dissection (3.88 ± 1.22) and wound closure (3.92 ± 1.03), and top-rated steps were insertion of viscoelastic (4.96 ± 0.20) and anterior chamber entry (4.69 ± 0.74). In linear regression models, higher total score was associated with younger age (P = 0.015) and having performed >50 independent manual small incision cases (P = 0.039).
CONCLUSIONS: More training should be given to preoperative draping, which is poorly performed and crucial in preventing infection. Surgical experience improves ratings.© 2015 Royal Australian and New Zealand College of Ophthalmologists.

Cocriação de valor na distribuição turística: a força que vai modelar o negócio das agências de viagens independentes em Portugal

O contexto Darwiniano em que vivem as Agências de Viagens Independentes (AVI) em Portugal, impõe uma estratégia de colaboração em rede entre os diversos players do setor, numa inovadora e interativa filosofia de coopetição interorganizacional. Atualmente as contendas negociais não são mais entre empresas individuais, mas entre alianças de múltiplas empresas e os fornecedores com quem interagem. Os constrangimentos, os conflitos e os obstáculos contextuais e transacionais que as AVI enfrentam, são considerados como um dos principais motivos que as impelem a integrar redes de coopetição Interorganizacionais. Foi dado maior enfoque ao setor das AVI, em Portugal, por possuírem um peso significativo no mercado (69% em 2011), e ao tipo de aliança – Grupo de Gestão de agências de viagens (por representar 44% dessas AVI). Pretende-se nesta tese efetuar um estudo de caso da “Aliança RAVT”, e construir um mosaico de ideias que possam explicar a realidade de criação de valor entre os parceiros dentro da rede. Será apresentado um modelo de negócio designado por “e-Marketplace P2P com Cocriação de valor” para Grupos de Gestão, elencando as premissas que obrigam à reconfiguração das regras de negócio e das relações dentro da constelação de atores, visando mobilizá-los no incremento de novas maneiras de cocriar valor.

A eficácia entre duas intervenções na Síndrome do Canal Cárpico

A Síndrome do Canal Cárpico (SCC) é a neuropatia compressiva mais comum do membro superior, causada pela compressão direta sobre o nervo mediano no interior do canal cárpico.Os resultados deste estudo mostram em cada um dos grupos, após a intervenção, uma melhoria estatisticamente significativa da sintomatologia no G-AFN (p=0,02) e no GTRN/ EAA (p=0,004) e uma melhoria estatisticamente significativa do estado funcional no G-AFN (p=0,022). Verificamos também em cada um dos grupos, após a intervenção, uma melhoria estatisticamente significativa na “Força de preensão” (p=0,005), na “Pinça polegar/dedo indicador” (p=0,021), na “Pinça polegar/dedo médio” (p=0,026) e “Pinça polegar/dedo anular” (p=0,026) no G-AFN, e uma melhoria estatisticamente significativa na “Pinça polegar/indicador” (p=0,016), na “Pinça polegar/dedo médio” (p=0,035), na “Pinça polegar/dedo anular” (p=0,010), na “Pinça trípode” (p=0,005) e na “Pinça lateral” (p=0,051) no G-TRN/EAA. Após a intervenção, não verificamos diferenças estatisticamente significativas nos valores das escalas de gravidade de sintomas (p=0,853) e de estado funcional (p=0,148) entre os grupos, mas diferenças estatisticamente significativas nos valores dos testes neurofisiológicos (p=0,047) e força de preensão da mão (p=0,005). Do estudo, concluímos que a utilização da intervenção articular/fascial/neural (AFN) e a intervenção com tala de repouso noturna e exercícios de auto alongamento (TRN/EAA), beneficia os indivíduos com SCC não severa, como nos casos incipientes, ligeiros ou moderados. Os indivíduos com esta condição clínica apresentam sintomatologia caraterística de dor, parestesia, especialmente noturna e disfunção muscular da mão. Tais manifestações originam perda funcional com implicações nas áreas de desempenho ocupacional, nomeadamente, nas atividades da vida diária, produtivas e de lazer. O tratamento conservador na SCC não severa, como nos casos incipientes, ligeiros e moderados, apesar de controverso, é recomendado. O tema suscita o nosso interesse, razão pela qual nos propomos realizar um estudo experimental em indivíduos com o diagnóstico clínico de SCC não severa e aplicar num grupo a intervenção articular, fascial e neural (AFN) e noutro grupo a intervenção com tala de repouso noturna e exercícios de auto alongamento (TRN/EAA). O estudo tem como principais objetivos, por um lado, verificar o impacto das intervenções em cada um dos grupos e, por outro lado, comparar o seu impacto entre os grupos, no que respeita à gravidade de sintomas, ao estado funcional, à força de preensão da mão e força de pinças finas. Fomos também comparar os resultados dos testes neurofisiológicos (Velocidade de Condução Motora) antes e depois da intervenção AFN e da intervenção com TRN/EAA, e averiguar o seu impacto nos valores da latência motora distal e da velocidade de condução sensitiva, entre os grupos. Identificamos também quais as variáveis sócio demográficas e as que caraterizam a patologia que estão relacionadas com o problema em estudo e com os valores obtidos com as escalas do Boston Carpal Tunnel Questionnaire (BCTQ), no grupo articular, fascial e neural (G-AFN) e no grupo com tala de repouso noturna e exercícios de auto alongamento (G-TRN/EAA). Para a concretização do estudo, recorremos a uma amostra de 23 indivíduos de ambos os sexos do Hospital Curry Cabral, Empresa Pública Empresarial -Centro Hospitalar de Lisboa Central (HCC, EPE -CHLC).

A influência da marcha com tripé nos parâmetros metabólicos em jovens e idosos

Introdução: Os parâmetros metabólicos durante a marcha normal e a sua regulação são importantes devido ao metabolismo oxidativo ser o principal meio através do qual o organismo humano gera energia para realizar as atividades do quotidiano. Nem sempre a marcha é realizada de forma independente e necessita do apoio de auxiliares de marcha, como o tripé, que tem por função ampliar a base de sustentação e melhorar o equilíbrio. Objetivo: Analisar a influência de utilização de um tripé na marcha, na despesa energética em jovens e idosos saudáveis Métodos: Realizou-se um estudo observacional transversal numa amostra de 21 voluntários, com idade entre 18 a 25 anos e mais ou igual a 60 anos. Realizaram-se as avaliações com o Cosmed K4b2 (Cosmed, Rome, Italy), sendo através do mesmo que os dados foram recolhidos. Foi utilizado o teste de Friedman, com P <0,05. Resultados: Os resultados obtidos para o gasto energético nos jovens foram inferiores aos valores obtidos pelos idosos. Relativamente ao metabolismo energético o substrato energético utilizado pelos jovens foi o proteico e o lipídico pelos idosos. Entre sexos foram os homens quem tiveram um maior gasto energético. Conclusão: O uso do tripé durante a marcha não influencia o gasto energético em adultos jovens e/ou idosos saudáveis.

Sport moderne et spiritualité évangélique : une étude interdisciplinaire des concepts de plaisir et de motivation en lien avec l’action humaine

Dans le contexte pastoral évangélique, il est très difficile de s’expliquer qu’un croyant puisse aimer et servir Dieu avec passion pour constater, quelques années plus tard, que la motivation qui le pousse vers Dieu a été étouffée. Bien qu’ils utilisent des termes différents, les entraineurs sportifs posent essentiellement la même question : comment inciter les personnes sous leur charge à fournir un rendement correspondant à leur potentiel. Si la motivation est le moteur du comportement, pour bien des personnes, les émotions en constituent le volant. Il semble que par nature l’humain oriente son comportement vers les émotions agréables et s’éloigne des émotions désagréables. C’est aussi vrai pour le sportif que pour le croyant. Cette étude propose une réflexion interdisciplinaire entre la théologie et la psychologie au sujet du plaisir, de la motivation et de l’action humaine, à la fois dans le sport moderne et dans la spiritualité, qui permette d’aborder notre problématique sous un nouvel éclairage. Les premiers chapitres ont pour objectifs d’identifier la rencontre entre le sport et la spiritualité (chapitre 1), de situer la problématique dans son contexte anthropologique à partir de la compréhension psychologique contemporaine de l’émotion (chapitre 2) et de la motivation (chapitre 3). Les chapitres qui suivent examinent la motivation humaine chez les sportifs à partir de la psychologie du sport (chapitre 4), avant de consulter deux théologiens protestants Jürgen Moltmann du courant libéral et John Piper, évangélique conservateur (chapitre 5) pour introduire la discussion théologique. Bien que la psychologie contemporaine ait été une discipline longtemps figée dans un paradigme darwinien ou humaniste, décriant l’empiètement de la théologie sur sa compréhension de l’humain, le chapitre 6 présente des exemples où une discussion théologique de l’humain, dépourvue de toute validité empirique, peut apporter une vision complémentaire à la psychologie contemporaine et contribuer au bien-être du sportif comme à celui du croyant. Ainsi, la contribution de la psychologie, qui est acceptable à une interprétation évangélique, peut apporter un éclaircissement sur les raisons possibles d’un changement de motivation chez le croyant dans son amour et son service envers Dieu. Le dernier chapitre se veut le prolongement de cette étude dans d’autres domaines, comme les études bibliques et le counseling auprès des croyants et des sportifs et dans le cadre de l’aumônerie militaire.

De la pertinence d'une approche sélectionniste en épistémologie : Hull contre Kitcher

David Hull et Philip Kitcher présentent tous deux une description des sciences qui tient compte autant de l'articulation logique des théories que de leur dynamique sociale. Hull (1988a, 2001) tente de rendre compte du progrès scientifique par le biais d'une analyse sélectionniste, en s'appuyant sur les contingences sociales et les biais individuels en tant que pressions de sélections. Pour lui, un processus de sélection darwinien filtre les théories supérieures des théories inadéquates. Kitcher (1993) présente plutôt le progrès scientifique comme un changement de consensus résultant de processus sociaux et psychologiques qui mènent de manière fiable à la vérité. Les théories sont ainsi filtrées par une dynamique sociale qui sélectionne les théories selon la qualité de leur articulation logique. Kitcher (1988) exprime un doute à l'idée qu'un processus de sélection darwinien du type suggéré par Hull puisse ajouter quoi que ce soit à une explication du processus d'avancement des sciences. Ce mémoire tentera d'établir si cette critique de Kitcher est fondée. Dans cette optique, une analyse détaillée de l’approche de Hull sera nécessaire afin d’examiner comment il justifie le lien qu’il établit entre la pratique scientifique et un processus de sélection. Un contraste sera ensuite fait avec l’approche de Kitcher pour tester la force et la nécessité de ce lien et pour expliquer le désaccord de Kitcher. Cette analyse comparative permettra de préciser les avantages et les désavantages uniques à chacune des approches pour déterminer si une analyse sélectionniste est plus prometteuse qu’une analyse non-sélectionniste pour rendre compte du progrès scientifique.