There are many undulating terrains in the wild environment. In order to realize adaptive and stable walking of quadruped robots on unknown sloped terrain, a slope-adaptability model predictive control (SAMPC) algorithm is proposed this work. absence external vision sensors, orientation inclination slope estimated based joint position sensors inertial measurement units (IMU). an effort increase ...

Understanding the effects of major hydrogeological controls on hyporheic exchange and bank storage is essential for river water management, groundwater abstraction, restoration and ecosystem sustainability. Analytical models cannot adequately represent complex settings with, for example, transient boundary conditions, varying geom-5 etry of surface water–groundwater interface, unsaturated and o...

The Delmarva Peninsula is located on the East Coast of the United States, between the Chesapeake Bay and Atlantic Ocean. Industrial farming in the Delmarva Peninsula leads to levels of nutrients, in particular nitrogen, which grossly exceed natural levels. Excess nitrogen reaches the freshwater streams of the peninsula, which then flows to the Chesapeake Bay. The presence of extreme levels of n...

BACKGROUND The search for biologically relevant gene-environment interactions has been facilitated by technological advances in genotyping. The design of studies to detect interactions on continuous traits such as blood pressure and insulin sensitivity is attracting increasing attention. We have previously described power calculations for such studies, and this paper describes the extension of ...

[1] The importance of cross-shelf transport across the Ross Sea on local and remote processes has been well documented. In the Ross Sea, mid-water intrusions of Circumpolar Deep Water (CDW) are modified by shelf water near the shelf break to form Modified Circumpolar DeepWater (MCDW). In 2010–2011, we deployedmulti-platform technologies focused on this MCDW intrusion in the vicinity of Mawson a...

Lipid biomarkers and C fractionation patterns were used to understand the dynamics of carbon cycling during microbial metabolisms in different environments of travertine precipitation (called facies) at Spring AT-1 on Angel Terrace in the Mammoth Hot Springs complex of Yellowstone National Park, USA. Microbial mats that encrust travertine deposits were collected for analyses of lipid biomarkers...