We observe the myosin V stepping mechanism by traveling wave tracking. This technique, associated with optical tweezers, allows one to follow a scattering particle in a two-dimensional plane, with nanometer accuracy and a temporal resolution in the microsecond range. We have observed that, at the millisecond time scale, the myosin V combines longitudinal and vertical motions during the step. Be...

In biped locomotion, the energy minimization problem is a challenging topic. This problem cannot be solved analytically since modeling the whole robot dynamics is intractable. Using the inverted pendulum model, researchers have defined the Zero Moment Point (ZMP) target trajectory and derived the corresponding Center of Mass (CoM) motion trajectory, which enables a robot to walk stably. A chang...

Achieving a soft landing during walking can be quantified by analyzing changes in the vertical velocity of the body center of mass (CoM) just prior to the landing of the swing limb. Previous research suggests that walking speed and step length may predictably influence the extent of this CoM control. Here we ask how stable this control is. We altered treadmill walking speed by systematically in...

Accurate alignment and vertical channel instability play an important role in the strap-down inertial navigation system (SINS), especially in the case that precise navigation has to be achieved over long periods of time. Due to poor initialization as well as the cumulative errors of low-cost inertial measurement units (IMUs), initial alignment is not sufficient to achieve required navigation ac...

Though the effects of imposed trunk posture on human walking have been studied, less is known about such locomotion while accommodating changes in ground level. For twelve able participants, we analyzed kinematic parameters mainly at touchdown and toe-off in walking across a 10-cm visible drop in ground level (level step, pre-perturbation step, step-down, step-up) with three postures (regular e...

the purpose of this study was to compare the apical seal mof thermafil with lateral and vertical condensation techniques in mesiobuccal root of maxillary first molars. 245 upper first molarteeth were extracted.among them 40 teeth  were selected having 20-25 degrres of curve(according to schnider analysis) in apical one their of their mesiobuccal roots.these teeth were also selected so that the...

The extension and frequency of algal blooms in surface waters can be monitored using remote sensing techniques, yet knowledge of their vertical distribution is fundamental to determine total phytoplankton biomass and understanding temporal variability of surface conditions and the underwater light field. However, different vertical distribution classes of phytoplankton may occur in complex inla...

Modeling sub-canopy elevation is an important step in the processing of waveform lidar data to measure three dimensional forest structure. Here, we present a methodology based on high resolution discrete-return lidar (DRL) to correct the ground elevation derived from large-footprint Laser Vegetation Imaging Sensor (LVIS) and to improve measurement of forest structure. We use data acquired over ...

This paper studies non-gaited, multi-step motion planning, to enable limbed robots to free-climb vertical rock. The application of a multi-step planner to a real free-climbing robot is described. This planner processes each of the many underlying one-step motion queries using an incremental, sample-based technique. However, experimental results point toward a better approach, incorporating the ...