This paper presents a general method for generating walking primitives for anthropomorphic 3D–bipeds. Corresponding control torques allowing straight ahead walking with pre–swing, swing, and heel–contact are derived by dynamic optimization using a direct collocation approach. The computed torques minimize an energy based, mixed performance index. Zero moment point (ZMP) and friction conditions ...

Breeding sturgeons in aquaculture is the only way to preserve them as a raw material for fish food products today. In this regard, not need development of commercial sturgeon breeding obvious, but also importance research aimed at studying and developing optimal modes industrial cultivation different species sturgeon. The aim work expand range compound feed sturgeons, expense unused reserves ex...

BACKGROUND Maintaining proper size and rotation of components of total knee arthroplasty is mandatory for optimal longevity. Ethnical differences may affect the fitness of prostheses that were manufactured mainly based on Caucasian dimensions. OBJECTIVES To evaluate the distal femur morphology of the Iranian population at the level of standard cuts simulated via computed tomography. PATIENT...

Samples of Nd2−xCexCuO4, an electron-doped high temperature superconducting cuprate (HTSC), near optimal doping at x = 0.155 were measured via angle resolved photoemission (ARPES). We report a renormalization feature in the self energy (“kink”) in the band dispersion at ≈ 50 − 60 meV present in nodal and antinodal cuts across the Fermi surface. Specifically, while the kink had been seen in the ...

In this paper, we present the first differentially private clustering method for arbitrary-shaped node clusters in a graph. This algorithm takes as input only an approximate Minimum Spanning Tree (MST) T released under weight differential privacy constraints from the graph. Then, the underlying nonconvex clustering partition is successfully recovered from cutting optimal cuts on T . As opposed ...

We present an qpproximation scheme for strip-packing, or packing rectangles into a rectangle of fixed width and minimum height, a classical NP-hard cutting-stock problem. The algorithm find,!; a packing of n rectangles whose total height is within a ,factor of (1 + E ) of optimal, and has running time polynomial both in n and in 1 / E . It is based on a reduction to fractional bin-packing, and ...

We extend the classical Nitsche type weak boundary conditions to a fictitious domain setting. An additional penalty term, acting on the jumps of the gradients over element faces in the interface zone, is added to ensure that the conditioning of the matrix is independent of how the boundary cuts the mesh. Optimal a priori error estimates in the H1 and L2 norms are proved as well as an upper boun...