Simulation of Upward Jump Control for One-Legged Robot Based on QP Optimization

An optimization framework for upward jumping motion based on quadratic programming (QP) is proposed in this paper, which can simultaneously consider constraints such as the zero moment point (ZMP), limitation of angular accelerations, and anti-slippage. Our approach comprises two parts: the trajectory generation and real-time control. In the trajectory generation for the launch phase, we discretize the continuous trajectories and assume that the accelerations between the two sampling intervals are constant and transcribe the problem into a nonlinear optimization problem. In the real-time control of the stance phase, the over-constrained control objectives such as the tracking of the center of moment (CoM), angle, and angular momentum, and constraints such as the anti-slippage, ZMP, and limitation of joint acceleration are unified within a framework based on QP optimization. Input angles of the actuated joints are thus obtained through a simple iteration. The simulation result reveals that a successful upward jump to a height of 16.4 cm was achieved, which confirms that the controller fully satisfies all constraints and achieves the control objectives.

The Impact of Forecasting Jumps on Forecasting Electricity Prices

The paper is devoted to forecasting hourly day-ahead electricity prices from the perspective of the existence of jumps. We compare the results of different jump detection techniques and identify common features of electricity price jumps. We apply the jump-diffusion model with a double exponential distribution of jump sizes and explanatory variables. In order to improve the accuracy of electricity price forecasts, we take into account the time-varying intensity of price jump occurrences. We forecast moments of jump occurrences depending on several factors, including seasonality and weather conditions, by means of the generalised ordered logit model. The study is conducted on the basis of data from the Nord Pool power market. The empirical results indicate that the model with the time-varying intensity of jumps and a mechanism of jump prediction is useful in forecasting electricity prices for peak hours, i.e., including the probabilities of downward, no or upward jump occurrences into the model improves the forecasts of electricity prices.

Is the F10.7cm - Sunspot Number relation linear and stable?

The F 10.7cm radio flux and the Sunspot Number are the most widely used long-term indices of solar activity. They are strongly correlated, which led to the publication of many proxy relations allowing to convert one index onto the other. However, those existing proxies show significant disagreements, in particular at low solar activity. Moreover, a temporal drift was recently found in the relative scale of those two solar indices. Our aim is to bring a global clarification of those many issues. We compute new polynomial regressions up to degree 4, in order to obtain a more accurate proxy over the whole range of solar activity. We also study the role of temporal averaging on the regression, and we investigate the issue of the all-quiet F 10.7 background flux. Finally, we check for any change in the quiet-Sun F 10.7 - sunspot number relation over the entire period 1947--2015. We find that, with a 4 th -degree polynomial, we obtain a more accurate proxy relation than all previous published ones, and we derive a formula giving standard errors. The relation is different for daily, monthly and yearly mean values, and it proves to be fully linear for raw non-averaged daily data. By a simple two-component model for daily values, we show how temporal averaging leads to non-linear proxy relations. We also show that the F 10.7 background is not absolute and actually depends on the duration of the spotless periods. Finally, we find that the F 10.7cm time series is inhomogeneous, with an abrupt 10.5% upward jump occurring between 1980 and 1981, and splitting the series in two stable intervals. Our new proxy relations bring a strong improvement and show the importance of temporal scale for choosing the appropriate proxy and the F 10.7 quiet-Sun background level. From historical evidence, we conclude that the 1981 jump is most likely due to a unique change in the F 10.7 scientific team and the data processing, and that the newly re-calibrated sunspot number (version 2) will probably provide the only possible reference to correct this inhomogeneity.

P-hacking in clinical trials and how incentives shape the distribution of results across phases

Clinical research should conform to high standards of ethical and scientific integrity, given that human lives are at stake. However, economic incentives can generate conflicts of interest for investigators, who may be inclined to withhold unfavorable results or even tamper with data in order to achieve desired outcomes. To shed light on the integrity of clinical trial results, this paper systematically analyzes the distribution ofPvalues of primary outcomes for phase II and phase III drug trials reported to the ClinicalTrials.gov registry. First, we detect no bunching of results just above the classical 5% threshold for statistical significance. Second, a density-discontinuity test reveals an upward jump at the 5% threshold for phase III results by small industry sponsors. Third, we document a larger fraction of significant results in phase III compared to phase II. Linking trials across phases, we find that early favorable results increase the likelihood of continuing into the next phase. Once we take into account this selective continuation, we can explain almost completely the excess of significant results in phase III for trials conducted by large industry sponsors. For small industry sponsors, instead, part of the excess remains unexplained.

MAKALAH AKTIVITAS LOMPAT JAUH

Sport very important things to our bodies. One branch of the sport is atlestic. In athletic activities, there is long jump. By learning the long jump, we can perform the upward jump with the effort to make the body float quickly in the air and by raising one leg to gain a great distance.

P-hacking in clinical trials and how incentives shape the distribution of results across phases*

Clinical research should conform to high standards of ethical and scientific integrity, given that human lives are at stake. However, economic incentives can generate conflicts of interest for investigators, who may be inclined to withhold unfavorable results or even tamper with data in order to achieve desired outcomes. To shed light on the integrity of clinical trial results, this paper systematically analyzes the distribution of p-values of primary outcomes for phase II and phase III drug trials reported to the ClinicalTrials.gov registry. First, we detect no bunching of results just above the classical 5% threshold for statistical significance. Second, a density discontinuity test reveals an upward jump at the 5% threshold for phase III results by small industry sponsors. Third, we document a larger fraction of significant results in phase III compared to phase II. Linking trials across phases, we find that early favorable results increase the likelihood of continuing into the next phase. Once we take into account this selective continuation, we can explain almost completely the excess of significant results in phase III for trials conducted by large industry sponsors. For small industry sponsors, instead, part of the excess remains unexplained.

Tail Asymptotics of the Stationary Distribution of a Two-Dimensional Reflecting Random Walk with Unbounded Upward Jumps

We consider a two-dimensional reflecting random walk on the nonnegative integer quadrant. This random walk is assumed to be skip free in the direction to the boundary of the quadrant, but may have unbounded jumps in the opposite direction, which are referred to as upward jumps. We are interested in the tail asymptotic behavior of its stationary distribution, provided it exists. Assuming that the upward jump size distributions have light tails, we find the rough tail asymptotics of the marginal stationary distributions in all directions. This generalizes the corresponding results for the skip-free reflecting random walk in Miyazawa (2009). We exemplify these results for a two-node queueing network with exogenous batch arrivals.

Tail Asymptotics of the Stationary Distribution of a Two-Dimensional Reflecting Random Walk with Unbounded Upward Jumps

We consider a two-dimensional reflecting random walk on the nonnegative integer quadrant. This random walk is assumed to be skip free in the direction to the boundary of the quadrant, but may have unbounded jumps in the opposite direction, which are referred to as upward jumps. We are interested in the tail asymptotic behavior of its stationary distribution, provided it exists. Assuming that the upward jump size distributions have light tails, we find the rough tail asymptotics of the marginal stationary distributions in all directions. This generalizes the corresponding results for the skip-free reflecting random walk in Miyazawa (2009). We exemplify these results for a two-node queueing network with exogenous batch arrivals.

UPWARD JUMP OF A BIPED

This paper explores the vertical upward jumping of a planar biped. There are two stance phases and one flight phase in the jump. One stance phase takes place before the flight phase, another one after the flight phase. The stance phase before the flight phase is decomposed into several parts: A crouching, a thrust at the knees, a rotation of both feet (massless) around their toes. The second stance phase (after the flight phase) starts with a touchdown of the toes. It consists of a feet rotation, a touchdown of the whole soles and finally of a straightening up movement of the biped. A mathematical model for this kind of jump is developed. Torques are applied at the hip, knee and ankle joints. The control algorithm is designed to ensure the jump of the biped. The synthesis of the jumping process is supported by simulation, which gives consistent results with human data from biomechanical literature. The stick diagram of the jump derived from simulation results seems natural for the human jumping.