A novel method for assessing the 3-D orientation accuracy of inertial/magnetic sensors

A novel method for assessing the accuracy of inertial/magnetic sensors is presented. The method, referred to as the “residual matrix” method, is advantageous because it decouples the sensor's error with respect to Earth's gravity vector (attitude residual error: pitch and roll) from the sensor's error with respect to magnetic north (heading residual error), while remaining insensitive to singularity problems when the second Euler rotation is close to ±90°. As a demonstration, the accuracy of an inertial/magnetic sensor mounted to a participant's forearm was evaluated during a reaching task in a laboratory. Sensor orientation was measured internally (by the inertial/magnetic sensor) and externally using an optoelectronic measurement system with a marker cluster rigidly attached to the sensor's enclosure. Roll, pitch and heading residuals were calculated using the proposed novel method, as well as using a common orientation assessment method where the residuals are defined as the difference between the Euler angles measured by the inertial sensor and those measured by the optoelectronic system. Using the proposed residual matrix method, the roll and pitch residuals remained less than 1° and, as expected, no statistically significant difference between these two measures of attitude accuracy was found; the heading residuals were significantly larger than the attitude residuals but remained below 2°. Using the direct Euler angle comparison method, the residuals were in general larger due to singularity issues, and the expected significant difference between inertial/magnetic sensor attitude and heading accuracy was not present.     

Physiologische Untersuchungen über die Eireifung bei Pomatoceros triqueter L.

Ohne ZusammenfassungDie Untersuchungen wurden an der Zoologischen Station Kristineberg, Schweden, ausgeführt. Es ist mir eine angenehme Pflicht, dem Direktor, Herrn ProfessorHjalmar Théel, und dem Vorstand, Herrn Dr.Hjalmar Östergren, meinen besten Dank auszusprechen. Schließlich richte ich den herzlichsten Dank an Herrn Dr.John Runnström, Stockholm, der mir die Idee der Untersuchung gegeben und mit größtem Interesse und größter Freundlichkeit meine Arbeit geleitet hat.     

Four-site four-electron model for Bi(III)-Bi(V) mixed valence complex

In most quantum models for the four-site four-electron problem the lowest singlet state has two short and two long bonds in the absence of lattice polarization and is called the resonating valence bond (VB) state. It is shown here that if the lattice polarization is large, the ground state is a ‘negative U’ state with valence disproportionation (for example BaBiO₃ with Bi(V) and Bi(III) sites). Furthermore the model shows that the coupling between the pairs on different sites is provided via the VB state.     

What Are the Health Risks of Eating Red Meat,and How Should We Assess Them?

This paper discusses possible mechanisms that might lead to misinterpretations of collected data and makes new evidence-based medicine (EBM) recommendations to oppose the previously accepted preventive measures, or treatment options. It is focused on the danger of the “red meat” consumption, and the question whether eating pungent food is good or bad for our health and finally whether the “bad luck” concept of getting several cancer types is valid or not. These three topics got and still have significant media attention. Several mechanisms are proposed as possible causes of these apparent conflicts. Some of them have already been recognized but sadly remained less known to medical readers and also to the general population. Also see the video abstract here https://youtu.be/owjoRXrNShA .     

Comparing FE human body model rib geometry to population data

Biomechanics and Modeling in Mechanobiology - Finite element human body models (HBMs) are used to assess injury risk in a variety of impact scenarios. The ribs are a key structural component within...     

Dark microbial CO2 fixation in temperate forest soils increases with CO2 concentration

Dark, that is, nonphototrophic, microbial CO₂ fixation occurs in a large range of soils. However, it is still not known whether dark microbial CO₂ fixation substantially contributes to the C balance of soils and what factors control this process. Therefore, the objective of this study was to quantitate dark microbial CO₂ fixation in temperate forest soils, to determine the relationship between the soil CO₂ concentration and dark microbial CO₂ fixation, and to estimate the relative contribution of different microbial groups to dark CO₂ fixation. For this purpose, we conducted a ¹³C‐CO₂ labeling experiment. We found that the rates of dark microbial CO₂ fixation were positively correlated with the CO₂ concentration in all soils. Dark microbial CO₂ fixation amounted to up to 320 µg C kg^?1 soil day^?1 in the Ah horizon. The fixation rates were 2.8–8.9 times higher in the Ah horizon than in the Bw1 horizon. Although the rates of dark microbial fixation were small compared to the respiration rate (1.2%–3.9% of the respiration rate), our findings suggest that organic matter formed by microorganisms from CO₂ contributes to the soil organic matter pool, especially given that microbial detritus is more stable in soil than plant detritus. Phospholipid fatty acid analyses indicated that CO₂ was mostly fixed by gram‐positive bacteria, and not by fungi. In conclusion, our study shows that the dark microbial CO₂ fixation rate in temperate forest soils increases in periods of high CO₂ concentrations, that dark microbial CO₂ fixation is mostly accomplished by gram‐positive bacteria, and that dark microbial CO₂ fixation contributes to the formation of soil organic matter.