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With the increasing complexity of humanoid mechanisms and their desired capabilities, there is a pressing need for a generalized framework where a desired whole-body motion behavior can be easily specified and controlled. Our hypothesis is that human motion results from simultaneously performing multiple objectives in a hierarchical manner, and we have analogously developed a prioritized, multiple-task control framework. The operational space formulation 10 provides dynamic models at the task level and structures for decoupled task and posture control. 13 This formulation allows for posture objectives to be controlled without dynamically interfering with the operational task. Achieving higher performance of posture objectives requires precise models of their dynamic behaviors. In this paper we complete the picture of task descriptions and whole-body dynamic control by establishing models of the dynamic behavior of secondary task objectives within the posture space. Using these models, we present a whole-body control framework that decouples the interaction between the task and postural objectives and compensates for the dynamics in their respective spaces.

[1] Using the equatorial electrojet (EEJ) peak current intensity as deduced from CHAMP magnetic observations from the years 2001 through 2009, we investigated the relationship between sudden stratospheric warming (SSW) and lunitidal signatures in the tropical ionosphere. There is a practically one-to-one correspondence between midwinter SSW periods and the strongest 13 day modulation of the EEJ strength as observed by CHAMP. That is, all the midwinter SSW periods from December 2001 to August 2009 were accompanied by an enhanced 13 day modulation of the EEJ strength. No other geophysical phenomenon brought about as strong a 13 day modulation as those of the midwinter SSW periods. During each midwinter SSW period the amplified 13 day modulation of the EEJ strengths starts roughly within AE1 week around the first peak in stratospheric temperature difference. An oscillation with a period of 13.26 days is predicted by the lunitidal equation when considering the precession of the CHAMP orbit. When fitting the lunitidal equation to the EEJ modulations during the midwinter SSW periods, consistent phase delays of 4.4 AE 0.3 days of the tidal signal emerge for all the cases. The results suggest that the pronounced 13 day modulation of the EEJ strength is related to an enhancement of the lunar tide in the ionosphere by the SSW effect.

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Based on magnetic field data sampled by the Swarm satellite constellation it is possible for the first time to determine uniquely F region currents at low latitudes. Initial results are presented from the first 200 days of formation flight (17 April to 5 November 2014). Detailed results have been obtained for interhemispheric field‐aligned currents connecting the solar quiet day magnetic variation (Sq) current systems in the two hemispheres. We obtain prominent currents from the Southern (winter) Hemisphere to the Northern around noon. Weaker currents in opposite direction are observed during morning and evening hours. Furthermore, we could confirm the existence of vertical currents above the dip equator, downward around noon and upward around sunset. For both current systems we present and discuss longitudinal variations.

Key Points Two clearly different systems of IHFACs exist at low and middle latitudes, respectively, with a boundary near ±35° in magnetic latitudes The latitudinal and longitudinal structures of IHFACs depend strongly on wave forcing from the lower atmosphere, below 30 km Midlatitude IHFACs have similar climatology in equinoxes/June solstice, while those of December solstice exhibit different behavior

Rebinding dynamics of CO to carboxymethyl cytochrome c (Ccytc), a chemically modified cytochrome c to bind ligands in its ferrous form, in D(2)O solution at 283 K after photodeligation, was investigated using femtosecond vibrational spectroscopy. The stretching mode of CO bound to the protein shows four stretching bands near 1962 cm(-1). Time-resolved spectra of the bound CO revealed a slight band-position-dependent rebinding kinetics, suggesting that the geminate rebinding of CO depends on the conformation of the protein. The overall rebinding kinetics of CO to Ccytc was more than 1000 times faster than that to myoglobin (Mb), a ligand-binding protein, and is also faster than a model heme, microperoxidase-8 in viscous solvent. The efficient rebinding of CO to Ccytc was attributed to the longer retention of the dissociated CO near the active binding site by the organized protein matrix of Ccytc. The spectra of the dissociated CO reveal a fast-growing band in the picosecond time scale that is assigned to CO in D(2)O solvent. The ultrafast CO escape to bulk solution is consistent with its 3D structure showing a sizable opening in the active site. It appears that most of the dissociated CO rebinds within 1 ns, except for those that escape to the bulk solution through the opening. The CO rebinding in Ccytc indicates that the primary heme pocket in Mb, located near the active site and holding the dissociated ligand for longer than tens of nanoseconds, has a specific structure to suppress CO rebinding.