Double inverted pendulum model, stationary or on a cart, is computationally the simplest out of the range of reasonable models used for anthropomorphic robots motion synthesis. However, it is still not sufficient for describing more complex situations. The novel concept of variable double inverted pendulum (VDIP) for static postures and VDIP on cart (VDIPC) for dynamic cases is proposed. It provides a simplified but a sufficiently accurate tool for planning the human-like static and dynamic robot postures. Its variable parameters enable the description of both human static postures and motion dynamics. The variable length of the lower link is essential for the representation of postures attained by bending legs. The studies of a set of static and dynamic postures were used for deducing and verifying the locations of lower and upper joint of a double pendulum and the point masses. To justify the concept, human body and pendulum behaviors are compared taking into account a typical model of the human body. Static analysis was conducted by considering static human postures. Dynamic conditions were analyzed using the data acquired from human motion and thus the VDIPC definition was established. The zero moment point trajectories of the human and of VDIPC were compared, validating the correctness of VDIPC in dynamic situations. The formal description of VDIPC is provided together with the torques equilibrium condition needed for evaluating the dynamic postural stability, with the VDPIC representing the robot configuration. The VDPIC state equations are formulated in a form required by the predictive control method. The paper contributes to the motion synthesis methods of anthropomorphic robots taking into account postural control.

TwinsMX is a national twin registry in Mexico recently created with institutional support from the Universidad Nacional Autónoma de México. It aims to serve as a platform to advance epidemiological and genetic research in the country and to disentangle the genetic and environmental contributions to health and disease in the admixed Mexican population. Here, we describe our recruitment and data collection strategies and discuss both the progress to date and future directions. More information about the registry is available on our website: https://twinsmxofficial.unam.mx/ (content in Spanish).

Biologic asymmetry is present in all bilaterally symmetric organisms as a result of normal developmental instability. However, fossilized organisms, which have undergone distortion due to burial, may have additional asymmetry as a result of taphonomic processes. To investigate this issue, we evaluated the magnitude of shape variation resulting from taphonomy on vertebrate bone using a novel application of fluctuating asymmetry. We quantified the amount of total variance attributed to asymmetry in a taphonomically distorted fossil taxon and compared it with that of three extant taxa. The fossil taxon had an average of 27% higher asymmetry than the extant taxa. In spite of the high amount of taphonomic input, the major axes of shape variation were not greatly altered by removal of the asymmetric component of shape variation. This presents the possibility that either underlying biologic trends drive the principal directions of shape change irrespective of asymmetric taphonomic distortion or that the symmetric taphonomic component is large enough that removing only the asymmetric component is inadequate to restore fossil shape. Our study is the first to present quantitative data on the relative magnitude of taphonomic shape change and presents a new method to further explore how taphonomic processes impact our interpretation of the fossil record.

The predominant interpretation of nineteenth century Latin America is to see the failure of constitutional democracy in the region in terms of the inability of liberal elites to break with an authoritarian past. Against these views, we argue that the divorce between liberalism and democracy in Latin America was the unintended outcome of the institutions created by the liberal elite in response to the problems of territorial fragmentation and factional conflict that emerged after the fall of the Spanish empire. Using the cases of Argentina and Mexico, we support this proposition by focusing on the creation of a centralised form of government and a system of electoral control by the ruling elites as the main factors that through time prevented the evolution of the liberal regime into a competitive democracy.

There is no good faith in America, nor among the nations of America. Treaties are scraps of paper; constitutions, printed matter; elections, battles; freedom, anarchy; and life, a torment.

Simón Bolívar