Multi-segmented Adaptive Feet for Versatile Legged Locomotion in Natural Terrain

Most legged robots are built with leg structures from serially mounted links and actuators and are controlled through complex controllers and sensor feedback. In comparison, animals developed multi-segment legs, mechanical coupling between joints, and multi-segmented feet. They run agile over all terrains, arguably with simpler locomotion control. Here we focus on developing foot mechanisms that resist slipping and sinking also in natural terrain. We present first results of multi-segment feet mounted to a bird-inspired robot leg with multi-joint mechanical tendon coupling. Our one- and two-segment, mechanically adaptive feet show increased viable horizontal forces on multiple soft and hard substrates before starting to slip. We also observe that segmented feet reduce sinking on soft substrates compared to ball-feet and cylinder-feet. We report how multi-segmented feet provide a large range of viable centre of pressure points well suited for bipedal robots, but also for quadruped robots on slopes and natural terrain. Our results also offer a functional understanding of segmented feet in animals like ratite birds

Gastrocnemius and Power Amplifier Soleus Spring-Tendons Achieve Fast Human-like Walking in a Bipedal Robot

Legged locomotion in humans is governed by natural dynamics of the human body and neural control. One mechanism that is assumed to contribute to the high efficiency of human walking is the impulsive ankle push-off, which potentially powers the swing leg catapult. However, the mechanics of the human lower leg with its complex muscle-tendon units spanning over single and multiple joints is not yet understood. Legged robots allow testing the interaction between complex leg mechanics, control, and environment in real-world walking gait. We developed a 0.49m tall, 2.2kg anthropomorphic bipedal robot with Soleus and Gastrocnemius muscle-tendon units represented by linear springs, acting as mono- and biarticular elastic structures around the robot's ankle and knee joints. We tested the influence of three Soleus and Gastrocnemius spring-tendon configurations on the ankle power curves, the coordination of the ankle and knee joint movements, the total cost of transport, and walking speed. We controlled the robot with a feed-forward central pattern generator, leading to walking speeds between 0.35m/s and 0.57m/s at 1.0Hz locomotion frequency, at 0.35m leg length. We found differences between all three configurations; the Soleus spring-tendon modulates the robot's speed and energy efficiency likely by ankle power amplification, while the Gastrocnemius spring-tendon changes the movement coordination between ankle and knee joints during push-off.Comment: Data and code repository at https://doi.org/10.17617/3.BQ2PZ9. Video on youtube at https://youtu.be/T79pKLQ47X

Human-like bipedal robot achieves fast walking gait with mono- and biarticular spring-tendon powered ankle push-off

The 11th International Symposium on Adaptive Motion of Animals and Machines. Kobe University, Japan. 2023-06-06/09. Adaptive Motion of Animals and Machines Organizing Committee.Poster Session P

Search for Extratidal Features Around 17 Globular Clusters in the Sloan Digital Sky Survey

The dynamical evolution of a single globular cluster and also of the entire Galactic globular cluster system has been studied theoretically in detail. In particular, simulations show how the 'lost' stars are distributed in tidal tails emerging from the clusters. We investigate the distribution of Galactic globular cluster stars on the sky to identify such features like tidal tails. The Sloan Digital Sky Survey provides consistent photometry of a large part of the sky to study the projected two dimensional structure of the 17 globular clusters in its survey area. We use a color-magnitude weighted counting algorithm to map (potential) cluster member stars on the sky. We recover the already known tidal tails of Pal 5 and NGC 5466. For NGC 4147 we have found a two arm morphology. Possible indications of tidal tails are also seen around NGC 5053 and NGC 7078, supporting earlier suggestions. Moreover, we find potential tails around NGC 5904 and Pal 14. Especially for the Palomar clusters than Pal 5, deeper data are needed in order to confirm or to rule out the existence of tails. For many of the remaining clusters in our sample we observe a pronounced extratidal halo, which is particularly large for NGC 7006 and Pal 1. In some cases, the extratidal halos may be associated with the stream of the Sagittarius dwarf spheroidal galaxy (e.g.,NGC 4147, NGC 5024, NGC 5053).Comment: Accepted by A&A, 24 pages, 24 figure

Cytosine-to-Uracil Deamination by SssI DNA Methyltransferase

The prokaryotic DNA(cytosine-5)methyltransferase M.SssI shares the specificity of eukaryotic DNA methyltransferases (CG) and is an important model and experimental tool in the study of eukaryotic DNA methylation. Previously, M.SssI was shown to be able to catalyze deamination of the target cytosine to uracil if the methyl donor S-adenosyl-methionine (SAM) was missing from the reaction. To test whether this side-activity of the enzyme can be used to distinguish between unmethylated and C5-methylated cytosines in CG dinucleotides, we re-investigated, using a sensitive genetic reversion assay, the cytosine deaminase activity of M.SssI. Confirming previous results we showed that M.SssI can deaminate cytosine to uracil in a slow reaction in the absence of SAM and that the rate of this reaction can be increased by the SAM analogue 5’-amino-5’-deoxyadenosine. We could not detect M.SssI-catalyzed deamination of C5-methylcytosine (m5C). We found conditions where the rate of M.SssI mediated C-to-U deamination was at least 100-fold higher than the rate of m5C-to-T conversion. Although this difference in reactivities suggests that the enzyme could be used to identify C5-methylated cytosines in the epigenetically important CG dinucleotides, the rate of M.SssI mediated cytosine deamination is too low to become an enzymatic alternative to the bisulfite reaction. Amino acid replacements in the presumed SAM binding pocket of M.SssI (F17S and G19D) resulted in greatly reduced methyltransferase activity. The G19D variant showed cytosine deaminase activity in E. coli, at physiological SAM concentrations. Interestingly, the C-to-U deaminase activity was also detectable in an E. coli ung+ host proficient in uracil excision repair

The dog as an animal model for DISH?

Diffuse idiopathic skeletal hyperostosis (DISH) is a systemic disorder of the axial and peripheral skeleton in humans and has incidentally been described in dogs. The aims of this retrospective radiographic cohort study were to determine the prevalence of DISH in an outpatient population of skeletally mature dogs and to investigate if dogs can be used as an animal model for DISH. The overall prevalence of canine DISH was 3.8% (78/2041). The prevalence of DISH increased with age and was more frequent in male dogs, similar to findings in human studies. In the Boxer breed the prevalence of DISH was 40.6% (28/69). Dog breeds represent closed gene pools with a high degree of familiar relationship and the high prevalence in the Boxer may be indicative of a genetic origin of DISH. It is concluded that the Boxer breed may serve as an animal model for DISH in humans

Suppression subtractive hybridization coupled with microarray analysis to examine differential expression of genes in virus infected cells

High throughput detection of differential expression of genes is an efficient means of identifying genes and pathways that may play a role in biological systems under certain experimental conditions. There exist a variety of approaches that could be used to identify groups of genes that change in expression in response to a particular stimulus or environment. We here describe the application of suppression subtractive hybridization (SSH) coupled with cDNA microarray analysis for isolation and identification of chicken transcripts that change in expression on infection of host cells with a paramyxovirus. SSH was used for initial isolation of differentially expressed transcripts, a large-scale validation of which was accomplished by microarray analysis. The data reveals a large group of regulated genes constituting many biochemical pathways that could serve as targets for future investigations to explore their role in paramyxovirus pathogenesis. The detailed methods described herein could be useful and adaptable to any biological system for studying changes in gene expression

Measurement of the W+W-gamma Cross Section and Direct Limits on Anomalous Quartic Gauge Boson Couplings at LEP

The process e+e- -> W+W-gamma is analysed using the data collected with the L3 detector at LEP at a centre-of-mass energy of 188.6GeV, corresponding to an integrated luminosity of 176.8pb^-1. Based on a sample of 42 selected W+W- candidates containing an isolated hard photon, the W+W-gamma cross section, defined within phase-space cuts, is measured to be: sigma_WWgamma = 290 +/- 80 +/- 16 fb, consistent with the Standard Model expectation. Including the process e+e- -> nu nu gamma gamma, limits are derived on anomalous contributions to the Standard Model quartic vertices W+W- gamma gamma and W+W-Z gamma at 95% CL: -0.043 GeV^-2 < a_0/Lambda^2 < 0.043 GeV^-2 0.08 GeV^-2 < a_c/Lambda^2 < 0.13 GeV^-2 0.41 GeV^-2 < a_n/Lambda^2 < 0.37 GeV^-2

Production of Single W Bosons at \sqrt{s}=189 GeV and Measurement of WWgamma Gauge Couplings

Single W boson production in electron-positron collisions is studied with the L3 detector at LEP. The data sample collected at a centre-of-mass energy of \sqrt{s} = 188.7GeV corresponds to an integrated luminosity of 176.4pb^-1. Events with a single energetic lepton or two acoplanar hadronic jets are selected. Within phase-space cuts, the total cross-section is measured to be 0.53 +/- 0.12 +/- 0.03 pb, consistent with the Standard Model expectation. Including our single W boson results obtained at lower \sqrt{s}, the WWgamma gauge couplings kappa_gamma and lambda_gamma are determined to be kappa_gamma = 0.93 +/- 0.16 +/- 0.09 and lambda_gamma = -0.31 +0.68 -0.19 +/- 0.13