Telelocomotion—remotely operated legged robots

© 2020 by the authors. Li-censee MDPI, Basel, Switzerland. Teleoperated systems enable human control of robotic proxies and are particularly amenable to inaccessible environments unsuitable for autonomy. Examples include emergency response, underwater manipulation, and robot assisted minimally invasive surgery. However, teleoperation architectures have been predominantly employed in manipulation tasks, and are thus only useful when the robot is within reach of the task. This work introduces the idea of extending teleoperation to enable online human remote control of legged robots, or telelocomotion, to traverse challenging terrain. Traversing unpredictable terrain remains a challenge for autonomous legged locomotion, as demonstrated by robots commonly falling in high-profile robotics contests. Telelocomotion can reduce the risk of mission failure by leveraging the high-level understanding of human operators to command in real-time the gaits of legged robots. In this work, a haptic telelocomotion interface was developed. Two within-user studies validate the proof-of-concept interface: (i) The first compared basic interfaces with the haptic interface for control of a simulated hexapedal robot in various levels of traversal complexity; (ii) the second presents a physical implementation and investigated the efficacy of the proposed haptic virtual fixtures. Results are promising to the use of haptic feedback for telelocomotion for complex traversal tasks

Genome-wide association studies identify CHRNA5/3 and HTR4 in the development of airflow obstruction

RATIONALE: Genome-wide association studies (GWAS) have identified loci influencing lung function, but fewer genes influencing chronic obstructive pulmonary disease (COPD) are known.OBJECTIVES: Perform meta-analyses of GWAS for airflow obstruction, a key pathophysiologic characteristic of COPD assessed by spirometry, in population-based cohorts examining all participants, ever smokers, never smokers, asthma-free participants, and more severe cases.METHODS: Fifteen cohorts were studied for discovery (3,368 affected; 29,507 unaffected), and a population-based family study and a meta-analysis of case-control studies were used for replication and regional follow-up (3,837 cases; 4,479 control subjects). Airflow obstruction was defined as FEV(1) and its ratio to FVC (FEV(1)/FVC) both less than their respective lower limits of normal as determined by published reference equations.MEASUREMENTS AND MAIN RESULTS: The discovery meta-analyses identified one region on chromosome 15q25.1 meeting genome-wide significance in ever smokers that includes AGPHD1, IREB2, and CHRNA5/CHRNA3 genes. The region was also modestly associated among never smokers. Gene expression studies confirmed the presence of CHRNA5/3 in lung, airway smooth muscle, and bronchial epithelial cells. A single-nucleotide polymorphism in HTR4, a gene previously related to FEV(1)/FVC, achieved genome-wide statistical significance in combined meta-analysis. Top single-nucleotide polymorphisms in ADAM19, RARB, PPAP2B, and ADAMTS19 were nominally replicated in the COPD meta-analysis.CONCLUSIONS: These results suggest an important role for the CHRNA5/3 region as a genetic risk factor for airflow obstruction that may be independent of smoking and implicate the HTR4 gene in the etiology of airflow obstruction.</p

Telelocomotion—Remotely Operated Legged Robots

Teleoperated systems enable human control of robotic proxies and are particularly amenable to inaccessible environments unsuitable for autonomy. Examples include emergency response, underwater manipulation, and robot assisted minimally invasive surgery. However, teleoperation architectures have been predominantly employed in manipulation tasks, and are thus only useful when the robot is within reach of the task. This work introduces the idea of extending teleoperation to enable online human remote control of legged robots, or telelocomotion, to traverse challenging terrain. Traversing unpredictable terrain remains a challenge for autonomous legged locomotion, as demonstrated by robots commonly falling in high-profile robotics contests. Telelocomotion can reduce the risk of mission failure by leveraging the high-level understanding of human operators to command in real-time the gaits of legged robots. In this work, a haptic telelocomotion interface was developed. Two within-user studies validate the proof-of-concept interface: (i) The first compared basic interfaces with the haptic interface for control of a simulated hexapedal robot in various levels of traversal complexity; (ii) the second presents a physical implementation and investigated the efficacy of the proposed haptic virtual fixtures. Results are promising to the use of haptic feedback for telelocomotion for complex traversal tasks

Benefits from the US photovoltaic manufacturing technology project

This paper examines the goals of the Photovoltaic Manufacturing Technology (PVMaT) project and its achievements in recapturing the investment by the photovoltaic (PV) industry and the public in this research. The PVMaT project was initiated in 1990 with the goal of enhancing the world-wide competitiveness of the U.S. PV industry. Based on our analysis, PVMaT has contributed to PV module manufacturing process improvements, increased product value, and reductions in the price of today`s PV products. An evaluation of success in this project was conducted using data collected from 10 of the PVMaT industrial participants in late fiscal year (FY) 1995. These data indicate a reduction of 56% in the weighted average module manufacturing costs from 1992 to 1996. During this same period, U.S. module manufacturing capacity has increased by more than a factor of 6. Finally, the analysis indicates that both the public and the manufacturers will recapture the funds expended in R&D manufacturing improvements well before the year 2000