Design a Fall Recovery Strategy for a Wheel-Legged Quadruped Robot Using Stability Feature Space

In this paper, we introduced a conceptual analysis to select stability features when performing predefined and precise motions on robots. By analyzing the different stable poses named features and the possible transitions towards different ones, the introduced concept allows to design more predictable and suitable motions when performing particular tasks. As an example of how the concept can be applied we use it on the fall recovery of the quadruped robot CENTAURO. This robot, which is equipped with a custom hybrid wheel-legged mobility system, have good intrinsic stability as other quadrupeds. However, the characteristics of the rough terrains where it might be deployed require complex maneuvers to cope with possible strong disturbances. To prevent and more importantly recover from falls, realignment of postural responses will not be adequate, and effective recovery procedures should be developed. This paper introduces the details of how the presented conceptual analysis provides and an effective fall recovery routine for CENTAURO based on a state machine. The performance of the proposed approach is evaluated with extensive simulation trials using the dynamic model of the CENTAURO robot showing good effectiveness in recovering the robot after fall on flat and inclined surfaces

Ctrl-MORE: A Framework to Integrate Controllers of Multi-DoF Robot for Developers and Users

In recent years, many different feedback controllers for robotic applications have been proposed and implemented. However, the high coupling between the different software modules made their integration into one common architecture difficult. Consequently, this has hindered the ability of a user to employ the different controllers into a single, general and modular framework. To address this problem, we present Ctrl-MORE, a software architecture developed to fill the gap between control developers and other users in robotic applications. On one hand, Ctrl-MORE aims to provide developers with an opportunity to integrate easily and share their controllers with other roboticists working in different areas. For example, manipulation, locomotion, vision and so on. On the other hand, it provides to end-users a tool to apply the additional control strategies that guarantee the execution of desired behaviors in a transparent, yet efficient way. The proposed control architecture allows an easier integration of general purpose feedback controllers, such as stabilizers, with higher control layers such as trajectory planners, increasing the robustness of the overall system

From Non-Reactive to Reactive Walking in Humanoid Robots

In this paper we report the implementation and the experimental validation of a controller to provide reactive walking gait capabilities of bipedal robots during the execution of predefined walking patterns. The proposed method is a cascade controller design to cope with external disturbances and to increase the robot stability. IMU states are used as inputs to generate modifications of the feet and the Center of Mass trajectories of the predefined walking gait. The method increases the walking stability minimizing the errors due to small terrain variations and external disturbances. The effectiveness of the proposed controller is validated in simulation and in real implementation on the full-body humanoid robot COMAN+

Robust Model Predictive Control for humanoids standing balancing

This paper presents the implementations of Model Predictive Control for the standing balance control of a humanoid to reject external disturbances. The strategies allow the robot to have a compliant behaviour against external forces resulting in a stable and smooth response. The first, ZMP based controller, compensates for the center of mass deviation while the second, attitude controller, regulates the orientation of the body to counterbalance the external disturbances. These two control strategies are combined as an integrated stabilizer, which further increases the effectiveness. Simulation studies on the COMAN humanoid are presented and the data are analysed. The simulations show significant improvements in rejection of external disturbances compared to an existing compliant stabilizer

Benchmarking Dynamic Balancing Controllers for Humanoid Robots

This paper presents a comparison study of three control design approaches for humanoid balancing based on the Center of Mass (CoM) stabilization and body posture adjustment. The comparison was carried out under controlled circumstances allowing other researchers to replicate and compare our results with their own. The feedback control from state space design is based on simple models and provides sufficient robustness to control complex and high Degrees of Freedom (DoFs) systems, such as humanoids. The implemented strategies allow compliant behavior of the robot in reaction to impulsive or periodical disturbances, resulting in a smooth and human-like response while considering constraints. In this respect, we implemented two balancing strategies to compensate for the CoM deviation. The first one uses the robot’s capture point as a stability principle and the second one uses the Force/Torque sensors at the ankles to define a CoM reference that stabilizes the robot. In addition, was implemented a third strategy based on upper body orientation to absorb external disturbances and counterbalance them. Even though the balancing strategies are implemented independently, they can be merged to further increase balancing performance. The proposed strategies were previously applied on different humanoid bipedal platforms, however, their performance could not be properly benchmarked before. With this concern, this paper focuses on benchmarking in controlled scenarios to help the community in comparing different balance techniques. The key performance indicators (KPIs) used in our comparison are the CoM deviation, the settling time, the maximum measured orientation, passive gait measure, measured ankles torques, and reconstructed Center of Pressure (CoP). The benchmarking experiments were carried out in simulations and using the facility at Istituto Italiano di Tecnologia on the REEM-C humanoid robot provided by PAL robotics inside the EU H2020 project EUROBENCH framework

Genetic counselling and testing in pulmonary arterial hypertension: a consensus statement on behalf of the International Consortium for Genetic Studies in PAH

Pulmonary arterial hypertension (PAH) is a rare disease that can be caused by (likely) pathogenic germline genomic variants. In addition to the most prevalent disease gene, BMPR2 (bone morphogenetic protein receptor 2), several genes, some belonging to distinct functional classes, are also now known to predispose to the development of PAH. As a consequence, specialist and non-specialist clinicians and healthcare professionals are increasingly faced with a range of questions regarding the need for, approaches to and benefits/risks of genetic testing for PAH patients and/or related family members. We provide a consensus-based approach to recommendations for genetic counselling and assessment of current best practice for disease gene testing. We provide a framework and the type of information to be provided to patients and relatives through the process of genetic counselling, and describe the presently known disease causal genes to be analysed. Benefits of including molecular genetic testing within the management protocol of patients with PAH include the identification of individuals misclassified by other diagnostic approaches, the optimisation of phenotypic characterisation for aggregation of outcome data, including in clinical trials, and importantly through cascade screening, the detection of healthy causal variant carriers, to whom regular assessment should be offered

Results of the MAJORANA DEMONSTRATOR's Search for Double-Beta Decay of 76Ge to Excited States of 76Se

The MAJORANA DEMONSTRATOR is searching for double-beta decay of 76Ge to excited states (E.S.) in 76Se using a modular array of high purity Germanium detectors. 76Ge can decay into three E.S.s of 76Se. The E.S. decays have a clear event signature consisting of a ββ-decay with the prompt emission of one or two γ-rays, resulting in with high probability in a multi-site event. The granularity of the DEMONSTRATOR detector array enables powerful discrimination of this event signature from backgrounds. Using 21.3 kg-y of isotopic exposure, the DEMONSTRATOR has set world leading limits for each E.S. decay, with 90% CL lower half-life limits in the range of (0.56 2.1) ⋅ 1024 y. In particular, for the 2v transition to the first 0+ E.S. of 76Se, a lower half-life limit of 0.68 ⋅ 1024 at 90% CL was achieved

Novel prokaryotic expression of thioredoxin-fused insulinoma associated protein tyrosine phosphatase 2 (IA-2), its characterization and immunodiagnostic application

Background The insulinoma associated protein tyrosine phosphatase 2 (IA-2) is one of the immunodominant autoantigens involved in the autoimmune attack to the beta-cell in Type 1 Diabetes Mellitus. In this work we have developed a complete and original process for the production and recovery of the properly folded intracellular domain of IA-2 fused to thioredoxin (TrxIA-2ic) in Escherichia coli GI698 and GI724 strains. We have also carried out the biochemical and immunochemical characterization of TrxIA-2icand design variants of non-radiometric immunoassays for the efficient detection of IA-2 autoantibodies (IA-2A). Results The main findings can be summarized in the following statements: i) TrxIA-2ic expression after 3 h of induction on GI724 strain yielded ≈ 10 mg of highly pure TrxIA-2ic/L of culture medium by a single step purification by affinity chromatography, ii) the molecular weight of TrxIA-2ic (55,358 Da) could be estimated by SDS-PAGE, size exclusion chromatography and mass spectrometry, iii) TrxIA-2ic was properly identified by western blot and mass spectrometric analysis of proteolytic digestions (63.25 % total coverage), iv) excellent immunochemical behavior of properly folded full TrxIA-2ic was legitimized by inhibition or displacement of [35S]IA-2 binding from IA-2A present in Argentinian Type 1 Diabetic patients, v) great stability over time was found under proper storage conditions and vi) low cost and environmentally harmless ELISA methods for IA-2A assessment were developed, with colorimetric or chemiluminescent detection. Conclusions E. coli GI724 strain emerged as a handy source of recombinant IA-2ic, achieving high levels of expression as a thioredoxin fusion protein, adequately validated and applicable to the development of innovative and cost-effective immunoassays for IA-2A detection in most laboratories.Fil: Guerra, Luciano Lucas. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Houssay. Instituto de Estudios de la Inmunidad Humoral Prof. Ricardo A. Margni. Universidad de Buenos Aires. Facultad de Farmacia y Bioquímica. Instituto de Estudios de la Inmunidad Humoral Prof. Ricardo A. Margni; ArgentinaFil: Faccinetti, Natalia Ines. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Houssay. Instituto de Estudios de la Inmunidad Humoral Prof. Ricardo A. Margni. Universidad de Buenos Aires. Facultad de Farmacia y Bioquímica. Instituto de Estudios de la Inmunidad Humoral Prof. Ricardo A. Margni; ArgentinaFil: Trabucchi, Aldana. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Houssay. Instituto de Estudios de la Inmunidad Humoral Prof. Ricardo A. Margni. Universidad de Buenos Aires. Facultad de Farmacia y Bioquímica. Instituto de Estudios de la Inmunidad Humoral Prof. Ricardo A. Margni; ArgentinaFil: Rovitto, Bruno David. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Houssay. Instituto de Estudios de la Inmunidad Humoral Prof. Ricardo A. Margni. Universidad de Buenos Aires. Facultad de Farmacia y Bioquímica. Instituto de Estudios de la Inmunidad Humoral Prof. Ricardo A. Margni; ArgentinaFil: Sabljic, Adriana Victoria. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Houssay. Instituto de Estudios de la Inmunidad Humoral Prof. Ricardo A. Margni. Universidad de Buenos Aires. Facultad de Farmacia y Bioquímica. Instituto de Estudios de la Inmunidad Humoral Prof. Ricardo A. Margni; ArgentinaFil: Poskus, Edgardo. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Houssay. Instituto de Estudios de la Inmunidad Humoral Prof. Ricardo A. Margni. Universidad de Buenos Aires. Facultad de Farmacia y Bioquímica. Instituto de Estudios de la Inmunidad Humoral Prof. Ricardo A. Margni; ArgentinaFil: Iacono, Ruben Francisco. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Houssay. Instituto de Estudios de la Inmunidad Humoral Prof. Ricardo A. Margni. Universidad de Buenos Aires. Facultad de Farmacia y Bioquímica. Instituto de Estudios de la Inmunidad Humoral Prof. Ricardo A. Margni; ArgentinaFil: Valdez, Silvina Noemi. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Houssay. Instituto de Estudios de la Inmunidad Humoral Prof. Ricardo A. Margni. Universidad de Buenos Aires. Facultad de Farmacia y Bioquímica. Instituto de Estudios de la Inmunidad Humoral Prof. Ricardo A. Margni; Argentin

ADC Nonlinearity Correction for the Majorana Demonstrator

Imperfections in analog-to-digital conversion (ADC) cannot be ignored when signal digitization requirements demand both wide dynamic range and high resolution, as is the case for the Majorana Demonstrator 76Ge neutrinoless double-beta decay search. Enabling the experiment's high-resolution spectral analysis and efficient pulse shape discrimination required careful measurement and correction of ADC nonlinearities. A simple measurement protocol was developed that did not require sophisticated equipment or lengthy data-taking campaigns. A slope-dependent hysteresis was observed and characterized. A correction applied to digitized waveforms prior to signal processing reduced the differential and integral nonlinearities by an order of magnitude, eliminating these as dominant contributions to the systematic energy uncertainty at the double-beta decay Q value

Tissue Microenvironments Define and Get Reinforced by Macrophage Phenotypes in Homeostasis or during Inflammation, Repair and Fibrosis

Current macrophage phenotype classifications are based on distinct in vitro culture conditions that do not adequately mirror complex tissue environments. In vivo monocyte progenitors populate all tissues for immune surveillance which supports the maintenance of homeostasis as well as regaining homeostasis after injury. Here we propose to classify macrophage phenotypes according to prototypical tissue environments, e.g. as they occur during homeostasis as well as during the different phases of (dermal) wound healing. In tissue necrosis and/or infection, damage- and/or pathogen-associated molecular patterns induce proinflammatory macrophages by Toll-like receptors or inflammasomes. Such classically activated macrophages contribute to further tissue inflammation and damage. Apoptotic cells and antiinflammatory cytokines dominate in postinflammatory tissues which induce macrophages to produce more antiinflammatory mediators. Similarly, tumor-associated macrophages also confer immunosuppression in tumor stroma. Insufficient parenchymal healing despite abundant growth factors pushes macrophages to gain a profibrotic phenotype and promote fibrocyte recruitment which both enforce tissue scarring. Ischemic scars are largely devoid of cytokines and growth factors so that fibrolytic macrophages that predominantly secrete proteases digest the excess extracellular matrix. Together, macrophages stabilize their surrounding tissue microenvironments by adapting different phenotypes as feed-forward mechanisms to maintain tissue homeostasis or regain it following injury. Furthermore, macrophage heterogeneity in healthy or injured tissues mirrors spatial and temporal differences in microenvironments during the various stages of tissue injury and repair. Copyright (C) 2012 S. Karger AG, Base