Design Principles for a Family of Direct-Drive Legged Robots

This letter introduces Minitaur, a dynamically running and leaping quadruped, which represents a novel class of direct-drive (DD) legged robots. We present a methodology that achieves the well-known benefits of DD robot design (transparency, mechanical robustness/efficiency, high-actuation bandwidth, and increased specific power), affording highly energetic behaviors across our family of machines despite severe limitations in specific force. We quantify DD drivetrain benefits using a variety of metrics, compare our machines\u27 performance to previously reported legged platforms, and speculate on the potential broad-reaching value of “transparency” for legged locomotion. For more information: Kod*lab

Quasi-Static and Dynamic Mismatch for Door Opening and Stair Climbing With a Legged Robot

This paper contributes to quantifying the notion of robotic fitness by developing a set of necessary conditions that determine whether a small quadruped has the ability to open a class of doors or climb a class of stairs using only quasi-static maneuvers. After verifying that several such machines from the recent robotics literature are mismatched in this sense to the common human scale environment, we present empirical workarounds for the Minitaur quadrupedal platform that enable it to leap up, force the door handle and push through the door, as well as bound up the stairs, thereby accomplishing through dynamical maneuvers otherwise (i.e., quasi-statically) achievable tasks. For more information: Kod*la

Towards a Comparative Measure for Legged Agility

We introduce an agility measure enabling the comparison of two very different leaping-from-rest transitions by two comparably powered but morphologically different legged robots. We use the measure to show that a flexible spine outperforms a rigid back in the leaping- from-rest task. The agility measure also sheds light on the source of this benefit: core actuation through a sufficiently powerful parallel elastic actuated spine outperforms a similar power budget applied either only to preload the spine or only to actuate the spine during the leap, as well as a rigid backed configuration of the identical machine

Controlled Data Sharing for Collaborative Predictive Blacklisting

Although sharing data across organizations is often advocated as a promising way to enhance cybersecurity, collaborative initiatives are rarely put into practice owing to confidentiality, trust, and liability challenges. In this paper, we investigate whether collaborative threat mitigation can be realized via a controlled data sharing approach, whereby organizations make informed decisions as to whether or not, and how much, to share. Using appropriate cryptographic tools, entities can estimate the benefits of collaboration and agree on what to share in a privacy-preserving way, without having to disclose their datasets. We focus on collaborative predictive blacklisting, i.e., forecasting attack sources based on one's logs and those contributed by other organizations. We study the impact of different sharing strategies by experimenting on a real-world dataset of two billion suspicious IP addresses collected from Dshield over two months. We find that controlled data sharing yields up to 105% accuracy improvement on average, while also reducing the false positive rate.Comment: A preliminary version of this paper appears in DIMVA 2015. This is the full version. arXiv admin note: substantial text overlap with arXiv:1403.212

Purdue College of Pharmacy Experience with Blood Pressure Screenings at the Indiana State Fair

The objective of this community outreach initiative is to develop and implement a student-led blood pressure screening at the Indiana State Fair in conjunction with the Purdue College of Pharmacy and the Hook’s Drug Store Museum. Under the mentorship of two pharmacy faculty members, third- and fourth-year professional PharmD students and pharmacy fellows hold a nine-hour blood pressure screening at the Indiana State Fair each year. The screening is held at the Hook’s Drug Store Museum and the students and fellows sign-up in teams of 3-4 to host the event. Fair-goers visiting the screening have their blood pressure taken using automated blood pressure devices and the readings are recorded into one of three categories: ≤140 mmHg/≤90 mmHg, \u3e140 mmHg/\u3e90 mmHg, or \u3e150 mmHg/\u3e100 mmHg. All patients receive a card with their blood pressure reading, are counseled on hypertension management and possible health complications, and receive a sticker that reads “I had my blood pressure checked at the Indiana State Fair/Purdue College of Pharmacy.” Students complete a reflection following their involvement. Data from the last five years was analyzed. Over the five years, a total of 838 fairgoers have utilized the opportunity to have their blood pressure checked. In addition, 50 pharmacy students, two fellows, and two faculty members have participated in hosting the screening. There has been growing involvement over the years, with 213 individuals visiting the booth in 2019. There has been a steady increase in the percentage of patients with a blood pressure reading in the lowest category. Participation in the Indiana State Fair has become a tradition for the College of Pharmacy as students enjoy and are grateful for such learning opportunities. This initiative allows students to develop and apply their clinical knowledge and communication skills while improving health and awareness of community members

Evaluation of alternative strategies to treat anoestrous dairy cows and implications for reproductive performance in pasture-based seasonal calving herds: A pilot study

peer-reviewedThe objective of the present study was to assess the effects on ovulation and reproductive performance of a single injection of either GnRH or hCG applied 9 days before the start of the seasonal breeding period in anovulatory anoestrus cows compared with a 7-day progesterone-Ovsynch protocol. The study was conducted on four grass-based seasonal calving dairy herds in Ireland. The total number of cows in the herds was 2112, of which 488 were diagnosed as anoestrus based on absence of behavioural oestrus during a 30 day period. Ovarian structures and the uterus were examined by transrectal ultrasound on all 488 presumptive anestrus cows 9 days before mating start date (MSD). The number of corpora lutea (CL), number of large follicles (≥10 mm) and uterine reproductive tract score were recorded. Only cows that had no CL, ultrasound reproductive tract score ≤2 and were ≥30 days in milk (DIM) were enrolled in the study (n = 214). Cows were blocked by parity, DIM and body condition score and randomly assigned to one of four treatments: i.m. injection of gonadotropin releasing hormone analogue [GnRH; (n = 57)], i.m. injection of human chorionic gonadotropin [hCG; (n = 48)], 7-day Progesterone-Ovsynch protocol [P4OV; (n = 60)] and Control (no hormonal intervention, n = 49). A second ultrasound examination was performed 7 days after treatment to determine ovulatory response. There was a treatment effect on ovulation rate (P < 0.0001), whereby Control cows had a lesser ovulation rate compared with GnRH-, hCG- and P4OV-treated cows. Submission rate during the first 21 days of the breeding period [SR21; (P = 0.74)], pregnant to first service [P/AI1; (P = 0.24)], pregnant within 42 days after the onset of breeding [P42; (P = 0.73)], and pregnant within 84 days after the onset of breeding were not affected by treatment. A tendency was observed (P = 0.07) for greater likelihood of pregnancy within 21 days after the onset of breeding (P21) for P4OV and Control cows compared with GnRH- and hCG-treated cows. GnRH- and hCG-treated cows tended (P = 0.10) to have greater P/AI1 when first service events occurred after day 21 of the breeding period compared with Control cows. P4OV cows had shorter MSD to first service interval (P = 0.0001) and shorter MSD to conception interval (P = 0.02) compared with Control, GnRH- and hCG-treated cows. In conclusion, treatment of anestrous cows with GnRH or hCG resulted in an increase in ovulation rate compared with untreated Control cows, but did not improve reproductive performance during the first 21 days of the breeding season. The best reproductive performance results were obtained with the P4OV treatment, but this treatment has the greatest cost, and has the greatest number of interventions. The observation of good P/AI1 in hCG- and GnRH- treated cows when the first insemination occurred later than day 21 after MSD warrants further investigation, and suggests that these interventions should be applied earlier than 9 days before the farm MSD

Associations between postpartum phenotypes, cow factors, genetic traits, and reproductive performance in seasonal-calving, pasture-based lactating dairy cows

peer-reviewedThe objective of this study was to evaluate associations between corpus luteum (CL) status, uterine health, body condition score (BCS), metabolic status, parity, genetic merit for fertility traits, and reproductive performance in pasture-based dairy cows managed for seasonal reproduction. First- and second-lactation (n = 2,600) spring-calving dairy cows from 35 dairy farms located in Ireland were enrolled in the study. Farms were visited every 2 wk, and animals that were at wk 3 (range: 14–27 d in milk) and wk 7 (range: 42–55 d in milk) postpartum were examined. Body condition score was measured using a 1-to-5 scale in 0.25-point increments. Transrectal ultrasound examination was performed at wk 3 and 7 postpartum to determine presence or absence of CL and ultrasound reproductive tract score (scale of G1–G4). Blood samples were collected at each visit, and the concentrations of glucose, β-hydroxybutyrate (BHB), and fatty acids (FA) were analyzed using enzymatic colorimetry. Animals were grouped into 3 BCS categories [low (≤2.5), target (2.75–3.25), and high (≥3.5)], 2 CL categories (present or absent), 2 uterine health status categories (normal or abnormal), and 3 metabolic status categories [good (high glucose, low FA and BHB), poor (low glucose, high FA and BHB), and moderate (all other combinations)]. Fisher's exact test was used to test for associations between variables and was supplemented by logistic regression. More cows with a CL at wk 7 were served during the first 21 d of the breeding period compared with cows without a CL. Cows classified as having a uterine score of G3 or G4 at wk 3 and 7 had lower odds of pregnancy establishment during the breeding period compared with animals with a uterine score of G1 or G2. Animals with low BCS at wk 7 had lower odds of pregnancy establishment than cows with a target BCS. Cows classified as having good metabolic status at both wk 3 and wk 7 had greater odds of pregnancy establishment during the first 21 d of the breeding season than those classified as having poor metabolic status. Overall, primiparous cows had greater reproductive performance than second-parity cows. Animals in the quartiles with the best predicted transmitting ability for survival and calving interval had better reproductive performance compared with animals in the other quartiles. Cows that had better genetic merit for fertility traits and good metabolic status, achieved target BCS, and had a favorable ultrasound reproductive tract score and a CL present at wk 7 postpartum had superior reproductive performance

The determinants of vulnerability to currency crises: country-specific factors versus regional factors

We investigate the determinants of exchange market pressures (EMP) for some new EU member states at both the national and regional levels, where macroeconomic and financial variables are considered as potential sources. The regional common factors are extracted from these variables by using dynamic factor analysis. The linear empirical analysis, in general, highlights the importance of country-specific factors to defend themselves against vulnerability in their external sectors. Yet, given a significant impact of the common component in credit on EMP, a contagion effect is apparent through the conduit of credit market integration across these countries under investigation

The relationship between anogenital distance and fertility, and genome-wide associations for anogenital distance in Irish Holstein-Friesian cows

peer-reviewedThe evaluation of anogenital distance (AGD), the distance from the center of the anus to base of the clitoris, as a potential fertility trait for genetic selection in dairy cows has generated recent interest. The objectives of this cross-sectional observational study were to (1) characterize the distribution and variability of AGD, (2) determine factors associated with AGD, (3) estimate heritability for AGD, (4) identify single nucleotide polymorphisms (SNP) associated with phenotypic variation of AGD, and (5) validate the relationship between categories of AGD and fertility in Irish Holstein-Friesian cows. Anogenital distance was measured using digital calipers in 1,180 Holstein cows (mean ± standard deviation: 225 ± 79 d in milk) from 10 dairy herds located in Munster, Ireland. In addition, age (yr), weight (kg), height at hip (cm), and body condition score (BCS) at the time of AGD measurement were determined in a subset of 281 cows. Genotype information available from 908 cows was subsequently imputed to the Illumina Bovine High Density BeadChip (Illumina Inc., San Diego, CA) for genome-wide association analysis of phenotypic variation in AGD. Overall, AGD had a normal distribution and high variability (mean ± standard deviation; 119.2 ± 11.6 mm). Anogenital distance was weakly but positively associated with cow age, hip height, and body weight, and negatively associated with BCS; the phenotypic variation in AGD that was explainable by these variables was small (coefficient of determination; R2 = 0.09, 0.06, 0.10, and 0.02, respectively). The estimated heritability for AGD was 0.37 (standard error of mean ± 0.08). Six SNP of suggestive significance were identified on Bos taurus autosomes 6, 15, 20, and 26; however, none of these SNP was related to previously identified candidate genes for fertility. Cows were categorized into quartiles (Q1; 86 to 111 mm; n = 311, Q2; 112 to 120 mm; n = 330; Q3; 121 to 127 mm; n = 265, and Q4; 128 to 160 mm; n = 274) based on AGD and the association with reproductive outcomes examined (21-d submission rate, pregnancy to first AI, pregnancy rate within 21, 42 and 84-d after the farm mating start date, and number of times bred). None of the reproductive variables differed significantly between AGD categories. In summary, despite identification of high variability and moderate heritability for AGD in Irish Holstein-Friesian cows, reproductive outcomes did not differ between categories of AGD. This latter result differs from our previous finding of an inverse relationship between AGD and pregnancy outcomes in first- and second-parity Canadian Holstein cows, emphasizing the need to test and validate this new phenotype in diverse cow populations

Associations between postpartum fertility phenotypes and genetic traits in seasonal-calving, pasture-based lactating dairy cows

peer-reviewedThe objective of this study was to evaluate the associations between corpus luteum (CL) status, uterine health, body condition score (BCS), metabolic status, and parity at wk 3 and 7 postpartum in seasonal-calving, pasture-based, lactating dairy cows. The associations between those phenotypes and individual genetic traits were also evaluated. First- and second-parity spring-calving lactating dairy cows (n = 2,600) from 35 dairy farms in Ireland were enrolled. Farms were visited every 2 weeks; cows that were at wk 3 (range 14 to 27 DIM) and wk 7 (range 42 to 55 DIM) postpartum were examined. Body condition score was measured using a scale of 1 to 5 with 0.25 increments. Transrectal ultrasound examination was performed at wk 3 and 7 postpartum to determine presence or absence of CL and ultrasound reproductive tract score. Blood samples were collected at each visit and the concentrations of glucose, β-hydroxybutyrate (BHB), and fatty acids (FA) were analyzed by using enzymatic colorimetry. Cows were grouped into 3 BCS categories [low (≤2.5), target (≥2.75 and ≤3.25), and high (≥3.5)]; 2 CL status categories: (present or absent); 2 uterine health status (UHS) categories (normal and abnormal); and 3 metabolic status categories [good (high glucose, low fatty acids and BHB), poor (low glucose, high fatty acids and BHB), and moderate (all other combinations)]. Fisher's exact test was used to test associations between variables and was supplemented by logistic regression. We found associations between UHS (wk 3 and 7), BCS (wk 3 and 7), parity (wk 3 and 7) metabolic status (wk 3), and predicted transmitting ability for calving interval (PTA for CIV; wk 3) and CL status. Cows that had abnormal UHS, low BCS, primiparity, and poor metabolic status, and were in the quartile with the greatest PTA for CIV were less likely to have had CL present at wk 3 and 7 postpartum. We also found associations between CL status (wk 3 and 7), BCS (wk 3 and 7), parity (wk 3 and 7), and PTA for CIV (wk 3) and UHS. Cows that did not have a CL present had low BCS, primiparity, and that were in the quartile with greatest PTA for CIV, had a greater risk of abnormal UHS at wk 3 and 7 postpartum. We observed strong associations between CL status, UHS, BCS, metabolic status, parity, and individual genetic traits at wk 3 and 7 postpartum in seasonal-calving, pasture-based lactating dairy cows. Achieving target BCS and good metabolic status, and selecting cows based on PTA for CIV, are all expected to increase the likelihood of hastening the resumption of estrous cyclicity and enhancing uterine health during the postpartum period