A Stability-Estimator to Unify Humanoid Locomotion: Walking, Stair-Climbing and Ladder-Climbing

The field of Humanoid robotics research has often struggled to find a unique niche that is not better served by other forms of robot. Unlike more traditional industrials robots with a specific purpose, a humanoid robot is not necessarily optimized for any particular task, due to the complexity and balance issues of being bipedal. However, the versatility of a humanoid robot may be ideal for applications such as search and rescue. Disaster sites with chemical, biological, or radiation contamination mean that human rescue workers may face untenable risk. Using a humanoid robot in these dangerous circumstances could make emergency response faster and save human lives. Despite the many successes of existing mobile robots in search and rescue, stair and ladder climbing remains a challenging task due to their form. To execute ladder climbing motions effectively, a humanoid robot requires a reliable estimate of stability. Traditional methods such as Zero Moment Point are not applicable to vertical climbing, and do not account for force limits imposed on end-effectors. This dissertation implements a simple contact wrench space method using a linear combination of contact wrenches. Experiments in simulation showed ZMP equivalence on flat ground. Furthermore, the estimator was able to predict stability with four point contact on a vertical ladder. Finally, an extension of the presented method is proposed based on these findings to address the limitations of the linear combination.Ph.D., Mechanical Engineering and Mechanics -- Drexel University, 201

Adverse cardiovascular events and mortality in men during testosterone treatment : an individual patient and aggregate data meta-analysis

Funding National Institute for Health Research Health Technology Assessment Programme. Acknowledgments This work was supported by the National Institute for Health Research Health Technology Assessment (NIHR HTA) Programme (project no 17/68/01). The views expressed are those of the authors and not necessarily those of the National Health Service, the NIHR HTA Programme, or the Department of Health and Social Care, UK. The funders were not actively involved in the research process at any stage. The study design; collection, analysis, and interpretation of data; writing of the manuscript; and decision to submit for publication were performed independent of the funders. The Health Services Research Unit at the University of Aberdeen is funded by the Chief Scientist Office of the Scottish Government Health and Social Care Directorates. The Section of Endocrinology and Investigative Medicine at Imperial College London is funded by grants from the Medical Research Council, Biotechnology and Biological Sciences Research Council, NIHR, an Integrative Mammalian Biology Capacity Building Award, an FP7-HEALTH-2009-241592 EuroCHIP grant, and is supported by the NIHR Biomedical Research Centre Funding Scheme. The following authors are also funded as follows: NIHR Research Professorship (WSD), NIHR post-doctoral fellowship (CNJ). SBhasin receives National Institutes of Health research grant funding. The authors are grateful to Prakash Abraham, Alison Avenell, Craig Ramsay, Graham Scotland, Neil Scott, and Finlay MacKenzie for their advice; and to the many individuals from academia and industry who helped in the conduct of this study.Peer reviewedPublisher PD