Restricted Discrete Invariance and Self-Synchronization For Stable Walking of Bipedal Robots

Models of bipedal locomotion are hybrid, with a continuous component often generated by a Lagrangian plus actuators, and a discrete component where leg transfer takes place. The discrete component typically consists of a locally embedded co-dimension one submanifold in the continuous state space of the robot, called the switching surface, and a reset map that provides a new initial condition when a solution of the continuous component intersects the switching surface. The aim of this paper is to identify a low-dimensional submanifold of the switching surface, which, when it can be rendered invariant by the closed-loop dynamics, leads to asymptotically stable periodic gaits. The paper begins this process by studying the well-known 3D Linear Inverted Pendulum (LIP) model, where analytical results are much easier to obtain. A key contribution here is the notion of \textit{self-synchronization}, which refers to the periods of the pendular motions in the sagittal and frontal planes tending to a common period. The notion of invariance resulting from the study of the 3D LIP model is then extended to a 9-DOF 3D biped. A numerical study is performed to illustrate that asymptotically stable walking may be obtained.Comment: Conferenc

Torque Saturation in Bipedal Robotic Walking through Control Lyapunov Function Based Quadratic Programs

This paper presents a novel method for directly incorporating user-defined control input saturations into the calculation of a control Lyapunov function (CLF)-based walking controller for a biped robot. Previous work by the authors has demonstrated the effectiveness of CLF controllers for stabilizing periodic gaits for biped walkers, and the current work expands on those results by providing a more effective means for handling control saturations. The new approach, based on a convex optimization routine running at a 1 kHz control update rate, is useful not only for handling torque saturations but also for incorporating a whole family of user-defined constraints into the online computation of a CLF controller. The paper concludes with an experimental implementation of the main results on the bipedal robot MABEL

Mapping and Characterizing Subtidal Oyster Reefs Using Acoustic Techniques, Underwater Videography and Quadrat Counts

Populations of the eastern oyster Crassostrea virginica have been in long-term decline in most areas. A major hindrance to effective oyster management has been lack of a methodology for accurately and economically obtaining data on their distribution and abundance patterns. Here, we describe early results from studies aimed at development of a mapping and monitoring protocol involving acoustic techniques, underwater videography, and destructive sampling (excavated quadrats). Two subtidal reefs in Great Bay, New Hampshire, were mapped with side-scan sonar and with videography by systematically imaging multiple sampling cells in a grid covering the same areas. A single deployment was made in each cell, and a 5-10-s recording was made of a 0.25-m2 area; the location of each image was determined using a differential global position system. A still image was produced for each of the cells and all (n = 40 or 44) were combined into a single photomontage overlaid onto a geo-referenced base map for each reef using Arc View geographic information system. Quadrat (0.25 m2 ) samples were excavated from 9 or 10 of the imaged areas on each reef, and all live oysters were counted and measured. Intercomparisons of the acoustic, video, and quadrat data suggest: (1) acoustic techniques and systematic videography can readily delimit the boundaries of oyster reefs; (2) systematic videography can yield quantitative data on shell densities and information on reef structure; and (3) some combination of acoustics, systematic videography, and destructive sampling can provide spatially detailed information on oyster reef characteristics

Hybrid Zero Dynamics of Planar Biped Walkers

Planar, underactuated, biped walkers form an important domain of applications for hybrid dynamical systems. This paper presents the design of exponentially stable walking controllers for general planar bipedal systems that have one degree-of-freedom greater than the number of available actuators. The within-step control action creates an attracting invariant set—a two-dimensional zero dynamics submanifold of the full hybrid model—whose restriction dynamics admits a scalar linear time-invariant return map. Exponentially stable periodic orbits of the zero dynamics correspond to exponentially stabilizable orbits of the full model. A convenient parameterization of the hybrid zero dynamics is imposed through the choice of a class of output functions. Parameter optimization is used to tune the hybrid zero dynamics in order to achieve closed-loop, exponentially stable walking with low energy consumption, while meeting natural kinematic and dynamic constraints. The general theory developed in the paper is illustrated on a five link walker, consisting of a torso and two legs with knees

A Fucus vesiculosus extract inhibits estrogen receptor activation and induces cell death in female cancer cell lines.

BACKGROUND: We previously reported the anti-estrogenic activity of the brown seaweed, Fucus vesiculosus. The present study aimed to further investigate its anti-estrogenic modes of action and to assess other potentially biologically relevant anti-tumorigenic effects in estrogen receptor (ER)-dependent and -independent female cancer cell lines. METHODS: The CALUX® assay was used to determine the effect of a F. vesiculosus extract (FVE) on activation of the ER. Aromatase enzymatic activity was measured to determine the potential effect of FVE on estradiol (E2) biosynthesis. Transcriptional activity profiling of 248 genes involved in cancer, immunity, hormonal regulation, protein phosphorylation, transcription, metabolism, and cellular structure was conducted using the NanoString nCounter® analysis system in FVE-treated breast, ovarian and endometrial cancer cell lines. The effects of FVE on cell viability, morphology, membrane integrity, mitochondrial toxicity, induction of apoptotic and autophagic markers, and cell signaling were also analyzed. RESULTS: In co-treatments with 12.5 pM (EC50) E2, FVE (2 %) reduced ER activation by 50 %, exhibiting potent ER antagonistic effects. FVE inhibited aromatase activity in an in vitro assay (IC50 2.0 %). ER-dependent and -independent cancer cell lines showed significantly decreased viability that correlated with increasing FVE concentrations and altered morphological features suggestive of apoptosis and autophagy. Expression of genes that were significantly altered by FVE (p < 0.05) revealed predominantly apoptotic, autophagic and kinase signaling pathways. FVE also effectively inhibited the phosphorylation of Akt, resulting in reduced mTORC1 activities to stimulate autophagy in cells. Concentration-dependent cleavage of PARP and induction of caspase-3 and -7 activities were observed in MDA-MB-231 cells supporting a role for FVE in the promotion of apoptosis. CONCLUSIONS: Our study provides new insights into the anti-estrogenic activity of F. vesiculosus. Moreover, the induction of autophagy and apoptosis on breast, endometrial and ovarian cancer cell lines suggests additional anti-tumorigenic actions of FVE that are independent of ER status in female cancers

Plasma Protein Profiles Differ Between Women Diagnosed with Cervical Intraepithelial Neoplasia (CIN) 1 and 3

Early detection of precancerous cells in the cervix and their clinical management is the main purpose of cervical cancer prevention and treatment programs. Cytological findings or testing for high risk (HR)-human papillomavirus (HPV) are inadequately sensitive for use in triage of women at high risk for cervical cancer. The current study is an exploratory study to identify candidate surface-enhanced laser desorption/ionization (SELDI) time of flight (TOF) mass spectrometry (MS) protein profiles in plasma that may distinguish cervical intraepithelial neoplasia (CIN 3) from CIN 1 among women infected with HR-HPV. We evaluated the SELDI-TOF-MS plasma protein profiles of HR-HPV positive 32 women with CIN 3 (cases) and 28 women with CIN1 (controls). Case-control status was kept blinded and triplicates of each sample and quality control plasma samples were randomized and after robotic sample preparations were run on WCX2 chips. After alignment of mass/charge (m-z values), an iterative method was used to develop a classifier on a training data set that had 28 cases and 22 controls. The classifier developed was used to classify the subjects in a test data set that has six cases and six controls. The classifier separated the cases from controls in the test set with 100% sensitivity and 100% specificity suggesting the possibility of using plasma SELDI protein profiles to identify women who are likely to have CIN 3 lesions

Ball on a beam: stabilization under saturated input control with large basin of attraction

This article is devoted to the stabilization of two underactuated planar systems, the well-known straight beam-and-ball system and an original circular beam-and-ball system. The feedback control for each system is designed, using the Jordan form of its model, linearized near the unstable equilibrium. The limits on the voltage, fed to the motor, are taken into account explicitly. The straight beam-and-ball system has one unstable mode in the motion near the equilibrium point. The proposed control law ensures that the basin of attraction coincides with the controllability domain. The circular beam-and-ball system has two unstable modes near the equilibrium point. Therefore, this device, never considered in the past, is much more difficult to control than the straight beam-and-ball system. The main contribution is to propose a simple new control law, which ensures by adjusting its gain parameters that the basin of attraction arbitrarily can approach the controllability domain for the linear case. For both nonlinear systems, simulation results are presented to illustrate the efficiency of the designed nonlinear control laws and to determine the basin of attraction

Statistical design and monitoring of the Carotene and Retinol Efficacy Trial (CARET).

CARET is a chemoprevention trial of beta-carotene and vitamin A with lung cancer as the primary outcome. Participants at high risk for lung cancer are drawn from two populations: asbestos-exposed workers and heavy smokers. The intervention is a daily combination of 30 mg beta-carotene and 25,000 IU vitamin A as retinyl palmitate. Nearly 18,000 participants will be followed for a mean 6 years, yielding over 100,000 person-years of follow-up. We project that this sample size will have 80% power to detect a 23% decrease in the incidence of lung cancer cases. The purpose of this paper is to present the values of the key sample size parameters of CARET; our schemes for monitoring CARET for sample size adequacy, incidence of side effects, and efficacy of the study vitamins; an overview of the data collected; and plans for the primary, secondary, and ancillary analyses to be performed at the end of the trial. These approaches to the design, monitoring, and analysis of CARET are applicable for many other prevention trials

Real-World Evidence from the Integrative Medicine Primary Care Trial (IMPACT): Assessing Patient-Reported Outcomes at Baseline and 12-Month Follow-Up

Purpose. The University of Arizona Integrative Health Center (UAIHC) was an innovative membership-supported integrative medicine (IM) adult primary care clinic in Phoenix, Arizona. UAIHC delivered healthcare using an integrative medicine model that combined conventional and complementary medical treatments, including nutrition, mind-body medicine, acupuncture, manual medicine, health coaching, educational classes, and groups. Results from pre-post evaluation of patient-reported outcomes on several standardized measures are presented here. Methods. UAIHC patients completed surveys at baseline and after 12 months of continuous integrative primary care. Patients reported on perceived changes in health outcomes as measured by Short-Form Health Survey (SF-12 general, mental, and physical health), Perceived Stress Scale (PSS4), Work Productivity and Activity Impairment Questionnaire (WPAI), World Health Organization Well-Being Index (WHO-5), Pain Visual Analog Scale (VAS), Fatigue Severity Scale (VAS; FSS), Generalized Anxiety Disorder Scale (GAD2), Patient Health Questionnaire for depression (PHQ2), Pittsburgh Sleep Quality Index (PSQI) global rating of sleep quality, and the Behavioral Risk Factor Surveillance System (BRFSS; nutrition, exercise, and physical activity). Overall differences between time points were assessed for statistical significance. Patient demographics are also described. Results. 177 patients completed baseline and follow-up outcome measures. Patients were predominantly white, female, college-educated, and employed. Baseline to one-year follow-up results indicate statistically significant improvements (p < .05) on all but perceived stress (PSS-4) and work absenteeism (WPAI). Clinical impact and/or practical effects are reported as percent change or standardized effect sizes whenever possible. Other demographic and descriptive information is summarized. Conclusions. Following one year of IM primary care at UAIHC, patient-reported outcomes indicated positive impacts in several areas of patients' lives: mental, physical, and overall health; work productivity; sleep quality; pain; fatigue; overall well-being; and physical activity.Adolph Coors Family Foundation; Andrew Weil Center for Integrative Medicine, University of ArizonaOpen access journalThis item from the UA Faculty Publications collection is made available by the University of Arizona with support from the University of Arizona Libraries. If you have questions, please contact us at [email protected]