Sprawl Angle in Simplified Models of Vertical Climbing: Implications for Robots and Roaches

Empirical data taken from fast climbing sprawled posture animals reveals the presence of strong lateral forces with significant pendulous swaying of the mass center trajectory in a manner captured by a recently proposed dynamical template. In this simulation study we explore the potential benefits of pendulous dynamical climbing in animals and in robots by examining the stability and power advantages of variously more and less sprawled limb morphologies when driven by conventional motors in contrast with animal-like muscles. For open loop models of gait generation inspired by the neural-deprived regimes of high stride-frequency animal climbing, our results corroborate earlier hypotheses that sprawled posture may be required for stability. For quadratic-in- velocity power output actuation models typical of commercially available electromechanical actuators, our results suggest the new hypothesis that sprawled posture may confer significant energetic advantage. In notable contrast, muscle-powered climbers do not experience an energetic benefit from sprawled posture due to their sufficiently distinct actuator characteristics and operating regimes. These results suggest that the potentially significant benefits of sprawled posture climbing may be distinctly different depending upon the details of the climber\u27s sensorimotor endowment. They offer a cautionary instance against mere copying of biology by engineers or rote study of physical models by biologists through this reminder of how even simple questions addressed by simple models can yield nuanced answers that only begin to hint at the complexity of biological designs and behaviors

Motor Sizing for Legged Robots Using Dynamic Task Specification

We explore an approach to incorporating task and motor thermal dynamics in the selection of actuators for legged robots, using both analytical and simulation methods. We develop a motor model with a thermal component and apply it to a vertical climbing task; in the process, we optimally choose gear ratio and therefore eliminate it as a design parameter. This approach permits an analytical proof that continuous operation yields superior thermal performance to intermittent operation. We compare the results of motor sizing using our proposed method with more conventional techniques such as using the continuously permissible current specification. Our simulations are run across a database of commercially available motors, and we envision that our results might be of immediate use to robot designers for motor as well as gearbox selection

A Self-Exciting Controller for High-Speed Vertical Running

Traditional legged runners and climbers have relied heavily on gait generators in the form of internal clocks or reference trajectories. In contrast, here we present physical experiments with a fast, dynamical, vertical wall climbing robot accompanying a stability proof for the controller that generates it without any need for an additional internal clock or reference signal. Specifically, we show that this “self-exciting” controller does indeed generate an “almost” globally asymptotically stable limit cycle: the attractor basin is as large as topologically possible and includes all the state space excluding a set with empty interior. We offer an empirical comparison of the resulting climbing behavior to that achieved by a more conventional clock-generated gait trajectory tracker. The new, self-exciting gait generator exhibits a marked improvement in vertical climbing speed, in fact setting a new benchmark in dynamic climbing by achieving a vertical speed of 1.5 body lengths per second. For more information: Kod*La

A Bioinspired Dynamical Vertical Climbing Robot

This paper describes the inspiration, design, analysis, implementation of and experimentation with the first dynamical vertical climbing robot. Biologists have proposed a pendulous climbing model that abstracts remarkable similarities in dynamic wall scaling behavior exhibited by radically different animal species. We study numerically a version of that pendulous climbing template dynamically re-scaled for applicability to utilitarian payloads with conventional electronics and actuation. This simulation study reveals that the incorporation of passive compliance can compensate for an artifact’s poorer power density and scale disadvantages relative to biology. However the introduction of additional dynamical elements raises new concerns about stability regarding both the power stroke and limb coordination that we allay via mathematical analysis of further simplified models. Combining these numerical and analytical insights into a series of design prototypes, we document the correspondence of the various models to the variously scaled platforms and report that our approximately two kilogram platform climbs dynamically at vertical speeds up to 1.5 bodylengths per second. In particular, the final 2.6 kg final prototype climbs at an average steady state speed of 0.66 m/s against gravity on a carpeted vertical wall, in rough agreement with our various models’ predictions

Rapid Pole Climbing with a Quadrupedal Robot

This paper describes the development of a legged robot designed for general locomotion of complex terrain but specialized for dynamical, high-speed climbing of a uniformly convex cylindrical structure, such as an outdoor telephone pole. This robot, the RiSE V3 climbing machine—mass 5.4 kg, length 70 cm, excluding a 28 cm tail appendage—includes several novel mechanical features, including novel linkage designs for its legs and a non-backdrivable, energy-dense power transmission to enable high-speed climbing. We summarize the robot’s design and document a climbing behavior that achieves rapid ascent of a wooden telephone pole at 21 cm/s, a speed previously unachieved—and, we believe, heretofore impossible—with a robot of this scale. The behavioral gait of the robot employs the mechanical design to propel the body forward while passively maintaining yaw, pitch, and roll stability during climbing locomotion. The robot’s general-purpose legged design coupled with its specialized ability to quickly gain elevation and park at a vertical station silently with minimal energy consumption suggest potential applications including search and surveillance operations as well as ad hoc networking

Design of a Bio-Inspired Dynamical Vertical Climbing Robot

This paper reviews a template for dynamical climbing originating in biology, explores its stability properties in a numerical model, and presents empirical data from a physical prototype as evidence of the feasibility of adapting the dynamics of the template to robot that runs vertically upward. The recently proposed pendulous climbing model abstracts remarkable similarities in dynamic wall scaling behavior exhibited by radically different animal species. The present paper’s first contribution summarizes a numerical study of this model to hypothesize that these animals’ apparently wasteful commitments to lateral oscillations may be justified by a significant gain in the dynamical stability and, hence, the robustness of their resulting climbing capability. The paper’s second contribution documents the design and offers preliminary empirical data arising from a physical instantiation of this model. Notwithstanding the substantial differences between the proposed bio-inspired template and this physical manifestation, initial data suggest the mechanical climber may be capable of reproducing both the motions and ground reaction forces characteristic of dynamical climbing animals. Even without proper tuning, the robot’s steady state trajectories manifest a substantial exchange of kinetic and potential energy, resulting in vertical speeds of 0.30 m/s (0.75 bl/s) and claiming its place as the first bio-inspired dynamical legged climbing platform

Time Protection: the Missing OS Abstraction

Timing channels enable data leakage that threatens the security of computer systems, from cloud platforms to smartphones and browsers executing untrusted third-party code. Preventing unauthorised information flow is a core duty of the operating system, however, present OSes are unable to prevent timing channels. We argue that OSes must provide time protection in addition to the established memory protection. We examine the requirements of time protection, present a design and its implementation in the seL4 microkernel, and evaluate its efficacy as well as performance overhead on Arm and x86 processors

X-RHex: A Highly Mobile Hexapedal Robot for Sensorimotor Tasks

We report on the design and development of X-RHex, a hexapedal robot with a single actuator per leg, intended for real-world mobile applications. X-RHex is an updated version of the RHex platform, designed to offer substantial improvements in power, run-time, payload size, durability, and terrain negotiation, with a smaller physical volume and a comparable footprint and weight. Furthermore, X-RHex is designed to be easier to build and maintain by using a variety of commercial off-the-shelf (COTS) components for a majority of its internals. This document describes the X-RHex architecture and design, with a particular focus on the new ability of this robot to carry modular payloads as a laboratory on legs. X-RHex supports a variety of sensor suites on a small, mobile robotic platform intended for broad, general use in research, defense, and search and rescue applications. Comparisons with previous RHex platforms are presented throughout, with preliminary tests indicating that the locomotive capabilities of X-RHex can meet or exceed the previous platforms. With the additional payload capabilities of X-RHex, we claim it to be the first robot of its size to carry a fully programmable GPU for fast, parallel sensor processing

Social media in democratic transitions and consolidations: what can we learn from the case of Tunisia?

© 2018, © 2018 Informa UK Limited, trading as Taylor & Francis Group. The aim of this paper is to analyse the use of social media in the stages of uprising, democratic transition and democratic consolidation using the case study of Tunisia. While the impact of social media in uprisings has been widely documented in past research about the MENA region, Tunisia provides new evidence to the use of Internet in the processes of democratisation. Consequently, this research focuses in detail on the benefits but also the pitfalls of social media in transitions and consolidations. Data collection was based on interviews with Tunisian social media activists. The analysis is valuable to social media practitioners and researchers alike

Does neighborhood environment influence girls' pubertal onset? findings from a cohort study

<p>Abstract</p> <p>Background</p> <p>Pubertal onset occurs earlier than in the past among U.S. girls. Early onset is associated with numerous deleterious outcomes across the life course, including overweight, breast cancer and cardiovascular health. Increases in childhood overweight have been implicated as a key reason for this secular trend. Scarce research, however, has examined how neighborhood environment may influence overweight and, in turn, pubertal timing. The current study prospectively examined associations between neighborhood environment and timing of pubertal onset in a multi-ethnic cohort of girls. Body mass index (BMI) was examined as a mediator of these associations.</p> <p>Methods</p> <p>Participants were 213 girls, 6-8 years old at baseline, in an on-going longitudinal study. The current report is based on 5 time points (baseline and 4 annual follow-up visits). Neighborhood environment, assessed at baseline, used direct observation. Tanner stage and anthropometry were assessed annually in clinic. Survival analysis was utilized to investigate the influence of neighborhood factors on breast and pubic hair onset, with BMI as a mediator. We also examined the modifying role of girls' ethnicity.</p> <p>Results</p> <p>When adjusting for income, one neighborhood factor (Recreation) predicted delayed onset of breast and pubic hair development, but only for African American girls. BMI did not mediate the association between Recreation and pubertal onset; however, these associations persisted when BMI was included in the models.</p> <p>Conclusions</p> <p>For African American girls, but not girls from other ethnic groups, neighborhood availability of recreational outlets was associated with onset of breast and pubic hair. Given the documented risk for early puberty among African American girls, these findings have important potential implications for public health interventions related to timing of puberty and related health outcomes in adolescence and adulthood.</p