Partial Force Control of Constrained Floating-Base Robots

Pre-print of paper presented at Intelligent Robots and Systems (IROS 2014), IEEE International Conference on, Chicago, USA, 2014Legged robots are typically in rigid contact with the environment at multiple locations, which add a degree of complexity to their control. We present a method to control the motion and a subset of the contact forces of a floating-base robot. We derive a new formulation of the lexicographic optimization problem typically arising in multitask motion/force control frameworks. The structure of the constraints of the problem (i.e. the dynamics of the robot) allows us to find a sparse analytical solution. This leads to an equivalent optimization with reduced computational complexity, comparable to inverse-dynamics based approaches. At the same time, our method preserves the flexibility of optimization based control frameworks. Simulations were carried out to achieve different multi-contact behaviors on a 23-degree-offreedom humanoid robot, validating the presented approach. A comparison with another state-of-the-art control technique with similar computational complexity shows the benefits of our controller, which can eliminate force/torque discontinuities

Generation of human-like motion on anthropomorphic systems using inverse dynamics

This work deals with the generation of human-like whole-body movements on anthropomorphic systems. We propose a general framework to generate robot movements from the definition of ordered stack of tasks and a global resolution scheme that enables to consider different kinds of constraints. We compare qualitatively the robot movements generated from this software with similar recorded human movements. We start with a direct global comparison of body movements. Then we analyze the magnitude of the reconstructed human torques and compare with the simulated robot torques during the motion

The SPAIR method: Isolating incident and reflected directional wave spectra in multidirectional wave basins

Wave tank tests aiming to reproduce realistic or site specific conditions will commonly involve using directionally spread, short-crested sea states. The measurement of these directional characteristics is required for the purposes of calibrating and validating the modelled sea state. Commonly used methods of directional spectrumreconstruction, based on directional spreading functions, have an inherent level of uncertainty associated with them. In this paper we aim to reduce the uncertainty in directional spectrum validation by introducing the SPAIR (Single-summation PTPD Approach with In-line Reflections) method, in combination with a directional wave gauge array. A variety of wave conditions were generated in the FloWave Ocean Energy Research Facility, Edinburgh, UK, to obtain a range of sea state and reflection scenarios. The presented approach is found to provide improved estimates of directional spectra over standardmethods, reducing the mean apparent directional deviation down to below 6% over the range of sea states. Additionally, the method isolates incident and reflected spectra in both the frequency and time domain, and can separate these wave systems over 360°. The accuracy of themethod is shown to be only slightly sensitive to the level of in-line reflectionpresent,but at present cannot dealwithoblique reflections. The SPAIRmethod, as presented or with slightmodification, will allow complex directional sea states to be validated more effectively, enabling multidirectional wave basins to simulate realistic wave scenarios with increased confidence

Pea–wheat intercrops in low-input conditions combine high economic performances and low environmental impacts

Intensive agriculture ensures high yields but can cause serious environmental damages. The optimal use of soil and atmospheric sources of nitrogen in cereal–legume mixtures may allow farmers to maintain high production levels and good quality with low external N inputs, and could potentially decrease environmental impacts, particularly through a more efficient energy use. These potential advantages are presented in an overall assessment of cereal–legume systems, accounting for the agronomic, environmental, energetic, and economic performances. Based on a low-input experimental field network including 16 site-years, we found that yields of pea–wheat intercrops (about 4.5 Mg ha−1 whatever the amount of applied fertiliser) were higher than sole pea and close to conventionally managed wheat yields (5.4 Mg ha−1 on average), the intercrop requiring less than half of the nitrogen fertiliser per ton of grain compared to the sole wheat. The land equivalent ratio and a statistical analysis based on the Price\u27s equation showed that the crop mixture was more efficient than sole crops particularly under unfertilised situations. The estimated amount of energy consumed per ton of harvested grains was two to three times higher with conventionally managed wheat than with pea–wheat mixtures (fertilised or not). The intercrops allowed (i) maintaining wheat grain protein concentration and gross margin compared to wheat sole crop and (ii) increased the contribution of N2 fixation to total N accumulation of pea crop in the mixture compared to pea sole crop. They also led to a reduction of (i) pesticide use compared to sole crops and (ii) soil mineral nitrogen after harvest compared to pea sole crop. Our results demonstrate that pea–wheat intercropping is a promising way to produce cereal grains in an efficient, economically sustainable and environmentally friendly way

Functional analysis of germline <em>VANGL2</em> variants using rescue assays of <em>vangl2</em> knockout zebrafish

\ua9 The Author(s) 2023. Published by Oxford University Press. Developmental studies have shown that the evolutionarily conserved Wnt Planar Cell Polarity (PCP) pathway is essential for the development of a diverse range of tissues and organs including the brain, spinal cord, heart and sensory organs, as well as establishment of the left-right body axis. Germline mutations in the highly conserved PCP gene VANGL2 in humans have only been associated with central nervous system malformations, and functional testing to understand variant impact has not been performed. Here we report three new families with missense variants in VANGL2 associated with heterotaxy and congenital heart disease p.(Arg169His), non-syndromic hearing loss p.(Glu465Ala) and congenital heart disease with brain defects p.(Arg135Trp). To test the in vivo impact of these and previously described variants, we have established clinically-relevant assays using mRNA rescue of the vangl2 mutant zebrafish. We show that all variants disrupt Vangl2 function, although to different extents and depending on the developmental process. We also begin to identify that different VANGL2 missense variants may be haploinsufficient and discuss evidence in support of pathogenicity. Together, this study demonstrates that zebrafish present a suitable pipeline to investigate variants of unknown significance and suggests new avenues for investigation of the different developmental contexts of VANGL2 function that are clinically meaningful

Results of the Active by Choice Today (ACT) Randomized Trial for Increasing Physical Activity in Low-Income and Minority Adolescents

Objective - This study reports the results of the Active by Choice Today (ACT) trial for increasing moderate-to-vigorous physical activity (MVPA) in low-income and minority adolescents. Design - The ACT program was a randomized controlled school-based trial testing the efficacy of a motivational plus behavioral skills intervention on increasing MVPA in underserved adolescents. Twenty-four middle schools were matched on school size, percentage minorities, percentage free or reduced lunch, and urban or rural setting before randomization. A total of 1,563 6th grade students (mean age, 11.3 years, 73% African American, 71% free or reduced lunch, 55% female) participated in either a 17-week (over one academic year) intervention or comparison after-school program. Main Outcome Measure - The primary outcome measure was MVPA based on 7-day accelerometry estimates at 2-weeks postintervention and an intermediate outcome was MVPA at midintervention. Results - At midintervention students in the intervention condition engaged in 4.87 greater minutes of MVPA per day (95% CI: 1.18 to 8.57) than control students. Students in intervention schools engaged in 9.11 min (95% CI: 5.73 to 12.48) more of MVPA per day than those in control schools during the program time periods; indicating a 27 min per week increase in MVPA. No significant effect of the ACT intervention was found outside of school times or for MVPA at 2-weeks postintervention. Conclusions - Motivational and behavioral skills programs are effective at increasing MVPA in low-income and minority adolescents during program hours, but further research is needed to address home barriers to youth MVPA

Non-local rheology in dense granular flows -- Revisiting the concept of fluidity

Granular materials belong to the class of amorphous athermal systems, like foams, emulsion or suspension they can resist shear like a solid, but flow like a liquid under a sufficiently large applied shear stress. They exhibit a dynamical phase transition between static and flowing states, as for phase transitions of thermodynamic systems, this rigidity transition exhibits a diverging length scales quantifying the degree of cooperatively. Several experiments have shown that the rheology of granular materials and emulsion is non-local, namely that the stress at a given location does not depend only on the shear rate at this location but also on the degree of mobility in the surrounding region. Several constitutive relations have recently been proposed and tested successfully against numerical and experimental results. Here we use discrete elements simulation of 2D shear flows to shed light on the dynamical mechanism underlying non-locality in dense granular flows

Flow of foam through a convergent channel

International audienceWe study experimentally the flow of a foam confined as a bubble monolayer between two plates through a convergent channel. We quantify the velocity, the distribution and orientation of plastic events, and the elastic stress, using image analysis. We use two different soap solutions: a sodium dodecyl sulfate (SDS) solution, with a negligible wall friction between the bubbles and the confining plates, and a mixture containing a fatty acid, giving a large wall friction. We show that for SDS solutions, the velocity profile obeys a self-similar form which results from the superposition of plastic events, and the elastic deformation is uniform. For the other solution, the velocity field differs and the elastic deformation increases towards the exit of the channel. We discuss and quantify the role of wall friction on the velocity profile, the elastic deformation, and the rate of plastic events