Beyond Inverted Pendulums: Task-optimal Simple Models of Legged Locomotion

Reduced-order models (ROM) are popular in online motion planning due to their simplicity. A good ROM for control captures critical task-relevant aspects of the full dynamics while remaining low dimensional. However, planning within the reduced-order space unavoidably constrains the full model, and hence we sacrifice the full potential of the robot. In the community of legged locomotion, this has lead to a search for better model extensions, but many of these extensions require human intuition, and there has not existed a principled way of evaluating the model performance and discovering new models. In this work, we propose a model optimization algorithm that automatically synthesizes reduced-order models, optimal with respect to a user-specified distribution of tasks and corresponding cost functions. To demonstrate our work, we optimized models for a bipedal robot Cassie. We show in simulation that the optimal ROM reduces the cost of Cassie's joint torques by up to 23% and increases its walking speed by up to 54%. We also show hardware result that the real robot walks on flat ground with 10% lower torque cost. All videos and code can be found at https://sites.google.com/view/ymchen/research/optimal-rom

A Novel Graph-based Motion Planner of Multi-Mobile Robot Systems with Formation and Obstacle Constraints

Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging to determine whether the robots can pass through an obstructed environment under formation constraints, especially in an obstacle-rich environment. Furthermore, is there an optimal path for the robots? To deal with the two problems, a novel graphbased motion planner is proposed in this paper. A mapping between workspace and configuration space of multi-mobile robot systems is first built, where valid configurations can be acquired to satisfy both formation constraints and collision avoidance. Then, an undirected graph is generated by verifying connectivity between valid configurations. The breadth-first search method is employed to answer the question of whether there is a feasible path on the graph. Finally, an optimal path will be planned on the updated graph, considering the cost of path length and formation preference. Simulation results show that the planner can be applied to get optimal motions of robots under formation constraints in obstacle-rich environments. Additionally, different constraints are considered

A novel epigenetic AML1-ETO/THAP10/miR-383 mini-circuitry contributes to t(8;21) leukaemogenesis

DNA methylation patterns are frequently deregulated in t(8;21) acute myeloid leukaemia (AML), but little is known of the mechanisms by which specific gene sets become aberrantly methylated. Here, we found that the promoter DNA methylation signature of t(8;21)(+) AML blasts differs from that of t(8;21)(-) AMLs. This study demonstrated that a novel hypermethylated zinc finger-containing protein, THAP10, is a target gene and can be epigenetically suppressed by AML1-ETO at the transcriptional level in t(8;21) AML. Our findings also show that THAP10 is a bona fide target of miR-383 that can be epigenetically activated by the AML1-ETO recruiting co-activator p300. In this study, we demonstrated that epigenetic suppression of THAP10 is the mechanistic link between AML1-ETO fusion proteins and tyrosine kinase cascades. In addition, we showed that THAP10 is a nuclear protein that inhibits myeloid proliferation and promotes differentiation both in vitro and in vivo Altogether, our results revealed an unexpected and important epigenetic mini-circuit of AML1-ETO/THAP10/miR-383 in t(8;21) AML, in which epigenetic suppression of THAP10 predicts a poor clinical outcome and represents a novel therapeutic target

160 Gbit/s photonics wireless transmission in the 300-500 GHz band

To accommodate the ever increasing wireless traffic in the access networks, considerable efforts have been recently invested in developing photonics-assisted wireless communication systems with very high data rates. Superior to photonic millimeter-wave systems, terahertz (THz) band (300 GHz-10 THz) provides a much larger bandwidth and thus promises an extremely high capacity. However, the capacity potential of THz wireless systems has by no means been achieved yet. Here, we successfully demonstrate 160 Gbit/s wireless transmission by using a single THz emitter and modulating 25 GHz spaced 8 channels (20 Gbps per channel) in the 300-500 GHz band, which is the highest bitrate in the frequency band above 300 GHz, to the best of our knowledge

Suppression of the magnetic order in CeFeAsO: non-equivalence of hydrostatic and chemical pressure

We present a detailed investigation of the electronic properties of CeFeAsO under chemical (As by P substitution) and hydrostatic pressure by means of in-house and synchrotron M\"ossbauer spectroscopy. The Fe magnetism is suppressed due to both pressures and no magnetic order was observed above a P-substitution level of 40% or 5.2 GPa hydrostatic pressure. We compared both pressures and found that the isovalent As by P substitution change the crystallographic and electronic properties differently than hydrostatic pressure.Comment: supplement is included in the pdf fil

4 × 160-Gbit/s multi-channel regeneration in a single fiber

Simultaneous regeneration of four high-speed (160 Gbit/s) wavelength-division multiplexed (WDM) and polarization-division multiplexed (PDM) signals in a single highly nonlinear fiber (HNLF) is demonstrated. The regeneration operation is based on four-wave mixing in HNLF, where the degraded data signals are applied as the pump. As a result, the noise on both '0' and '1' levels can be suppressed simultaneously in our scheme. The stimulated Brillouin scattering (SBS) from the continuous wave (CW) is suppressed by cross-phase modulation (XPM) from the data pump, relieving the requirement of external phase modulation of the CW light. Mitigation of the inter-channel nonlinearities is achieved mainly through an inter-channel 0.5 bit slot time delay. Bidirectional propagation is also applied to relieve the inter-channel four-wave mixing. The multi-channel regeneration performance is validated by bit-error rate (BER) measurements. The receiver powers at the BER of 10-9 are improved by 1.9 dB, 1.8 dB, 1.6 dB and 1.5 dB for the four data channels, respectively.</p

Epidemiological and virological characteristics of pandemic influenza A (H1N1) 2009 in school outbreaks in China

Background: During the 2009 pandemic influenza H1N1 (2009) virus (pH1N1) outbreak, school students were at an increased risk of infection by the pH1N1 virus. However, the estimation of the attack rate showed significant variability. Methods: Two school outbreaks were investigated in this study. A questionnaire was designed to collect information by interview. Throat samples were collected from all the subjects in this study 6 times and sero samples 3 times to confirm the infection and to determine viral shedding. Data analysis was performed using the software STATA 9.0. Findings: The attack rate of the pH1N1 outbreak was 58.3% for the primary school, and 52.9% for the middle school. The asymptomatic infection rates of the two schools were 35.8% and 37.6% respectively. Peak virus shedding occurred on the day of ARI symptoms onset, followed by a steady decrease over subsequent days (p = 0.026). No difference was found either in viral shedding or HI titer between the symptomatic and the asymptomatic infectious groups. Conclusions: School children were found to be at a high risk of infection by the novel virus. This may be because of a heightened risk of transmission owing to increased mixing at boarding school, or a lack of immunity owing to socioeconomic status. We conclude that asymptomatically infectious cases may play an important role in transmission of the pH1N1 virus