Hybrid Model for Passive Locomotion Control of a Biped Humanoid:The Artificial Neural Network Approach

Developing a correct model for a biped robot locomotion is extremely challenging due to its inherently unstable structure because of the passive joint located at the unilateral foot-ground contact and varying configurations throughout the gait cycle, resulting variation of dynamic descriptions and control laws from phase to phase. The present research describes the development of a hybrid biped model using an Open Dynamics Engine (ODE) based analytical three link leg model as a base model and, on top of it, an Artificial Neural Network based learning model which ensures better adaptability, better limits cycle behaviors and better generalization while negotiating along a down slope. The base model has been configured according to the individual subjects and data have been collected using a novel technique through an android app from those subjects while walking down a slope. The pattern between the deviation of the actual trajectories and the base model generated trajectories has been found using a back propagation based artificial neural network architecture. It has been observed that this base model with learning based compensation enables the biped to better adapt in a real walking environment, showing better limit cycle behaviors. We also observed the bounded nature of deviation which led us to conclude that the strategy for biped locomotion control is generic in nature and largely dominated by learning

Passive Thermal Management of Launch Vehicle Systems using Phase Changing Materials

Electronic systems in expendable launch vehicles and missiles rely on their own thermal inertia to operate for the stipulated time, without overheating, owing to absence of active cooling systems and natural convection at elevated altitude. Traditionally, this inertia is built-into the electronics by increasing its chassis (support structure) mass, proportional to the associated thermal load. For power intensive systems, especially in vehicle upper stages where mass is at premium, this approach results in reduction in payload capability. In the proposed paper, a Heat Sink based on Neopentyl Glycol (NPG) with solid-to-solid phase change (crystalline transformation) is explored as a mass effective alternative due to the material’s capability to absorb a significant amount of energy during phase change. However, due to its lower thermal conductivity, a Thermal Conductivity Enhancer (TCE) to maximize heat transfer had to be employed. The resulting heat sink, utilizing TCE for heat transfer capability and NPG for heat storage capability is called as Hybrid Heat Sink. A heat sink with plate type fins as TCE is realized and a mass reduction factor of 1.4 is achieved against traditional approach. This is followed by a heat sink with pin type fins as TCE where mass reduction factor is increased to 2.6. Effect of thermal cycling and vibration on its performance is also studied

Prevalence and mapping of hepatitis C infections among men who have sex with men in New York City

Emerging sexually transmitted hepatitis C virus (HCV) epidemics among men who have sex with men (MSM) have been reported worldwide, with higher HCV infection rates among those who are HIV-infected. This study aims to determine prevalence of recent and chronic HCV infections among community-recruited MSM in New York City (NYC), map HCV infections by home, social, and sexual neighborhoods, and identify clusters of genetically linked HCV variants using phylogenetic analysis. The NYC M2M study recruited MSM via modified time-space, venue-based sampling and internet/mobile app-based recruitment during 2010–13. Participants completed a Google Earth map on neighborhoods of where they lived, socialized, and had sex in the last 3 months, an ACASI questionnaire, and a sexual network inventory about their sex partners. The men received HIV testing and provided serum samples. Testing on stored serum samples included HCV antibody and RNA viral load, HCV antibody avidity assay (avidity index 40 years, adjusted odds ratio (aOR) 3.56 (95% CI 1.57, 8.08), HIV-positive serostatus, aOR 3.18 (95% CI 1.40, 7.22), any sexually transmitted infection (STI) in the last 3 months, aOR 2.81 (95% CI 1.11, 7.13), and injection drug use (IDU) ever, aOR 4.34 (95% CI 1.69, 11.17). Mapping of HCV infections differed slightly by home, social, and sexual neighborhoods. Based on phylogenetic analysis from 12 HCV RNA-positive samples, no evidence of a clustered HCV epidemic was found. Overall HCV seroprevalence was 2.8% among community-recruited MSM in NYC, with higher prevalence among HIV-positive MSM compared to HIV-negative MSM. Only two participants were found to have recent HCV infection, with no evidence of a clustered HCV epidemic based on phylogenetic analysis. Our results support testing of HCV infection among HIV-negative MSM if they report having a recent STI and IDU in the past rather than universal HCV testing in all HIV-negative MSM

Prevalence and mapping of hepatitis C infections among men who have sex with men in New York City

Emerging sexually transmitted hepatitis C virus (HCV) epidemics among men who have sex with men (MSM) have been reported worldwide, with higher HCV infection rates among those who are HIV-infected. This study aims to determine prevalence of recent and chronic HCV infections among community-recruited MSM in New York City (NYC), map HCV infections by home, social, and sexual neighborhoods, and identify clusters of genetically linked HCV variants using phylogenetic analysis. The NYC M2M study recruited MSM via modified time-space, venue-based sampling and internet/mobile app-based recruitment during 2010–13. Participants completed a Google Earth map on neighborhoods of where they lived, socialized, and had sex in the last 3 months, an ACASI questionnaire, and a sexual network inventory about their sex partners. The men received HIV testing and provided serum samples. Testing on stored serum samples included HCV antibody and RNA viral load, HCV antibody avidity assay (avidity index 40 years, adjusted odds ratio (aOR) 3.56 (95% CI 1.57, 8.08), HIV-positive serostatus, aOR 3.18 (95% CI 1.40, 7.22), any sexually transmitted infection (STI) in the last 3 months, aOR 2.81 (95% CI 1.11, 7.13), and injection drug use (IDU) ever, aOR 4.34 (95% CI 1.69, 11.17). Mapping of HCV infections differed slightly by home, social, and sexual neighborhoods. Based on phylogenetic analysis from 12 HCV RNA-positive samples, no evidence of a clustered HCV epidemic was found. Overall HCV seroprevalence was 2.8% among community-recruited MSM in NYC, with higher prevalence among HIV-positive MSM compared to HIV-negative MSM. Only two participants were found to have recent HCV infection, with no evidence of a clustered HCV epidemic based on phylogenetic analysis. Our results support testing of HCV infection among HIV-negative MSM if they report having a recent STI and IDU in the past rather than universal HCV testing in all HIV-negative MSM

Household Density among Undocumented Mexican Immigrants in New York City

http://deepblue.lib.umich.edu/bitstream/2027.42/61278/1/Standish.et.al.HouseholdDensityamongUndocumentedMexicanImmigrantsinNewYorkCity.pd

The Prevalence and Types of Gambling Among Undocumented Mexican Immigrants in New York City

http://deepblue.lib.umich.edu/bitstream/2027.42/61290/1/momper sl, nandi v, ompad dc, delva j, galea s, prevalence and types of gambling among undocumented mexican immigrants in nyc.pd

Provision of naloxone to injection drug users as an overdose prevention strategy: Early evidence from a pilot study in New York City

Introduction: Naloxone, an opiate antagonist that can avert opiate overdose morality, has long been prescribed to drug users in Europe and in a few US cities. However, there has been little documented evidence of naloxone distribution programs and their feasibility in the peer reviewed literature in the US. Methods: A pilot overdose prevention and reversal program was implemented in a New York City syringe exchange program. We assessed demographics, drug use, and overdose history, experience, and behavior at baseline, when participants returned for prescription refills, and 3 months after baseline assessment. Results: 25 participants were recruited. 22 (88%) participants were successfully followed-up in the first 3 months; of these, 11 (50%) participants reported witnessing a total of 26 overdoses during the follow-up period. Among 17 most-recent overdoses witnessed, naloxone was administered 10 times; all persons who had naloxone administered lived.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/40335/2/Galea_Provision of Naloxone to Injection Drug_2006.pd

Evaluation of a naloxone distribution and administration program in New York City

Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/60330/1/markham piper_evaluation of a naloxone program_2008.pd