Ctrl-MORE: A Framework to Integrate Controllers of Multi-DoF Robot for Developers and Users

In recent years, many different feedback controllers for robotic applications have been proposed and implemented. However, the high coupling between the different software modules made their integration into one common architecture difficult. Consequently, this has hindered the ability of a user to employ the different controllers into a single, general and modular framework. To address this problem, we present Ctrl-MORE, a software architecture developed to fill the gap between control developers and other users in robotic applications. On one hand, Ctrl-MORE aims to provide developers with an opportunity to integrate easily and share their controllers with other roboticists working in different areas. For example, manipulation, locomotion, vision and so on. On the other hand, it provides to end-users a tool to apply the additional control strategies that guarantee the execution of desired behaviors in a transparent, yet efficient way. The proposed control architecture allows an easier integration of general purpose feedback controllers, such as stabilizers, with higher control layers such as trajectory planners, increasing the robustness of the overall system

Towards dynamically consistent real-time gait pattern generation for full-size humanoid robots

We propose a two-stage gait pattern generation scheme for the full-scale humanoid robots, that considers the dynamics of the system throughout the process. The fist stage is responsible for generating semi-dynamically consistent step position and step time information, while the second stage incorporated with multi-body dynamics system is responsible for generation of gait pattern that is feasible and stable on the full-scale multi-degree-of-freedom humanoid robot. The approach allows for very rapid gait pattern regeneration during the swing phase of motion and includes information about present dynamic state when regenerating the new pattern. The paper contains description of a developed method, as well as experimental results proving its effectiveness

Development of therapeutic splice-switching oligonucleotides.

Synthetic splice-switching oligonucleotides (SSOs) target nuclear pre-mRNA molecules to change exon splicing and generate an alternative protein isoform. Clinical trials with two competitive SSO drugs are underway to treat Duchenne Muscular Dystrophy (DMD). Beyond DMD, many additional therapeutic applications are possible, with some in phase I clinical trials or advanced preclinical evaluation. Here, we present an overview of the central factors involved in developing therapeutic SSOs for the treatment of diseases. The selection of susceptible pre-mRNA target sequences, as well as the design and chemical modification of SSOs to increase SSO stability and effectiveness, are key initial considerations. Identification of effective SSO target sequences is still largely empirical and published guidelines are not a universal guarantee for success. Specifically, exonic-targeted SSOs, which are successful in modifying dystrophin splicing, can be ineffective for splice-switching in other contexts. Chemical modifications, importantly, are associated with certain characteristic toxicities, which need to be addressed as target diseases require chronic treatment with SSOs. Moreover, SSO delivery in adequate quantities to the nucleus of target cells without toxicity can prove difficult. Lastly, the means by which these SSOs are administered needs to be acceptable to the patient. Engineering an efficient therapeutic SSO, therefore, necessarily entails a compromise between desirable qualities and effectiveness. Here, we describe how the application of optimal solutions may differ from case to case

Drug-Initiated Synthesis of Cladribine-Based Polymer Prodrug Nanoparticles: Biological Evaluation and Structure Activity Relationships

International audienceBy using two reversible deactivation radical polymerization techniques, either nitroxide-mediated polymerization or reversible addition-fragmentation chain transfer polymerization, the "drug-initiated" approach was applied to cladribine (CdA) as an anticancer drug to synthesize small libraries of well-defined and self-stabilized CdA-based polymer prodrug nanoparticles, differing from the nature and the molar mass of the grown polymer, and the nature of the linker between CdA and the polymer, thus allowing structure-cytotoxicity relationships to be determined. Their biological evaluation was investigated in vitro on L1210 cancer cells. The preparation of fluorescent CdA-based nanoparticles with excellent imaging ability was also reported by applying the "drug-initiated" approach to an aggregation-induced emission-active dye

The design of a humanoidal biped for the research on the gait pattern generators

Advances in Climbing and Walking Robots - Proceedings of 10th International Conference, CLAWAR 2007435-44

Hybrid gait pattern generator capable of rapid and dynamically consistent pattern regeneration

We propose a two-stage gait pattern generation scheme for the full-scale humanoid robots, that considers the dynamics of the system throughout the process. The fist stage is responsible for generating the preliminary motion reference, such as step position, timing and trajectory of Center of Mass (CoM), while the second stage serves as dynamics filter which employs a multi-body model and based on Zero Moment Point (ZMP) reference trajectory generates CoM reference trajectory which defines a locomotion stable when executed on the full-scale multi-degree-of-freedom humanoid robot. The approach thanks to introducing a dynamic model at the stage of feet placement planning provides the ZMP reference, which is ensured to be feasible for the robot. Thanks to the fact it enables instantaneous regeneration of motion. The paper contains description of two approaches used in the first and second stage, as well as experimental results proving the effectiveness of the method. The fast calculation time and the use of the systems dynamic state as initial conditions for pattern generation makes it a good candidate for the real-time gait pattern generator

MPC strategy for dynamic stabilization of preplanned walking gaits

In this paper, we report the implementation and the experimental validation of a balancing controller of bipedal robots during the execution of predefined walking patterns. The proposed controller is a cascade controller that uses the actual centre of mass (CoM) states at each sampling time and the desired CoM trajectory within a defined time window. The purpose of this controller is to generate at each sampling time a corrective term at the pelvis that allows a better tracking of the CoM and Zero Moment Point trajectories. Therefore, the overall stability is increased during the gait execution. The method permits to minimize tracking errors due to small disturbances and control errors. The effectiveness of the proposed controller is validated in simulation and in real implementation on the full-body humanoid robot Walk-Man

Robot gait synthesis using the scheme of human motions skills development

10.1016/j.mechmachtheory.2008.09.007Mechanism and Machine Theory443541-558MHMT

The reasons for regulations non-compliance by professional drivers

W artykule przedstawiono przepisy dotyczące kierowców zawodowych, sposobu pracy, systemów bezpieczeństwa, czasu prowadzenia i czasu odpoczynku kierowcy. Badania ankietowe przeprowadzono na grupie kierowców samochodów ciężarowych oraz kierowców autobusów będących w innym wieku, mających różny staż pracy w zawodzie kierowcy oraz wykonujących przewozy krajowe i międzynarodowe. Badania zostały przeprowadzone w śród kierowców pojazdów użytkowych, które dotyczyły respektowania norm czasu pracy kierowcy w codziennej praktyce.The article presents the provisions relating to professional drivers, how to work, the safety systems, the driving time and the rest time. The surveys conducted on a group of truck drivers and bus drivers being in a different age, with different seniority in the profession of the driver and performing the domestic and international transportation. The study was conducted among drivers of vehicles, which concerned the respect of standards of drivers' hours in daily practice