HERMIES-3: A step toward autonomous mobility, manipulation, and perception

HERMIES-III is an autonomous robot comprised of a seven degree-of-freedom (DOF) manipulator designed for human scale tasks, a laser range finder, a sonar array, an omni-directional wheel-driven chassis, multiple cameras, and a dual computer system containing a 16-node hypercube expandable to 128 nodes. The current experimental program involves performance of human-scale tasks (e.g., valve manipulation, use of tools), integration of a dexterous manipulator and platform motion in geometrically complex environments, and effective use of multiple cooperating robots (HERMIES-IIB and HERMIES-III). The environment in which the robots operate has been designed to include multiple valves, pipes, meters, obstacles on the floor, valves occluded from view, and multiple paths of differing navigation complexity. The ongoing research program supports the development of autonomous capability for HERMIES-IIB and III to perform complex navigation and manipulation under time constraints, while dealing with imprecise sensory information

Integrating genealogy and dental variation: contributions to biological anthropology

First published: 19 December 2022 OnlinePublGenealogical samples that couple dental data and documented relatedness information provide unique opportunities to examine the biological foundations of tooth variation. Over the past century, these resources have been critical for examining the various factors that influence dental phenotypes—the same traits that anthropologists regularly apply to reconstructions of past phenomena. Genealogical samples are uniquely suited to test long-standing assumptions underlying bioanthropological practice, for example, biodistance and phylogenetic analysis, which commonly reference aspects of tooth size and form as proxies for latent genetic information. This article provides an overview of published genealogical research, with a focus on the practical implications of quantitative genetic and environmental studies of (non)human primate dentitions. To highlight the utility of genealogical samples for understanding the influence of specific non-genetic factors on dental characters, we also present novel data on gestational hormone effects in opposite-sex dizygotic twin pairs as a test of the twin testosterone transfer (TTT) hypothesis. This article discusses fruitful next steps in genealogical dental research, as well as important ethical considerations surrounding the use of associated datasets, which are sensitive in nature. As we forge ahead in an age of phenomics, genealogical samples are likely to play a key role in generating comprehensive genotype–phenotype maps of the dentition and in refining bioanthropological methods.Kathleen S. Paul, Randall Feezell, Toby Hughes, Alan H. Broo