Exploring Passive Dynamics in Legged Locomotion

A common observation among legged animals is that they move their limbs differently as they change their speed. The observed distinct patterns of limb movement are usually referred to as different gaits. Experiments with humans and mammals have shown that switching between different gaits as locomotion speed changes, enables energetically more economical locomotion. However, it still remains unclear why animals with very different morphologies use similar gaits, where these gaits come from, and how they are related. This dissertation approaches these questions by exploring the natural passive dynamic motions of a range of simplified mechanical models of legged locomotion. Recent research has shown that a simple bipedal model with compliant legs and a single set of parameters can match ground reaction forces of both human walking and running. As first contribution of this dissertation, this concept is extended to quadrupeds. A unified model is developed to reproduce many quadrupedal gaits by only varying the initial states of a motion. In addition, the model parameters are optimized to match the experimental data of real horses, as measured by an instrumented treadmill. It is shown that the proposed model is able to not only create similar kinematic motion trajectories, but can also explain the ground reaction forces of real horses moving with different gaits. In order to reveal the mechanical contribution to gaits, the simplistic bipedal and quadrupedal models are then augmented to have passive swing leg motions by including torsional springs at the hip joints. Through a numerical continuation of periodic motions, this work shows that a wide range of gaits emerges from a simple bouncing-in-place motion starting with different footfall patterns. For both, bipedal and quadrupedal models, these gaits arise along one-dimensional manifolds of solutions with varying total energy. Through breaking temporal and spatial symmetries of the periodic motions, these manifolds bifurcate into distinct branches with various footfall sequences. That is, passive gaits are obtained as different oscillatory motions of a single mechanical system with a single set of parameters. By reproducing a variety of gaits as a manifestation of the passive dynamics of unified models, this work provides insights into the underlying dynamics of legged locomotion and may help design of more economical controllers for legged machines.PHDMechanical EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttps://deepblue.lib.umich.edu/bitstream/2027.42/147585/1/ganzheny_1.pd

Sedimentation of the Lower Cretaceous Xiagou formation and Its Response to Regional Tectonics in the Qingxi Sag, Jiuquan Basin, NW China

Under the constraint of an isochronous sequence stratigraphic framework, sediment infill of the Xiagou Formation reflects the overall control of dynamic tectonic movements and episodic sedimentations in the Qingxi Sag. Structure reactivity during post-depositional processes could cause stratigraphic variations in longitudinal time and lateral space. This study documents sediment infill features and their response to the tectonic evolutions of the Qingxi Sag. The data sets include comparison of cores, well drilling, 3D seismic, inter-well correlation, wave impedance inversion profiles, original strata recovery data, sedimentary fades spatial evolution and their superimposition with paleogeomorphology. The Jiuquan Basin is a Mesozoic-Cenozoic superposition basin comprising an early rifting graben phase and a later compression phase. Since the Early Cretaceous, the basin has undergone four major tectonic episodes: 1) extension during the Early Cretaceous, 2) tectonic inversion caused by northwest-southeast contraction from the Late Cretaceous to the Paleocene, 3) weak extension from the Eocene to the Miocene and 4) contraction from the Miocene to the present. Therefore, the Jiuquan Basin is the product of taphrogenic, collisional and shearing movements. Seismic interpretations of sequence and maximum flooding surface divide the Xiagou Formation into three third order sequences: SQK1g(0), SQK1g(1) and SQK1g(2+3). Five sedimentary facies associations are identified: the shoreland plain, fan delta dominated sedimentary systems, turbidite deposits, shallow lakes and half-deep lake systems. From K1g(0) to K1g(2+3), decreased sandstone percentages in three fan delta areas indicate a continuously transgressive process, which shows the transition from proximal to distal sites in most statistic wells and an obvious decrease of fan delta scales. The northeast-southwest faults control the lakeward distributions of delta fronts and turbidite fans. The correspondence of sedimentary infill and its response to tectonic movements have been demonstrated in the Qingxi Sag. The more active eastern part of the northeastern boundary fault has an important influence on the northeastward migration of depocenters in the Xiagou Formation. The topography developed continuously from K1g(0) to K1g(2+3), but the diminished subsidence indicates the dominant geological process varying from intense fault rifting in an early period to relatively gentle and overall subsidence in a later period during the Early Cretaceous. (C) 2013 Elsevier Ltd. All rights reserved.Key Laboratory of Tectonics and Petroleum Resources, Ministry of Education TPR-2011-09Project of "Double strong effect, driving mechanism and hydrocarbon significance of tectonic activity during depositional period of Dongying Formation in Qikou and Nanpu Sag, Eastern China" 41272122Geological Science

Practice Makes Perfect: an iterative approach to achieve precise tracking for legged robots

Precise trajectory tracking for legged robots can be challenging due to their high degrees of freedom, unmodeled nonlinear dynamics, or random disturbances from the environment. A commonly adopted solution to overcome these challenges is to use optimization-based algorithms and approximate the system with a simplified, reduced-order model. Additionally, deep neural networks are becoming a more promising option for achieving agile and robust legged locomotion. These approaches, however, either require large amounts of onboard calculations or the collection of millions of data points from a single robot. To address these problems and improve tracking performance, this paper proposes a method based on iterative learning control. This method lets a robot learn from its own mistakes by exploiting the repetitive nature of legged locomotion within only a few trials. Then, a torque library is created as a lookup table so that the robot does not need to repeat calculations or learn the same skill over and over again. This process resembles how animals learn their muscle memories in nature. The proposed method is tested on the A1 robot in a simulated environment, and it allows the robot to pronk at different speeds while precisely following the reference trajectories without heavy calculations.Comment: 6 pages, 4 figure

Impact of citalopram combined with mindfulness-based stress reduction on symptoms, cognitive functions and self-confidence in patients with depression

Purpose: To investigate the impact of the combination of citalopram and mindfulness-based stress reduction (MBSR) on the symptoms, cognitive functions and self-confidence of patients with depression.Methods: A total of 98 patients with depression were selected as study subjects and divided into combination therapy group (CT, n = 51) and conventional group (C, n = 47. The conventional group was treated with citalopram, while the combined group was treated with a combination of citalopram and MBSR. Depressive symptoms and self-confidence were evaluated using the 17-item Hamilton Depression Rating Scale (HAMD-17) and General Self-efficacy Scale (GSES). Cognitive functions were assessed by Wisconsin Card Sorting Test (WCST) and Trail Making Test (TMT). Changes in depressive symptoms, cognitive functions, self-confidence and clinical efficacies between the two groups were compared.Results: At weeks 1, 4 and 8 after treatment, CT group had lower HAMD-17 scores but higher GSES scores when compared with the conventional group (p < 0.05). In addition, CT group was superior to the conventional group in efficacy and overall response rate (100.00 vs. 85.11 %, p < 0.05). Also, CT group showed a shorter time of perseverative and non-perseverative errors on WCST and a shorter time for TMT-A and TMT-B, compared with the conventional group (p < 0.05).Conclusion: The combination therapy of citalopram and MBSR is effective in ameliorating depressive symptoms, and enhancing cognitive functions and self-confidence in patients with depression. These findings will increase the understanding of this combination therapy, and provide a clinical reference for the treatment of depression

A sheep pangenome reveals the spectrum of structural variations and their effects on tail phenotypes

Structural variations (SVs) are a major contributor to genetic diversity and phenotypic variations, but their prevalence and functions in domestic animals are largely unexplored. Here we generated high-quality genome assemblies for 15 individuals from genetically diverse sheep breeds using Pacific Biosciences (PacBio) high-fidelity sequencing, discovering 130.3 Mb nonreference sequences, from which 588 genes were annotated. A total of 149,158 biallelic insertions/deletions, 6531 divergent alleles, and 14,707 multiallelic variations with precise breakpoints were discovered. The SV spectrum is characterized by an excess of derived insertions compared to deletions (94,422 vs. 33,571), suggesting recent active LINE expansions in sheep. Nearly half of the SVs display low to moderate linkage disequilibrium with surrounding single-nucleotide polymorphisms (SNPs) and most SVs cannot be tagged by SNP probes from the widely used ovine 50K SNP chip. We identified 865 population-stratified SVs including 122 SVs possibly derived in the domestication process among 690 individuals from sheep breeds worldwide. A novel 168-bp insertion in the 5' untranslated region (5' UTR) of HOXB13 is found at high frequency in long-tailed sheep. Further genome-wide association study and gene expression analyses suggest that this mutation is causative for the long-tail trait. In summary, we have developed a panel of high-quality de novo assemblies and present a catalog of structural variations in sheep. Our data capture abundant candidate functional variations that were previously unexplored and provide a fundamental resource for understanding trait biology in sheep

Neutrino Physics with JUNO

The Jiangmen Underground Neutrino Observatory (JUNO), a 20 kton multi-purposeunderground liquid scintillator detector, was proposed with the determinationof the neutrino mass hierarchy as a primary physics goal. It is also capable ofobserving neutrinos from terrestrial and extra-terrestrial sources, includingsupernova burst neutrinos, diffuse supernova neutrino background, geoneutrinos,atmospheric neutrinos, solar neutrinos, as well as exotic searches such asnucleon decays, dark matter, sterile neutrinos, etc. We present the physicsmotivations and the anticipated performance of the JUNO detector for variousproposed measurements. By detecting reactor antineutrinos from two power plantsat 53-km distance, JUNO will determine the neutrino mass hierarchy at a 3-4sigma significance with six years of running. The measurement of antineutrinospectrum will also lead to the precise determination of three out of the sixoscillation parameters to an accuracy of better than 1\%. Neutrino burst from atypical core-collapse supernova at 10 kpc would lead to ~5000inverse-beta-decay events and ~2000 all-flavor neutrino-proton elasticscattering events in JUNO. Detection of DSNB would provide valuable informationon the cosmic star-formation rate and the average core-collapsed neutrinoenergy spectrum. Geo-neutrinos can be detected in JUNO with a rate of ~400events per year, significantly improving the statistics of existing geoneutrinosamples. The JUNO detector is sensitive to several exotic searches, e.g. protondecay via the $p\to K^++\bar\nu$ decay channel. The JUNO detector will providea unique facility to address many outstanding crucial questions in particle andastrophysics. It holds the great potential for further advancing our quest tounderstanding the fundamental properties of neutrinos, one of the buildingblocks of our Universe

Potential of Core-Collapse Supernova Neutrino Detection at JUNO

JUNO is an underground neutrino observatory under construction in Jiangmen, China. It uses 20kton liquid scintillator as target, which enables it to detect supernova burst neutrinos of a large statistics for the next galactic core-collapse supernova (CCSN) and also pre-supernova neutrinos from the nearby CCSN progenitors. All flavors of supernova burst neutrinos can be detected by JUNO via several interaction channels, including inverse beta decay, elastic scattering on electron and proton, interactions on C12 nuclei, etc. This retains the possibility for JUNO to reconstruct the energy spectra of supernova burst neutrinos of all flavors. The real time monitoring systems based on FPGA and DAQ are under development in JUNO, which allow prompt alert and trigger-less data acquisition of CCSN events. The alert performances of both monitoring systems have been thoroughly studied using simulations. Moreover, once a CCSN is tagged, the system can give fast characterizations, such as directionality and light curve