A robust sagittal plane hexapedal running model with serial elastic actuation and simple periodic feedforward control

In this article we present a sagittal plane, sprawled posture hexapedal running model with distributed body inertia, massless legs and serial elastic actuation at the hips as well as along the telescoping legs. We show by simulation that simple, periodic, feedforward controlled actuation is sufficient to obtain steady period 1 running gaits at twice the actuation frequency. We observe a nearly linear relation of average running speed and actuation frequency. The ground reaction profiles of the legs show leg specialization as observed in running insects. Interleg phasing has a strong influence on the foot fall sequence and thus the overall body dynamics. While the single leg ground reaction force profiles show little dependency on interleg actuation phase the total reaction force does. Thus, depending on the interleg actuation phase body motions without flight phase are observed as well as body motions and total ground reaction forces that show similarities to those obtained for the spring loaded inverted pendulum model. Further, we show that including leg damping and a ground friction model the periodic orbits have a large region of attraction with respect to the initial conditions. Additionally, the model quickly rejects step up and step down disturbances as well as force impulses. Finally, we briefly discuss the energetics of the hexapedal running model

Towards an Autonomous Walking Robot for Planetary Surfaces

In this paper, recent progress in the development of the DLR Crawler - a six-legged, actively compliant walking robot prototype - is presented. The robot implements a walking layer with a simple tripod and a more complex biologically inspired gait. Using a variety of proprioceptive sensors, different reflexes for reactively crossing obstacles within the walking height are realised. On top of the walking layer, a navigation layer provides the ability to autonomously navigate to a predefined goal point in unknown rough terrain using a stereo camera. A model of the environment is created, the terrain traversability is estimated and an optimal path is planned. The difficulty of the path can be influenced by behavioral parameters. Motion commands are sent to the walking layer and the gait pattern is switched according to the estimated terrain difficulty. The interaction between walking layer and navigation layer was tested in different experimental setups

Stereo-vision-based navigation of a six-legged walking robot in unknown rough terrain

In this paper we presents a visual navigation algorithm for the six-legged walking robot DLR Crawler in rough terrain. The algorithm is based on stereo images from which depth images are computed using the semi- global matching (SGM) method. Further, a visual odometry is calculated along with an error measure. Pose estimates are obtained by fusing iner- tial data with relative leg odometry and visual odometry measurements using an indirect information filter. The visual odometry error measure is used in the filtering process to put lower weights on erroneous visual odometry data, hence, improving the robustness of pose estimation. From the estimated poses and the depth images, a dense digital terrain map is created by applying the locus method. The traversability of the terrain is estimated by a plane fitting approach and paths are planned using a D* Lite planner taking the traversability of the terrain and the current motion capabilities of the robot into account. Motion commands and the traversability measures of the upcoming terrain are sent to the walking layer of the robot so that it can choose an appropriate gait for the terrain. Experimental results show the accuracy of the navigation algorithm and its robustness against visual disturbances

Locomotion and pose estimation in compliant, torque-controlled hexapedal robots

Several scenarios, such as disaster response or terrestrial and extra-terrestrial exploration, comprise environments that are dangerous or even inaccessible for humans. In those cases, autonomous robots pose a promising alternative to render such endeavours possible. While most of today’s robotic explorers are wheeled or tracked vehicles, legged systems gained increased attention in recent years. With their unique combination of omnidirectional mobility and intrinsic manipulation capabilities, they are envisioned to serve as the rough terrain specialists in scouting or sample and return missions. Especially, small to mid-size hexapods are of great interest for those scenarios. Providing static stability across a wide range of walking speeds, they offer an attractive trade-off between versatility and complexity. Another important advantage is their redundancy, allowing them to tolerate the loss of single legs. However, due to their small size, the computational on-board resources are limited. Thus, the use of smart and efficient algorithms is of utmost importance in order to enable autonomous operation within a priori unknown rough environments. Working towards such autonomous robotic scouts, this thesis contributes with the development, implementation, and test of a self-contained walking layer as well as a 6 degrees of freedom (DOF) leg odometry for compliant, torque-controlled, hexapedal robots. Herein, the important property of all presented algorithms is the sole use of proprioceptive measurements provided by the legs, i. e. joint angles and joint torques. Especially the joint torque sensors improve the walking process by enabling the use of sensitive compliance controllers and distributed collision detection. Comprising a set of algorithms, the walking layer organises and structures the walking process in order to generate robust, adaptive, and leg loss tolerant locomotion in uneven terrain. Furthermore, it encapsulates the walking process, and thus hides its complexity from higher-level algorithms such as navigation. Its three main functional components are a flexible, biologically-inspired gait coordination algorithm, single leg reflexes, and active joint compliance control. Thereof, the gait coordination algorithm realises temporal adaptation of the step sequence while reflexes adjust the leg trajectories to the local terrain. The joint compliance control reduces internal forces and allows for situation dependent stiffness adjustments. An algorithmic extensions to the basic gait coordination enables the immediate adaptation to leg loss. In combination with stiffness and pose adjustments, this allows the hexapod to retain stable locomotion on five legs. In order to account for the emerging gait, the leg odometry algorithm employs an optimisation approach to obtain a kinematics-based pose estimate from joint angle measurements. Fusing the resulting pitch and roll angle estimates with joint-torque-measurement-based attitude data, reduces the associated drift, and thus stabilises the overall pose estimate. Various simulations and experiments with the six-legged, torque-controlled DLR Crawler demonstrate the effectiveness of the proposed walking layer as well as the 6-DOF leg odometry.Für die planetare Exploration sowie den Einsatz in Katastrophengebieten sind autonome Laufroboter zunehmend von Interesse. In diesen Szenarien sollen sie den Menschen an gefährlichen oder schwer zugänglichen Orten ersetzen und dort Erkundungseinsätze sowie Probenahmen in schwierigem Gelände durchführen. Unter der Vielzahl an möglichen Systemen bieten im Besonderen kleinere Sechsbeiner einen sehr guten Kompromiss zwischen Stabilität, hoher Beweglichkeit, Vielseitigkeit und einer vertretbaren Komplexität der Regelung. Ein weiterer Vorteil ist ihre Redundanz, die es ihnen erlaubt, den Ausfall einzelner Beine mit geringem Aufwand zu kompensieren. Dementgegen ist die beschränkte Rechenkapazität ein Nachteil der reduzierten Größe. Um diesen auszugleichen und das autonome Agieren in einer unbekannten Umgebung zu ermöglichen, werden daher einfache und effiziente Algorithmen benötigt, die im Zusammenspiel jedoch ein komplexes Verhalten erzeugen. Auf dem Weg zum autonom explorierenden Laufroboter entwickelt diese Arbeit einen robusten, adaptiven und fehlertoleranten Laufalgorithmus sowie eine 6D Eigenbewegungsschätzung für nachgiebige, drehmomentgeregelte Sechsbeiner. Besonders herauszustellen ist, dass alle in der Arbeit vorgestellten Algorithmen ausschließlich die propriozeptive Sensorik der Beine verwenden. Durch diesen Ansatz kann der Laufprozess von anderen Prozessen, wie der Navigation, getrennt und somit der Datenaustausch effizient gestaltet werden. Für die Fortbewegung in unebenem Gelände kombiniert der vorgestellte Laufalgorithmus eine flexible, biologisch inspirierte Gangkoordination mit verschiedenen Einzelbeinreflexen und einer nachgiebigen Gelenkregelung. Hierbei übernimmt die Gangkoordination die zeitliche Steuerung der Schrittfolge, während die Einzelbeinreflexe für eine räumliche Variation der Fußtrajektorien zuständig sind. Die nachgiebige Gelenkregelung reduziert interne Kräfte und erlaubt eine Anpassung der Gelenksteifigkeiten an die lokalen Umgebungsbedingungen sowie den aktuellen Zustand des Roboters. Eine wichtige Eigenschaft des Laufalgorithmus ist seine Fähigkeit, den Ausfall einzelner Beine zu kompensieren. In diesem Fall erfolgt eine Adaption der Gangkoordination über die Erneuerung der Nachbarschaftsbeziehungen der Beine. Zusätzlich verbessern eine Veränderung der Pose und eine Erhöhung der Gelenksteifigkeiten die Stabilität des durch den Beinverlust beeinträchtigten Roboters. Gleich dem Laufalgorithmus verwendet die 6D Eigenbewegungsschätzung nur die Messungen der propriozeptiven Sensoren der Beine. Hierbei arbeitet der Algorithmus in einem dreistufigen Verfahren. Zuerst berechnet er mit Hilfe der Beinkinematik und einer Optimierung die Pose des Roboters. Nachfolgend bestimmt er aus den Gelenkmomentmessungen den Gravitationsvektor und berechnet daraus die Neigungswinkel des Systems. Eine Fusion dieser Werte mit den Nick- und Rollwinkeln der ersten Stufe stabilisiert daraufhin die gesamte Odometrie und reduziert deren Drift. Alle in dieser Arbeit entwickelten Algorithmen wurden mit Hilfe von Simulationen sowie Experimenten mit dem drehmomentgeregelten DLR Krabbler erfolgreich validiert

Discrimination of different species from the genus Drosophila by intact protein profiling using matrix-assisted laser desorption ionization mass spectrometry

<p>Abstract</p> <p>Background</p> <p>The use of molecular biology-based methods for species identification and establishing phylogenetic relationships has supplanted traditional methods relying on morphological characteristics. While PCR-based methods are now the commonly accepted gold standards for these types of analysis, relatively high costs, time-consuming assay development or the need for <it>a priori </it>information about species-specific sequences constitute major limitations. In the present study, we explored the possibility to differentiate between 13 different species from the genus <it>Drosophila </it>via a molecular proteomic approach.</p> <p>Results</p> <p>After establishing a simple protein extraction procedure and performing matrix-assisted laser desorption/ionization (MALDI) mass spectrometry (MS) with intact proteins and peptides, we could show that most of the species investigated reproducibly yielded mass spectra that were adequate for species classification. Furthermore, a dendrogram generated by cluster analysis of total protein patterns agrees reasonably well with established phylogenetic relationships.</p> <p>Conclusion</p> <p>Considering the intra- and interspecies similarities and differences between spectra obtained for specimens of closely related <it>Drosophila </it>species, we estimate that species typing of insects and possibly other multicellular organisms by intact protein profiling (IPP) can be established successfully for species that diverged from a common ancestor about 3 million years ago.</p

Identification, characterization and molecular adaptation of class I redox systems for the production of hydroxylated diterpenoids

Background De novo production of multi-hydroxylated diterpenoids is challenging due to the lack of efficient redox systems. Results In this study a new reductase/ferredoxin system from Streptomyces afghaniensis (AfR·Afx) was identified, which allowed the Escherichia coli-based production of the trihydroxylated diterpene cyclooctatin, a potent inhibitor of human lysophospholipase. This production system provides a 43-fold increase in cyclooctatin yield (15 mg/L) compared to the native producer. AfR·Afx is superior in activating the cylcooctatin-specific class I P450s CotB3/CotB4 compared to the conventional Pseudomonas putida derived PdR·Pdx model. To enhance the activity of the PdR·Pdx system, the molecular basis for these activity differences, was examined by molecular engineering. Conclusion We demonstrate that redox system engineering can boost and harmonize the catalytic efficiency of class I hydroxylase enzyme cascades. Enhancing CotB3/CotB4 activities also provided for identification of CotB3 substrate promiscuity and sinularcasbane D production, a functionalized diterpenoid originally isolated from the soft coral Sinularia sp

HPV & head and neck cancer: a descriptive update.

The incidence of head and neck squamous cell carcinoma (HNSCC) has been gradually increasing over the last three decades. Recent data have now attributed a viral aetiology to a subset of head and neck cancers. Several studies indicate that oral human papillomavirus (HPV) infection is likely to be sexually acquired. The dominance of HPV 16 in HPV+ HNSCC is even greater than that seen in cervical carcinoma of total worldwide cases. Strong evidence suggests that HPV+ status is an important prognostic factor associated with a favourable outcome in head and neck cancers. Approximately 30 to 40% of HNSCC patients with present with early stage I/II disease. These patients are treated with curative intent using single modality treatments either radiation or surgery alone. A non-operative approach is favored for patients in which surgery followed by either radiation alone or radiochemotherapy may lead to severe functional impairment. Cetuximab, a humanized mouse anti-EGFR IgG1 monoclonal antibody, improved locoregional control and overall survival in combination with radiotherapy in locally advanced tumours but at the cost of some increased cardiac morbidity and mortality. Finally, the improved prognosis and treatment responses to chemotherapy and radiotherapy by HPV+ tumours may suggest that HPV status detection is required to better plan and individualize patient treatment regimes.RIGHTS : This article is licensed under the BioMed Central licence at http://www.biomedcentral.com/about/license which is similar to the 'Creative Commons Attribution Licence'. In brief you may : copy, distribute, and display the work; make derivative works; or make commercial use of the work - under the following conditions: the original author must be given credit; for any reuse or distribution, it must be made clear to others what the license terms of this work are

HPV & head and neck cancer: a descriptive update

The incidence of head and neck squamous cell carcinoma (HNSCC) has been gradually increasing over the last three decades. Recent data have now attributed a viral aetiology to a subset of head and neck cancers. Several studies indicate that oral human papillomavirus (HPV) infection is likely to be sexually acquired. The dominance of HPV 16 in HPV+ HNSCC is even greater than that seen in cervical carcinoma of total worldwide cases. Strong evidence suggests that HPV+ status is an important prognostic factor associated with a favourable outcome in head and neck cancers. Approximately 30 to 40% of HNSCC patients with present with early stage I/II disease. These patients are treated with curative intent using single modality treatments either radiation or surgery alone. A non-operative approach is favored for patients in which surgery followed by either radiation alone or radiochemotherapy may lead to severe functional impairment. Cetuximab, a humanized mouse anti-EGFR IgG1 monoclonal antibody, improved locoregional control and overall survival in combination with radiotherapy in locally advanced tumours but at the cost of some increased cardiac morbidity and mortality. Finally, the improved prognosis and treatment responses to chemotherapy and radiotherapy by HPV+ tumours may suggest that HPV status detection is required to better plan and individualize patient treatment regimes