Attitude estimation for dynamic legged locomotion using range and inertial sensors

Legged robots offer exceptional mobility in uncharted terrains. Their dynamic nature yields unrivaled mobility, but serves to destabilize the motion estimation process that underlies legged operations. In particular, the discontinuous foot fall patterns and flight phases result in severe impulses, which, in turn, result in excessive accumulation of drift by inertial sensors. Ground range measurements, amongst several others, are robust to this drift yet are limited in application due to their low-bandwidth and sensitivity to ground conditions. In considering the attitude estimation problem for this dynamic legged locomotion, this paper develops a pose calculation method based on ground range measurements. This is used in conjunction with a hybrid Extended Kalman Filter that takes advantage of the ballistic nature of the flight phases. Results indicate that this combination provides rapid, robust estimates of attitude necessary for extended dynamic legged operations. In single leg experiments, which were conducted using low-cost sensing hardware, this method had an RMS error of <1°, half that of a non-hybrid EKF approach. ©2005 IEEE

Investigating IoT Middleware Platforms for Smart Application Development

With the growing number of Internet of Things (IoT) devices, the data generated through these devices is also increasing. By 2030, it is been predicted that the number of IoT devices will exceed the number of human beings on earth. This gives rise to the requirement of middleware platform that can manage IoT devices, intelligently store and process gigantic data generated for building smart applications such as Smart Cities, Smart Healthcare, Smart Industry, and others. At present, market is overwhelming with the number of IoT middleware platforms with specific features. This raises one of the most serious and least discussed challenge for application developer to choose suitable platform for their application development. Across the literature, very little attempt is done in classifying or comparing IoT middleware platforms for the applications. This paper categorizes IoT platforms into four categories namely-publicly traded, open source, developer friendly and end-to-end connectivity. Some of the popular middleware platforms in each category are investigated based on general IoT architecture. Comparison of IoT middleware platforms in each category, based on basic, sensing, communication and application development features is presented. This study can be useful for IoT application developers to select the most appropriate platform according to their application requirement

Relativistic scattering of a fast spinning neutron star by a massive black hole

The orbital dynamics of fast spinning neutron stars encountering a massive bh with unbounded orbits are investigated using the quadratic-in-spin mpd formulation. We consider the motion of the spinning neutron stars with astrophysically relevant speed in the gravity field of the BH. For such slow-speed scattering, the hyperbolic orbits followed by these neutron stars all have near the e = 1 eccentricity, and have distinct properties compared with those of e ≫ 1. We have found that compared with geodesic motion, the spin-orbit and spin-spin coupling will lead to a variation of scattering angles at spatial infinity, and this variation is more prominent for slow-speed scattering than fast-speed scattering. Such a variation leads to an observable difference in pulse-arrival-time within a few hours of observation, and up to a few days or months for larger BH masses or longer spinning periods. Such a relativistic pulsar-BH system also emits a burst of gravitational waves (GWs) in the sensitivity band of LISA, and for optimal settings, can be seen up to 100 Mpc away. A radio follow up of such a GW burst with SKA or FAST will allow for measuring the orbital parameters with high accuracy and testing the predictions of gr

System design of a quadrupedal galloping machine

In this paper we present the system design of a machine that we have constructed to study a quadrupedal gallop gait. The gallop gait is the preferred high-speed gait of most cursorial quadrupeds. To gallop, an animal must generate ballistic trajectories with characteristic strong impacts, coordinate leg movements with asymmetric footfall phasing, and effectively use compliant members, all the while maintaining dynamic stability. In this paper we seek to further understand the primary biological features necessary for galloping by building and testing a robotic quadruped similar in size to a large goat or antelope. These features include high-speed actuation, energy storage, on-line learning control, and high-performance attitude sensing. Because body dynamics are primarily influenced by the impulses delivered by the legs, the successful design and control of single leg energetics is a major focus of this work. The leg stores energy during flight by adding tension to a spring acting across an articulated knee. During stance, the spring energy is quickly released using a novel capstan design. As a precursor to quadruped control, two intelligent strategies have been developed for verification on a one-legged system. The Levenberg-Marquardt on-line learning method is applied to a simple heuristic controller and provides good control over height and forward velocity. Direct adaptive fuzzy control, which requires no system modeling but is more computationally expensive, exhibits better response. Using these techniques we have been successful in operating one leg at speeds necessary for a dynamic gallop of a machine of this scale. Another necessary component of quadruped locomotion is high-resolution and high-bandwidth attitude sensing. The large ground impact accelerations, which cause problems for any single traditional sensor, are overcome through the use of an inertial sensing approach using updates from optical sensors and vehicle kinematics

A prospective, randomised, controlled clinical trial to evaluate the effect of nitrous oxide on propofol requirement in elective craniotomy in which entropy was used to measure depth of anaesthesia

Background: Propofol is known to have a favourable effect on cerebral haemodynamics. The role of nitrous oxide (N2O) in neurosurgical anaesthesia is still being debated. The primary aim of this study was to assess the dose-sparing effect of N2O on propofol infusion maintenance dosing.Method: Fifty American Society of Anesthesiology (ASA) grade I and II adults scheduled for elective craniotomies for supratentorial tumours were enrolled in the study. The patients received a standard anaesthetic comprising a fentanyl 2 μg/kg bolus prior to propofol induction. Anaesthesia was maintained with an infusion of fentanyl (2 μg/kg/hour), atracurium and propofol. The patients were randomised into two groups. Group A received 67% N2O. Group B did not receive N2O concomitantly with the propofol infusion. Entropy was used to guide the titration of the propofol infusion in both groups.Results: The propofol maintenance dose requirements were 47% lower in Group A (54.30 ± 11.47 μg/kg/minute) vs. Group B (102.30 ± 14.00 μg/kg/minute), (p &lt; 0.001).Conclusion: The use of supplemental N2O significantly decreased propofol infusion rate requirements, compared with the propofol infusion alone, in ASA I and II patients undergoing elective supratentorial tumour excision.Keywords: anaesthesia depth, entropy, intracranial surgery, nitrous oxide, propofo

Oscillatory, Computational, and Behavioral Evidence for Impaired GABAergic Inhibition in Schizophrenia

The dysconnection hypothesis of schizophrenia (SZ) proposes that psychosis is best understood in terms of aberrant connectivity. Specifically, it suggests that dysconnectivity arises through aberrant synaptic modulation associated with deficits in GABAergic inhibition, excitation-inhibition balance and disturbances of high-frequency oscillations. Using a computational model combined with a graded-difficulty visual orientation discrimination paradigm, we demonstrate that, in SZ, perceptual performance is determined by the balance of excitation-inhibition in superficial cortical layers. Twenty-eight individuals with a DSM-IV diagnosis of SZ, and 30 age- and gender-matched healthy controls participated in a psychophysics orientation discrimination task, a visual grating magnetoencephalography (MEG) recording, and a magnetic resonance spectroscopy (MRS) scan for GABA. Using a neurophysiologically informed model, we quantified group differences in GABA, gamma measures, and the predictive validity of model parameters for orientation discrimination in the SZ group. MEG visual gamma frequency was reduced in SZ, with lower peak frequency associated with more severe negative symptoms. Orientation discrimination performance was impaired in SZ. Dynamic causal modeling of the MEG data showed that local synaptic connections were reduced in SZ and local inhibition correlated negatively with the severity of negative symptoms. The effective connectivity between inhibitory interneurons and superficial pyramidal cells predicted orientation discrimination performance within the SZ group; consistent with graded, behaviorally relevant, disease-related changes in local GABAergic connections. Occipital GABA levels were significantly reduced in SZ but did not predict behavioral performance or oscillatory measures. These findings endorse the importance, and behavioral relevance, of GABAergic synaptic disconnection in schizophrenia that underwrites excitation-inhibition balance

Cost-effectiveness analysis of nivolumab for the treatment of squamous cell carcinoma of the head and neck in the United States.

Aim: To assess the cost-effectiveness of nivolumab monotherapy for recurrent/metastatic (R/M) squamous cell carcinoma of the head and neck (SCCHN) in the US.Methods: We constructed a cohort-based partitioned survival model for three health states (progression-free, progressed disease, and death). Using overall survival and progression-free survival data from the nivolumab and investigator's choice (IC) arms of the CheckMate 141 study, the proportion of patients in each health state was estimated by parametric modeling over a 25-year period. Cost, utility, adverse event, and disease management data inputs were obtained from relevant literature and applied to patients in each health state. A scenario analysis was conducted assuming increased uptake of subsequent immunotherapies. A one-way deterministic sensitivity analysis assessed the impact of variation in multiple parameters. A probabilistic sensitivity analysis in which probabilistic distributions were applied to each input during 1,000 model iterations was also conducted.Results: Total costs incurred were higher with nivolumab ($101,552) than with IC ($38,067). Nivolumab was associated with a higher number of life-years (LY; 1.21) and quality-adjusted life-years (QALYs; 0.89), compared with IC (0.68 and 0.42, respectively). The incremental cost-effectiveness ratio for nivolumab compared with IC was $134,438 per QALY, and this remained qualitatively similar when increased uptake of subsequent immunotherapies was assumed ($129,603 per QALY). Sensitivity analyses supported these findings.Conclusions: These results suggest that, at a willingness-to-pay threshold of $150,000 per QALY, nivolumab is a cost-effective option for therapy of SCCHN in the US

Accretion, Primordial Black Holes and Standard Cosmology

Primordial Black Holes evaporate due to Hawking radiation. We find that the evaporation time of primordial black holes increase when accretion of radiation is included.Thus depending on accretion efficiency more and more number of primordial black holes are existing today, which strengthens the idea that the primordial black holes are the proper candidate for dark matter.Comment: 11 pages, 3 figure