Multi-Objective Optimization for Speed and Stability of a Sony Aibo Gait

Locomotion is a fundamental facet of mobile robotics that many higher level aspects rely on. However, this is not a simple problem for legged robots with many degrees of freedom. For this reason, machine learning techniques have been applied to the domain. Although impressive results have been achieved, there remains a fundamental problem with using most machine learning methods. The learning algorithms usually require a large dataset which is prohibitively hard to collect on an actual robot. Further, learning in simulation has had limited success transitioning to the real world. Also, many learning algorithms optimize for a single fitness function, neglecting many of the effects on other parts of the system. As part of the RoboCup 4-legged league, many researchers have worked on increasing the walking/gait speed of Sony AIBO robots. Recently, the effort shifted from developing a quick gait, to developing a gait that also provides a stable sensing platform. However, to date, optimization of both velocity and camera stability has only occurred using a single fitness function that incorporates the two objectives with a weighting that defines the desired tradeoff between them. However, the true nature of this tradeoff is not understood because the pareto front has never been charted, so this a priori decision is uninformed. This project applies the Nondominated Sorting Genetic Algorithm-II (NSGA-II) to find a pareto set of fast, stable gait parameters. This allows a user to select the best tradeoff between balance and speed for a given application. Three fitness functions are defined: one speed measure and two stability measures. A plot of evolved gaits shows a pareto front that indicates speed and stability are indeed conflicting goals. Interestingly, the results also show that tradeoffs also exist between different measures of stability

Spatial and temporal variability in the relative contribution of king mackerel (Scomberomorus cavalla) stocks to winter mixed fisheries off South Florida

King mackerel (Scomberomorus cavalla) are ecologically and economically important scombrids that inhabit U.S. waters of the Gulf of Mexico (GOM) and Atlantic Ocean (Atlantic). Separate migratory groups, or stocks, migrate from eastern GOM and southeastern U.S. Atlantic to south Florida waters where the stocks mix during winter. Currently, all winter landings from a management-defined south Florida mixing zone are attributed to the GOM stock. In this study, the stock composition of winter landings across three south Florida sampling zones was estimated by using stock-specific otolith morphological variables and Fourier harmonics. The mean accuracies of the jackknifed classifications from stepwise linear discriminant function analysis of otolith shape variables ranged from 66−76% for sex-specific models. Estimates of the contribution of the Atlantic stock to winter landings, derived from maximum likelihood stock mixing models, indicated the contribution was highest off southeastern Florida (as high as 82.8% for females in winter 2001−02) and lowest off southwestern Florida (as low as 14.5% for females in winter 2002−03). Overall, results provided evidence that the Atlantic stock contributes a certain, and perhaps a significant (i.e., ≥50%), percentage of landings taken in the management-defined winter mixing zone off south Florida, and the practice of assigning all winter mixing zone landings to the GOM stock shoul

Wearable activity sensors and early pain after total joint arthroplasty.

A prospective observational cohort of 20 primary total hip arthroplasty (n = 12) and total knee arthroplasty (n = 8) patients (mean age: 63 ± 6 years) was passively monitored with a consumer-level wearable activity sensor before and 6 weeks after surgery. Patients were clustered by minimal change or decreased activity using sensor data. Decreased postoperative activity was associated with greater pain reduction (-5.5 vs -2.0, P = .03). All patients surpassed minimal clinical benefit thresholds of total joint arthroplasty (TJA) (Hip Disability and Osteoarthritis Score Junior 30.5 vs 20.8, P = .23; Knee Injury and Osteoarthritis Outcome Score Junior 23.3 vs 18.2, P = .77) within 6 weeks. Patients who objectively "take it easy" after TJA may experience less pain with no difference in early subjective outcome. Remote, passive analysis of outpatient wearable sensor data may permit real-time detection of early problems after TJA

Responses of soil carbon, nitrogen and cations to the frequency and seasonality of prescribed burning in a Cape Cod oak-pine forest

Author Posting. © The Author(s), 2007. This is the author's version of the work. It is posted here by permission of Elsevier B.V. for personal use, not for redistribution. The definitive version was published in Forest Ecology and Management 250 (2007): 234-243, doi:10.1016/j.foreco.2007.05.023.Fire is an important component of the historic disturbance regime of oak and pine forests that occupy sandy soils of the coastal outwash plain of the northeastern U.S. Today prescribed fire is used for fuel reduction and for restoration and maintenance of habitat for rare plant, animal and insect species. We evaluated the effects of the frequency and seasonality of prescribed burning on the soils of a Cape Cod, Massachusetts coastal oak-pine forest. We compared soil bulk density, pH and acidity, total extractable cations and total soil C and N in unburned plots and in plots burned over a 12-year period, along a gradient of frequency (every 1-to-4 years), in either spring (March/April) or summer (July/August). Summer burning decreased soil organic horizon thickness more than spring burning, but only summer burning every 1 to 2 years reduced organic horizons compared with controls. Burning increased soil bulk density of the organic horizon only in the annual summer burns and did not affect bulk density of mineral soil. Burn frequency had no effect on pH in organic soil, but burning every year in summer increased pH of organic soil from 4.01 to 4.95 and of mineral soil from 4.20 to 4.79. Burning had no significant effect on organic or mineral soil percent C, percent N, C:N, soil exchangeable Ca2+, Mg2+, K+ or total soil C or N. Overall effects of burning on soil chemistry were minor. Our results suggest that annual summer burns may be required to reduce soil organic matter thickness to produce conditions that would regularly allow seed germination for oak and for grassland species that are conservation targets. Managers may have to look to other measures, such as combinations of fire with mechanical treatments (e.g., soil scarification) to further promote grasses and forbs in forests where establishment of these plants is a high priority.Funding was provided by the National Park Service, The Nature Conservancy via a grant from the Mellon Foundation, the Joint Fire Science Program, and a grant from the Mellon Foundation to MBL

Mathematical study of the effects of applied stress, T-stress and back stress in photoelastic fringe patterns

This work is an attempt at developing a novel mathematical model to describe the stresses near the crack tip, taking into consideration the effects of plasticity. The focus is on describing how the applied stress normal to the crack, herein referred to as the K-stress, Tstress and ‘back stress’ induced by plasticity along the crack flank and in the crack tip plastic zone influence the crack tip elastic stress fields. The important features emerging from this study are that the sign and magnitude of each term can substantially alter the crack tip stress fields, and hence influence the photoelastic fringe patterns. To validate the mathematical model, polycarbonate compact tension specimens have been used and observed in a transmission polariscope in order to study the single effect of a pure ‘back stress’ (acting as an interfacial shear stress at the elastic-plastic boundary) and combination effects of K-stress, Tstress and ‘back stress’. It is observed that the fringe patterns obtained through experiment show good agreement with those derived by mathematical modelling

Extension of the CJP model to mixed mode I and mode II

The present authors have previously proposed a novel ‘plastic inclusion’ approach for dealing withthe local plasticity which occurs at the tip of a growing fatigue crack. This meso-scale model provides amodified set of crack tip stress intensity factors that include the magnitude of plastic wake-induced crack tipshielding and which have the potential to help resolve some long-standing controversies associated withplasticity-induced closure. The present work extends the CJP model to deal with the case of mixed Mode I andMode II loading and thus opens up enhanced possibilities for testing it on inclined cracks in metallic specimens.This extension requires the addition of only one new force parameter to the model, i.e. an anti-symmetric shearforce on either side of the crack

Ybp1 and Gpx3 signaling in Candida albicans govern hydrogen peroxide-induced oxidation of the Cap1 transcription factor and macrophage escape

Peer reviewedPublisher PD

The human 'pitch center' responds differently to iterated noise and Huggins pitch

A magnetoencephalographic marker for pitch analysis (the pitch onset response) has been reported for different types of pitch-evoking stimuli, irrespective of whether the acoustic cues for pitch are monaurally or binaurally produced. It is claimed that the pitch onset response reflects a common cortical representation for pitch, putatively in lateral Heschl's gyrus. The result of this functional MRI study sheds doubt on this assertion. We report a direct comparison between iterated ripple noise and Huggins pitch in which we reveal a different pattern of auditory cortical activation associated with each pitch stimulus, even when individual variability in structure-function relations is accounted for. Our results suggest it may be premature to assume that lateral Heschl's gyrus is a universal pitch center