Towards a Comparative Measure for Legged Agility

We introduce an agility measure enabling the comparison of two very different leaping-from-rest transitions by two comparably powered but morphologically different legged robots. We use the measure to show that a flexible spine outperforms a rigid back in the leaping- from-rest task. The agility measure also sheds light on the source of this benefit: core actuation through a sufficiently powerful parallel elastic actuated spine outperforms a similar power budget applied either only to preload the spine or only to actuate the spine during the leap, as well as a rigid backed configuration of the identical machine

Laboratory on Legs: An Architechture for Adjustable Morphology with Legged Robots

For mobile robots, the essential units of actuation, computation, and sensing must be designed to fit within the body of the robot. Additional capabilities will largely depend upon a given activity, and should be easily reconfigurable to maximize the diversity of applications and experiments. To address this issue, we introduce a modular architecture originally developed and tested in the design and implementation of the X-RHex hexapod that allows the robot to operate as a mobile laboratory on legs. In the present paper we will introduce the specification, design and very earliest operational data of Canid, an actively driven compliant-spined quadruped whose completely different morphology and intended dynamical operating point are nevertheless built around exactly the same “Lab on Legs” actuation, computation, and sensing infrastructure. We will review as well, more briefly a second RHex variation, the XRL latform, built using the same components. For more information: Kod*La

Exploring the Impact of the Habitat for Humanity Home-Building Process on Partner Families\u27 Holistic Well-Being

The purpose of this study was to evaluate how participating in the Habitat for Humanity house-building process influenced participants’ purpose well-being, social well-being, community well-being, physical and mental well-being, and financial well-being, and how effective Habitat for Humanity is in aiding neighborhood revitalization within the Greater Lafayette area. The research project resulted in a presentation of quantitative data and a testimonial video that highlighted the stories of families that had worked with Habitat for Humanity. Quantitative data was gathered through a survey that addressed respondents’ levels of satisfaction within the various categories of well-being mentioned above. Testimonial information was gathered from interviews with respondents to gain a more personal insight into their stories. The majority of respondents indicated their satisfaction with the overall Habitat for Humanity process and noticeable positive impacts on all aspects of their well-being. Responses were more varied to questions regarding a sense of community within their neighborhoods and a sense of safety. Respondents also indicated occasional dissatisfaction with the inadequate level of homeowner-related education provided through the Habitat for Humanity house-building process. Habitat for Humanity might consider focusing more attention on neighborhood revitalization initiatives including a focus on a general sense of community, overall safety, and periodic check-ins with those who have previously participated in the house-building project

Free-Standing Leaping Experiments with a Power-Autonomous, Elastic-Spined Quadruped

We document initial experiments with Canid, a freestanding, power-autonomous quadrupedal robot equipped with a parallel actuated elastic spine. Research into robotic bounding and galloping platforms holds scientific and engineering interest because it can both probe biological hypotheses regarding bounding and galloping mammals and also provide the engineering community with a new class of agile, efficient and rapidly-locomoting legged robots. We detail the design features of Canid that promote our goals of agile operation in a relatively cheap, conventionally prototyped, commercial off-the-shelf actuated platform. We introduce new measurement methodology aimed at capturing our robot’s “body energy” during real time operation as a means of quantifying its potential for agile behavior. Finally, we present joint motor, inertial and motion capture data taken from Canid’s initial leaps into highly energetic regimes exhibiting large accelerations that illustrate the use of this measure and suggest its future potential as a platform for developing efficient, stable, hence useful bounding gaits. For more information: Kod*La

Female-Biased Dispersal and Gene Flow in a Behaviorally Monogamous Mammal, the Large Treeshrew (Tupaia tana)

Background: Female-biased dispersal (FBD) is predicted to occur in monogamous species due to local resource competition among females, but evidence for this association in mammals is scarce. The predicted relationship between FBD and monogamy may also be too simplistic, given that many pair-living mammals exhibit substantial extra-pair paternity. Methodology/Principal Findings: I examined whether dispersal and gene flow are female-biased in the large treeshrew (Tupaia tana) in Borneo, a behaviorally monogamous species with a genetic mating system characterized by high rates (50%) of extra-pair paternity. Genetic analyses provided evidence of FBD in this species. As predicted for FBD, I found lower mean values for the corrected assignment index for adult females than for males using seven microsatellite loci, indicating that female individuals were more likely to be immigrants. Adult female pairs were also less related than adult male pairs. Furthermore, comparison of Bayesian coalescent-based estimates of migration rates using maternally and bi-parentally inherited genetic markers suggested that gene flow is female-biased in T. tana. The effective number of migrants between populations estimated from mitochondrial DNA sequence was three times higher than the number estimated using autosomal microsatellites. Conclusions/Significance: These results provide the first evidence of FBD in a behaviorally monogamous species without mating fidelity. I argue that competition among females for feeding territories creates a sexual asymmetry in the costs an

Design and Workspace Analysis of a 6-6 Cable-Suspended Parallel Robot

Abstract − In this paper, we study the design and workspace of a 6-6 cable-suspended parallel robot. The workspace volume is characterized as the set of points where the centroid of the MP (MP) can reach with tensions in all suspension cables at a constant orientation. This paper attempts to tackle some aspects of optimal design of a 6DOF cable robot by addressing the variations of the workspace volume and the accuracy of the robot using different geometric configurations, different sizes and orientations of the MP. The global condition index is used as a performance index of a robot with respect to the force and velocity transmission over the whole workspace. The results are used for design analysis of the cable-robot for a specific motion of the MP. 1

Design and workspace analysis of a 6–6 cable-suspended

parallel robo

The Cybersecurity Competition Federation: Promoting and connecting competitions into a developmental learning and enrichment experience

In a time of global crisis in cybersecurity, competitions and related activities are rapidly emerging to provide fun and engaging ways of developing and assessing cybersecurity knowledge and skills. However, there is no neutral organization that brings them together to promote collective efforts and address common issues. This paper will describe the rationale and process for developing the Cybersecurity Competition Federation (CCF) (National Science Foundation Award DUE- 134536) which was created to facilitate a community that promotes cybersecurity competitions and related activities. CCF\u27s vision is to maintain an engaged and thriving ecosystem of cybersecurity competitions and related activities to build career awareness and cybersecurity skill to address a global shortage of cybersecurity professionals

Multimodal Imaging of Granulomatosis With Polyangiitis Aortitis Complicated by Severe Aortic Regurgitation and Complete Heart Block.

A 38-year-old man presented with exertional dyspnea and dizziness. Six months earlier, he had attended the Emergency Department following a brief syncopal episode while exercising. There were no constitutional symptoms, and no family history of inherited cardiac disease or sudden cardiac death. Past medical history was significant for Granulomatosis with Polyangiitis (GPA), with previous pulmonary hemorrhage and recurrent sinusitis requiring surgical intervention. He had been treated for a vasculitis flare in the past year. Clinical examination revealed an early diastolic murmur. An electrocardiogram showed first degree heart block with a PR interval of 400 ms and right bundle branch block, and Mobitz type II second degree atrio-ventricular (AV) block during exercise. Inflammatory markers were elevated with C-reactive protein 45 (NR <4 mg/L) and erythrocyte sedimentation rate 44 (NR <22 mm/hr). cANCA was weakly positive with anti-proteinase-3 titer 11 units (717 units when GPA first diagnosed and 53 units at prior relapse). An infection screen and troponin I were negative. Renal function was normal. A chest radiograph showed no pulmonary infiltrates. At night, he developed complete heart block (CHB) with a rate of 30 bpm (Figure 1A), but remained asymptomatic without hemodynamic disturbance