Real-Time Model-Free Deep Reinforcement Learning for Force Control of a Series Elastic Actuator

Many state-of-the art robotic applications utilize series elastic actuators (SEAs) with closed-loop force control to achieve complex tasks such as walking, lifting, and manipulation. Model-free PID control methods are more prone to instability due to nonlinearities in the SEA where cascaded model-based robust controllers can remove these effects to achieve stable force control. However, these model-based methods require detailed investigations to characterize the system accurately. Deep reinforcement learning (DRL) has proved to be an effective model-free method for continuous control tasks, where few works deal with hardware learning. This paper describes the training process of a DRL policy on hardware of an SEA pendulum system for tracking force control trajectories from 0.05 - 0.35 Hz at 50 N amplitude using the Proximal Policy Optimization (PPO) algorithm. Safety mechanisms are developed and utilized for training the policy for 12 hours (overnight) without an operator present within the full 21 hours training period. The tracking performance is evaluated showing improvements of $25$ N in mean absolute error when comparing the first 18 min. of training to the full 21 hours for a 50 N amplitude, 0.1 Hz sinusoid desired force trajectory. Finally, the DRL policy exhibits better tracking and stability margins when compared to a model-free PID controller for a 50 N chirp force trajectory.Comment: 8 pages, 5 figures, submitted to IROS 202

Stratigraphy of the Palo Duro Basin- A Status Report

Since the beginning of Bureau research into the Palo Duro Basin area in 1979, more than 150 geologic reports have been completed and published. Approximately 30 are currently in press. Because of continuing research in the area, however, a great deal of additional work still remains unpublished. This report provides an update on ongoing, as yet unpublished research into the stratigraphy of the Palo Duro Basin (fig. 1). Although investigations on some scale are being carried out on essentially all of the stratigraphic horizons in the Palo Duro Basin area (fig. 2), only those units which have recently been the focus of relatively concentrated research efforts are reported herein. This necessarily includes those units being analyzed for hydrocarbon potential (Mississippian and Pennsylvanian Systems), those that are the focus of hydrologic studies (Permian Wolfcamp Series and Permo-Triassic Dockum Group and Dewey Lake Formation), and the proposed waste repository horizon (Permian San Andres Formation). Work on other stratigraphic units is of lower priority and is being carried out peripherally. Table 1 indicates researchers responsible for contributions to this report and those who are continuing to study various stratigraphic units in the area.Bureau of Economic Geolog

Genomic analysis of circulating tumor DNA using a melanoma-specific UltraSEEK Oncogene Panel

The analysis of circulating tumor DNA provides a minimally invasive molecular interrogation that has the potential to guide treatment selection and disease monitoring. Here, the authors evaluated a custom UltraSEEK melanoma panel for the MassARRAY system, probing for 61 mutations over 13 genes. The analytical sensitivity and clinical accuracy of the UltraSEEK melanoma panel was compared with droplet digital PCR. The blinded analysis of 68 mutations detected in 48 plasma samples from stage IV melanoma patients revealed a concordance of 88% between the two platforms. Further comparison of both methods for the detection of BRAF V600E mutations in 77 plasma samples demonstrated a Cohen\u27s κ of 0.826 (bias-corrected and accelerated 95% CI, 0.669-0.946). These results indicate that the UltraSEEK melanoma panel is as sensitive as droplet digital PCR for the detection of circulating tumor DNA in this cohort of patients but highlight the need for detected variants to be confirmed orthogonally to mitigate any false-positive results. The MassARRAY system enables rapid and sensitive genotyping for the detection of multiple melanoma-associated mutations in plasma

Voting Technology, Vote-by-Mail, and Residual Votes in California, 1990-2010

This paper examines how the growth in vote-by-mail and changes in voting technologies led to changes in the residual vote rate in California from 1990 to 2010. We find that in California’s presidential elections, counties that abandoned punch cards in favor of optical scanning enjoyed a significant improvement in the residual vote rate. However, these findings do not always translate to other races. For instance, find that the InkaVote system in Los Angeles has been a mixed success, performing very well in presidential and gubernatorial races, fairly well for ballot propositions, and poorly in Senate races. We also conduct the first analysis of the effects of the rise of vote-by-mail on residual votes. Regardless of the race, increased use of the mails to cast ballots is robustly associated with a rise in the residual vote rate. The effect is so strong that the rise of voting by mail in California has mostly wiped out all the reductions in residual votes that were due to improved voting technologies since the early 1990s

Human Granulocytic Anaplasmosis and Anaplasma phagocytophilum

Understanding how Anaplasma phagocytophilum alters neutrophils will improve diagnosis, treatment, and prevention of this severe illness

Upper crustal evolution across the Juan de Fuca ridge flanks

Author Posting. © American Geophysical Union, 2008. This article is posted here by permission of American Geophysical Union for personal use, not for redistribution. The definitive version was published in Geochemistry Geophysics Geosystems 9 (2008): Q09006, doi:10.1029/2008GC002085.Recent P wave velocity compilations of the oceanic crust indicate that the velocity of the uppermost layer 2A doubles or reaches ∼4.3 km/s found in mature crust in <10 Ma after crustal formation. This velocity change is commonly attributed to precipitation of low-temperature alteration minerals within the extrusive rocks associated with ridge-flank hydrothermal circulation. Sediment blanketing, acting as a thermal insulator, has been proposed to further accelerate layer 2A evolution by enhancing mineral precipitation. We carried out 1-D traveltime modeling on common midpoint supergathers from our 2002 Juan de Fuca ridge multichannel seismic data to determine upper crustal structure at ∼3 km intervals along 300 km long transects crossing the Endeavor, Northern Symmetric, and Cleft ridge segments. Our results show a regional correlation between upper crustal velocity and crustal age. The measured velocity increase with crustal age is not uniform across the investigated ridge flanks. For the ridge flanks blanketed with a sealing sedimentary cover, the velocity increase is double that observed on the sparsely and discontinuously sedimented flanks (∼60% increase versus ∼28%) over the same crustal age range of 5–9 Ma. Extrapolation of velocity-age gradients indicates that layer 2A velocity reaches 4.3 km/s by ∼8 Ma on the sediment blanketed flanks compared to ∼16 Ma on the flanks with thin and discontinuous sediment cover. The computed thickness gradients show that layer 2A does not thin and disappear in the Juan de Fuca region with increasing crustal age or sediment blanketing but persists as a relatively low seismic velocity layer capping the deeper oceanic crust. However, layer 2A on the fully sedimented ridge-flank sections is on average thinner than on the sparsely and discontinuously sedimented flanks (330 ± 80 versus 430 ± 80 m). The change in thickness occurs over a 10–20 km distance coincident with the onset of sediment burial. Our results also suggest that propagator wakes can have atypical layer 2A thickness and velocity. Impact of propagator wakes is evident in the chemical signature of the fluids sampled by ODP drill holes along the east Endeavor transect, providing further indication that these crustal discontinuities may be sites of localized fluid flow and alteration.This research was supported by National Science Foundation grants OCE-00-02488, OCE-00-02551, and OCE-00- 02600

A Very Early-Branching Staphylococcus aureus Lineage Lacking the Carotenoid Pigment Staphyloxanthin

Here we discuss the evolution of the northern Australian Staphylococcus aureus isolate MSHR1132 genome. MSHR1132 belongs to the divergent clonal complex 75 lineage. The average nucleotide divergence between orthologous genes in MSHR1132 and typical S. aureus is approximately sevenfold greater than the maximum divergence observed in this species to date. MSHR1132 has a small accessory genome, which includes the well-characterized genomic islands, νSAα and νSaβ, suggesting that these elements were acquired well before the expansion of the typical S. aureus population. Other mobile elements show mosaic structure (the prophage φSa3) or evidence of recent acquisition from a typical S. aureus lineage (SCCmec, ICE6013 and plasmid pMSHR1132). There are two differences in gene repertoire compared with typical S. aureus that may be significant clues as to the genetic basis underlying the successful emergence of S. aureus as a pathogen. First, MSHR1132 lacks the genes for production of staphyloxanthin, the carotenoid pigment that confers upon S. aureus its characteristic golden color and protects against oxidative stress. The lack of pigment was demonstrated in 126 of 126 CC75 isolates. Second, a mobile clustered regularly interspaced short palindromic repeat (CRISPR) element is inserted into orfX of MSHR1132. Although common in other staphylococcal species, these elements are very rare within S. aureus and may impact accessory genome acquisition. The CRISPR spacer sequences reveal a history of attempted invasion by known S. aureus mobile elements. There is a case for the creation of a new taxon to accommodate this and related isolates

Reducing the environmental impact of surgery on a global scale: systematic review and co-prioritization with healthcare workers in 132 countries

Abstract Background Healthcare cannot achieve net-zero carbon without addressing operating theatres. The aim of this study was to prioritize feasible interventions to reduce the environmental impact of operating theatres. Methods This study adopted a four-phase Delphi consensus co-prioritization methodology. In phase 1, a systematic review of published interventions and global consultation of perioperative healthcare professionals were used to longlist interventions. In phase 2, iterative thematic analysis consolidated comparable interventions into a shortlist. In phase 3, the shortlist was co-prioritized based on patient and clinician views on acceptability, feasibility, and safety. In phase 4, ranked lists of interventions were presented by their relevance to high-income countries and low–middle-income countries. Results In phase 1, 43 interventions were identified, which had low uptake in practice according to 3042 professionals globally. In phase 2, a shortlist of 15 intervention domains was generated. In phase 3, interventions were deemed acceptable for more than 90 per cent of patients except for reducing general anaesthesia (84 per cent) and re-sterilization of ‘single-use’ consumables (86 per cent). In phase 4, the top three shortlisted interventions for high-income countries were: introducing recycling; reducing use of anaesthetic gases; and appropriate clinical waste processing. In phase 4, the top three shortlisted interventions for low–middle-income countries were: introducing reusable surgical devices; reducing use of consumables; and reducing the use of general anaesthesia. Conclusion This is a step toward environmentally sustainable operating environments with actionable interventions applicable to both high– and low–middle–income countries