A literature review on the optimization of legged robots

Over the last two decades the research and development of legged locomotion robots has grown steadily. Legged systems present major advantages when compared with ‘traditional’ vehicles, because they allow locomotion in inaccessible terrain to vehicles with wheels and tracks. However, the robustness of legged robots, and especially their energy consumption, among other aspects, still lag behind mechanisms that use wheels and tracks. Therefore, in the present state of development, there are several aspects that need to be improved and optimized. Keeping these ideas in mind, this paper presents the review of the literature of different methods adopted for the optimization of the structure and locomotion gaits of walking robots. Among the distinct possible strategies often used for these tasks are referred approaches such as the mimicking of biological animals, the use of evolutionary schemes to find the optimal parameters and structures, the adoption of sound mechanical design rules, and the optimization of power-based indexes.

Object transportation by multiple mobile robots controlled by attractor dynamics: theory and implementation

Dynamical systems theory is used as a theoretical language and tool to design a distributed control architecture for teams of mobile robots, that must transport a large object and simultaneously avoid collisions with (either static or dynamic) obstacles. Here we demonstrate in simulations and implementations in real robots that it is possible to simplify the architectures presented in previous work and to extend the approach to teams of n robots. The robots have no prior knowledge of the environment. The motion of each robot is controlled by a time series of asymptotical stable states. The attractor dynamics permits the integration of information from various sources in a graded manner. As a result, the robots show a strikingly smooth an stable team behaviour.

Evolutionary trajectory optimization for redundant robots

The trajectory planning of redundant robots is an important area of research and efficient optimization algorithms have been investigated in the last years. This paper presents a new technique that combines the closed-loop pseudoinverse method with genetic algorithms. In this case the trajectory planning is formulated as an optimization problem with constraints.

Os robots na aprendizagem da trignometria

Este trabalho foi elaborado no âmbito do Mestrado de Ensino de Matemática do 3º Ciclo do Ensino Básico e Secundário da Universidade da Madeira, no ano letivo de 2012/2013. Os grandes objetivos deste estudo são os de analisar qualitativamente uma atividade, para compreender como é que os alunos aprendem trigonometria, utilizando os robots NXT da Lego. De igual modo, se procede também, de forma sucinta, à apresentação do trabalho desenvolvido pelo grupo de estágio, ao longo da Prática de Ensino Supervisionado. Para a realização da investigação, foram recolhidos dados pelo investigador, através de registos audiovisuais do trabalho dos alunos, com câmara e vídeo. Com o fim de melhor estudar o problema aqui apresentado, o mesmo foi dissecado em três questões de investigação: (a) Que aprendizagens os alunos realizam com a montagem, programação e interação com os robots? (b) De que forma é que os alunos aprendem trigonometria, quando utilizam os Robots? (c) Quais as dificuldades manifestadas pelos alunos na resolução de problemas? As questões de investigação iluminaram a análise dos dados. Das conclusões que advêm deste estudo destaca-se o papel essencial da robótica e dos materiais manipuláveis, na construção e concetualização do conhecimento dos alunos.

Development of Biomimetic Robots in the EPS Engineering Programme Capstone Project

This paper presents the development of a fish-like robot called Bro-Fish. Bro-Fish aims to be an educational toy dedicated to teaching mechanics, programming and the physics of floating objects to youngsters. The underlying intention is to awaken the interest of children for technology, especially biomimetic (biologically inspired) approaches, in order to promote sustainability and raise the level of ecological awareness. The main focus of this project was to create a robot with carangiform locomotion and controllable swimming, providing the opportunity to customize parts and experiment with the physics of floating objects. Therefore, the locomotion principles of fishes and mechanisms developed in related projects were analysed. Inspired by this background knowledge, a prototype was designed and implemented. The main achievement is the new tail mechanism that propels the robot. The tail resembles the undulation motion of fish bodies and is actuated in an innovative way, triggered by an elegant movement of a rotating helicoidal. First experimental tests revealed the potential of the proposed methodology to effectively generate forward propulsion.

Abordagem Mini Invasiva da Necrose Pancreática Infectada

A abordagem cirúrgica da pancreatite aguda grave está fundamentalmente centrada na complicação séptica da necrose. No doente com pancreatite aguda necrosante em sepsis severa ou shock séptico com síndrome de disfunção multiorgânica/falência multiorgânica (MODS/MOF) o objectivo principal é o controlo de foco séptico. Se possível deve proceder-se a drenagem percutânea com controlo imagiológico por Tomografia Computorizada ou ultrasonografia (TC/US) das colecções fluidas infectadas. No caso de sequestro sólido infectado, tem que se proceder a sequestrectomia, que quase invariavelmente tem de ser repetida. Não há uma técnica ideal, mas parece haver evidências que uma abordagem mini-invasiva repetida, está associada a menor morbilidade e menos complicações, limitando porventura a resposta inflamatória à agressão cirúrgica.

Augmentation cystoplasty using pedicled and de-epithelialized gastric patches in the mini-pig model.

PURPOSE: The most common methods of bladder augmentation are gastrocystoplasty and enterocystoplasty. Gastrocystoplasty is advantageous due to minimal mucous secretion and a well developed muscular wall as well as good urodynamic properties of the patch. However, the permanent contact of urine with the gastric mucosa is not free of complications. We report the urodynamic, macroscopic and histological outcomes of a pedicled de-epithelialized gastric patch incorporated in the bladder. We compared the results to those of our previous study, which sought to analyze these techniques of patch coverage using sigmoid patches. MATERIALS AND METHODS: We performed 20 augmentation cystoplasties in the mini-pig model using a pedicled de-epithelialized gastric patch and 5 techniques of patch coverage. RESULTS: Three months after surgery all bladders had an increase in volume except those in which the auto-augmentation technique was used. However, all gastric patches were smaller compared to preoperative size. Many had irregular fibrosed inner surfaces and histological evaluation revealed a fibrosed newly formed submucosal layer with a complete urothelial coverage in every patch. No gastric mucosal remnant was found. CONCLUSIONS: De-epithelialized gastrocystoplasty is an attractive procedure that can increase bladder capacity as well as provide a complete urothelial lining without mucosal remnants. However, the success of this procedure seems to be limited by increased morbidity and fibrotic changes, and decreased surface of the patch.

Mini invasive skeletal muscle biopsy technique with a tri-axial end cut needle.

OBJECTIVE: Skeletal Muscle Biopsy is a minor surgical procedure for the diagnosis of different neuromuscular pathological conditions and has recently gained popularity also in the research field of age-related muscular modifications and sarcopenia. Few studies focused on the application of mini-invasive muscular biopsy in both normal and pathological conditions. The aim of our study was to describe a mini invasive ultrasound-guided skeletal muscular biopsy technique in complete spinal cord injured (SCI) patients and healthy controls with a tri-axial end-cut needle. PATIENTS AND METHODS: Skeletal muscle biopsies were collected from 6 chronic SCI patients and 3 healthy controls vastus lateralis muscle with a tri-axial end cut needle (Biopince© - Angiotech). Muscle samples were stained for ATPase to determine fibers composition, moreover, gene expression of cyclooxygenase-1 (COX-1) and prostaglandin E2 receptor has been analyzed by Real Time RT-PCR. RESULTS: All the procedures were perfomed easily without failures and complications. Control tissue was macroscopically thicker than SCI one. Control specimen displayed an equal distribution of type I and type II fibers, while SCI sample displayed a prevalence of type II fibers SCI specimen displayed a significant reduction in COX-1 gene expression. This mini-invasive approach was easy, accurate and with low complication rate in performing skeletal muscle biopsy in both SCI patients and controls. CONCLUSIONS: This technique could be useful in conditions in which the overall quantity of specimen required is small like for molecular biology analysis. For histological diagnostic purposes and/or conditions in which the original tissue is already pathologically modified, this technique should be integrated with more invasive techniques.

"Flying High" - Air Canada and Inniskillin

A media release announcing Air Canada's use of "Inniskillin's 1978 Chardonnay on all first class domestic flights". The announcement describes the process of making the wine and the flavour. Also included is a 1978 Chardonnay label.

Grand Bahama Club Flying Citation, 1958

A Citation from the Grand Bahama Club that reads, "This Citation is awarded to Dorothy Rungeling for having flown a single engine plane across the waters of the Gulf Stream to Grand Bahama Island. In Witness Whereof we have hereunto set our hands this 19th day of August 1958."

Article - "Those darling young women in their flying machines", 1977

A retrospective article written by Dorothy Rungeling as she recalls the the International Air Races that often began or ended in Welland-Port Colborne Airport. The article was published in the Welland Evening Tribune, 9 September 1977.

Control de seguimiento de trayectorias en sistemas no lineales con incertidumbre, aplicación a robots manipuladores Luis Alberto Rodríguez García

Tesis (Maestría en Ciencias en Ingeniería Eléctrica, con especialidad en Control). U. A. N. L.

Efectividad antimicrobiana del gel antiséptico de superoxidación versus digluconato de clorhexidina al 0.12 % en la formación de biofilms en la superficie de mini implantes ortodóncicos : estudio in-vitro.

Tesis (Maestría en Ciencias Odontológicas con Especialidad en Ortodoncia) UANL, 2011.

Guía clínica para la colocación de mini-implantes en ortodoncia.

Tesis (Maestría en Ciencias Odontológicas con Especialidad en Ortodoncia) UANL, 2011.