Um novo gerador central de padrões de locomoção para geração de trajectórias em tempo real de robôs quadrúpedes

Neste trabalho estuda-se a geração de trajectórias em tempo real de um robô quadrúpede. As trajectórias podem dividir-se em duas componentes: rítmica e discreta. A componente rítmica das trajectórias é modelada por uma rede de oito osciladores acoplados, com simetria 4 2 Z  Z . Cada oscilador é modelado matematicamente por um sistema de Equações Diferenciais Ordinárias. A referida rede foi proposta por Golubitsky, Stewart, Buono e Collins (1999, 2000), para gerar os passos locomotores de animais quadrúpedes. O trabalho constitui a primeira aplicação desta rede à geração de trajectórias de robôs quadrúpedes. A derivação deste modelo baseia-se na biologia, onde se crê que Geradores Centrais de Padrões de locomoção (CPGs), constituídos por redes neuronais, geram os ritmos associados aos passos locomotores dos animais. O modelo proposto gera soluções periódicas identificadas com os padrões locomotores quadrúpedes, como o andar, o saltar, o galopar, entre outros. A componente discreta das trajectórias dos robôs usa-se para ajustar a parte rítmica das trajectórias. Este tipo de abordagem é útil no controlo da locomoção em terrenos irregulares, em locomoção guiada (por exemplo, mover as pernas enquanto desempenha tarefas discretas para colocar as pernas em localizações específicas) e em percussão. Simulou-se numericamente o modelo de CPG usando o oscilador de Hopf para modelar a parte rítmica do movimento e um modelo inspirado no modelo VITE para modelar a parte discreta do movimento. Variou-se o parâmetro g e mediram-se a amplitude e a frequência das soluções periódicas identificadas com o passo locomotor quadrúpede Trot, para variação deste parâmetro. A parte discreta foi inserida na parte rítmica de duas formas distintas: (a) como um offset, (b) somada às equações que geram a parte rítmica. Os resultados obtidos para o caso (a), revelam que a amplitude e a frequência se mantêm constantes em função de g. Os resultados obtidos para o caso (b) revelam que a amplitude e a frequência aumentam até um determinado valor de g e depois diminuem à medida que o g aumenta, numa curva quase sinusoidal. A variação da amplitude das soluções periódicas traduz-se numa variação directamente proporcional na extensão do movimento do robô. A velocidade da locomoção do robô varia com a frequência das soluções periódicas, que são identificadas com passos locomotores quadrúpedes.

Habiter l’enfance approche de l’habitat dans les premiers récits d’Eugène Savitzkaya

L‘auteur entreprend l‘approche de l‘importance particulière du rapport aux espaces habités ou inhabités dans l‘imaginaire et la construction narrative des textes fictionnels de l‘écrivain belge francophone contemporain Eugène Savitzkaya de Mentir (1977) jusqu‘à En vie (1994). Il s‘agit de souligner la pertinence de l‘habitat en tant que support des imaginaires de l‘enfance et de la poétisation du quotidien. L‘espace s‘avère en effet un repère symbolique et poétique chez Savitzkaya ; ce qui lui permet de s‘exprimer et d‘exprimer son enfance sur un mode autofictionnel.

Complex order biped rhythms

Animal locomotion is a complex process, involving the central pattern generators (neural networks, located in the spinal cord, that produce rhythmic patterns), the brainstem command systems, the steering and posture control systems and the top layer structures that decide which motor primitive is activated at a given time. Pinto and Golubitsky studied an integer CPG model for legs rhythms in bipeds. It is a four-coupled identical oscillators' network with dihedral symmetry. This paper considers a new complex order central pattern generator (CPG) model for locomotion in bipeds. A complex derivative Dα±jβ, with α, β ∈ ℜ+, j = √-1, is a generalization of the concept of an integer derivative, where α = 1, β = 0. Parameter regions where periodic solutions, identified with legs' rhythms in bipeds, occur, are analyzed. Also observed is the variation of the amplitude and period of periodic solutions with the complex order derivative.

Fractional control of legged robots

Fractional calculus (FC) is being used in several distinct areas of science and engineering, being recognized its ability to yield a superior modelling and control in many dynamical systems. This article illustrates the application of FC in the area of robot control. A Fractional Order PDμ controller is proposed for the control of an hexapod robot with 3 dof legs. It is demonstrated the superior performance of the system by using the FC concepts.

Fractional central pattern generators for bipedal locomotion

Locomotion has been a major research issue in the last few years. Many models for the locomotion rhythms of quadrupeds, hexapods, bipeds and other animals have been proposed. This study has also been extended to the control of rhythmic movements of adaptive legged robots. In this paper, we consider a fractional version of a central pattern generator (CPG) model for locomotion in bipeds. A fractional derivative D α f(x), with α non-integer, is a generalization of the concept of an integer derivative, where α=1. The integer CPG model has been proposed by Golubitsky, Stewart, Buono and Collins, and studied later by Pinto and Golubitsky. It is a network of four coupled identical oscillators which has dihedral symmetry. We study parameter regions where periodic solutions, identified with legs’ rhythms in bipeds, occur, for 0<α≤1. We find that the amplitude and the period of the periodic solutions, identified with biped rhythms, increase as α varies from near 0 to values close to unity.

Tuning and application of integer and fractional order PID controllers

Fractional calculus (FC) is widely used in most areas of science and engineering, being recognized its ability to yield a superior modeling and control in many dynamical systems. In this perspective, this article illustrates two applications of FC in the area of control systems. Firstly, is presented a methodology of tuning PID controllers that gives closed-loop systems robust to gain variations. After, a fractional-order PID controller is proposed for the control of an hexapod robot with three dof legs. In both cases, it is demonstrated the system's superior performance by using the FC concepts.

Integer vs. fractional order control of a hexapod robot

This paper studies the performance of integer and fractional order controllers in a hexapod robot with joints at the legs having viscous friction and flexibility. For that objective the robot prescribed motion is characterized in terms of several locomotion variables. The controller performance is analised through the Nyquist stability criterion. A set of model-based experiments reveals the influence of the different controller implementations upon the proposed metrics.

Afibrinogenemia following snake bite (Crotalus durissus terrificus)

This paper reports two cases of afibrinogenemia with normal platelet count following Crotalus durissus terrificus, snake bite Both patients presented high output acute renal failure and case two also had increased blood levels of CPK and LDH compatible with the diagnosis of rhabdomyolysis. Case one was given an unknown amount of antivenom and was treated with epsilonaminocaproic acid and a fresh whole blood transfusion and showed recovery of the coagulation disturbance 40 hours following these measures. Case two was given an adequate amount of crotalide antivenom and the coagulation tests performed 12 hours later showed a normal partial thromboplastin time and fibrinogen 86 mg/100ml. Case one presented no haemorrhagic disturbances. Case two presented persistent bleeding following venopuncture and after removal of impetigo crust in the legs. Acute renal failure was treated conservatively and both patients were discharged from the hospital with recovery of the renal function.

Desenvolvimento de um robô com pernas inspirado no Alfaiate

A elaboração deste trabalho surge no âmbito da unidade curricular de Tese/Dissertação, integrada no Mestrado em Engenharia Eletrotécnica e de Computadores do Instituto Superior de Engenharia do Porto. O trabalho enquadra-se no âmbito da robótica de inspiração biológica, mais concretamente no desenvolvimento de um robô que apresente caraterísticas de locomoção similares ao inseto Alfaiate, modificando para este efeito um robô hexápode já existente. Inicialmente efetuou-se um estudo sobre a biologia do Alfaiate e dos vários tipos de padrões de locomoção adotados pelos animais. De seguida foi realizado um estudo sobre alguns robôs já existentes inspirados neste inseto. Após a realização desta fase de estudo, foram implementadas modificações ao robô hexápode, de forma a este conseguir apoiar-se e movimentar-se sobre a superfície da água. Para tal foram utilizados apoios em esferovite para as pernas, servomotores para a atuação e um sensor de IRPD para orientar o robô na sua trajetória. Em termos de controlo da estabilidade do corpo utilizou-se um giroscópio para permitir ao robô manter o seu corpo horizontal durante a locomoção em águas agitadas. Este trabalho termina com a realização de testes a diferentes padrões de locomoção, de forma a validar o que apresenta a melhor resposta em termos de velocidade.

Snakebites by Crotalus durissus ssp in children in Campinas, São Paulo, Brazil

From January, 1984 to March, 1999, 31 children under 15 y old (ages 1-14 y, median 8 y) were admitted after being bitten by rattlesnakes (Crotalus durissus ssp). One patient was classified as "dry-bite", 3 as mild envenoming, 9 as moderate envenoming and 18 as severe envenoming. Most patients had neuromuscular manifestations, such as palpebral ptosis (27/31), myalgia (23/31) and weakness (20/31). Laboratory tests suggesting rhabdomyolysis included an increase in total blood creatine kinase (CK, 28/29) and lactate dehydrogenase (LDH, 25/25) levels and myoglobinuria (14/15). The main local signs and symptoms were slight edema (20/31) and erythema (19/31). Before antivenom (AV) administration, blood coagulation disorders were observed in 20/25 children that received AV only at our hospital (incoagulable blood in 17/25). AV early reactions were observed in 20 of these 25 cases (9/9 patients not pretreated and 11/16 patients pretreated with hydrocortisone and histamine H1 and H2 antagonists). There were no significant differences in the frequency of patients with AV early reactions between the groups that were and were not pretreated (Fisher's exact test, p = 0.12). Patients admitted less than and more than 6 h after the bite showed the same risk of developing severe envenoming (Fisher's exact test, p = 1). No children of the first group (< 6 h) showed severe complications whereas 3/6 children admitted more than 6 h post-bite developed acute renal failure. Patients bitten in the legs had a higher risk of developing severe envenoming (Fisher's exact test, p = 0.04). There was a significant association between both total CK and LDH blood enzyme levels and severity (p < 0.001 for CK and p < 0.001 for LDH; Mann-Whitney U test). No deaths were recorded.

Erythema induratum of Bazin and renal tuberculosis: report of an association

Erythema induratum of Bazin is a disease that usually affects women, in whom erythematous subcutaneous nodules and plaques appear on the posterior part of the lower extremities, some of which ulcerate. In many countries, tuberculosis is still the main etiologic factor. We report a case of a 40-year-old woman who presented a course of protracted and recurrent episodes over five years of cutaneous lesions on her legs. These tend to involute, but new crops appear at irregular intervals. It was painful, erythematous-violaceous nodules, some of which drained a reddish secretion. The histopathologic features of the lesions demonstrated inflammatory infiltration, with predominance of neutrophils in dermis and hypodermis, necrotizing vasculitis in the arterioles and septal fibrosis. There was no granuloma. The Ziehl-Neelsen stain did not revealed acid-fast bacilli, and the culture of biopsy specimen was negative. The tuberculin skin test was strongly positive (17 mm). The chest X-ray was normal. Few months later she presented adynamia and urinary complaints, such as polacyuria and dysuria. It has been done an urynalysis, which demonstrated acid pH urine, sterile pyuria and microscopic hematuria. It was then raised the diagnostic hypothesis of renal tuberculosis. The urine culture for M. tuberculosis was positive in two out of ten samples. The treatment was instituted with rifampin, isoniazid and pyrazinamide, with complete regression. This case illustrates a clear association between erythema induratum and renal tuberculosis, demonstrated by the remission of the cutaneous lesions after the treatment of the renal tuberculosis.

Bipedal Locomotion: A Fractional CPG for Generating Patterns

Proceedings of the 10th Conference on Dynamical Systems Theory and Applications

Gait Analysis of Natural and Artificial Walking Systems

This paper studies periodic gaits of multi-legged locomotion systems based on dynamic models. The purpose is to determine the system performance during walking and the best set of locomotion variables. For that objective the prescribed motion of the robot is completely characterized in terms of several locomotion variables such as gait, duty factor, body height, step length, stroke pitch, foot clearance, legs link lengths, foot-hip offset, body and legs mass and cycle time. In this perspective, we formulate three performance measures of the walking robot namely, the mean absolute energy, the mean power dispersion and the mean power lost in the joint actuators per walking distance. A set of model-based experiments reveals the influence of the locomotion variables in the proposed indices.

Quasi-periodic Gaits in Multi-legged Robots

5th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines

Energy analysis of Multi-legged Locomotion Systems

4th International Conference on Climbing and Walking Robots - From Biology to Industrial Applications