轮式仿人机器人的ZMP建模及动态稳定判据

介绍了ZMP的概念,比较常见的几种ZMP建模方法,提出将高效牛顿-欧拉算法(RENA)与ZMP的概念相结合的迭代ZMP建模方法,并利用该方法完成轮式仿人机器人的ZMP建模.通过模型分析,得出该轮式仿人机器人的ZMP简化计算公式.最后得出此类轮式仿人机器人的稳定性判据及稳定度的定义.

一种基于反作用力的仿人机器人ZMP建模与测量

“零力矩点”是判定仿人机器人动态稳定运动的重要指标。本文根据零力矩点的概念,利用机器人车体的几何及动力学关系,建立基于反作用力的正交轮式移动仿人机器人的零力矩点模型;提出了基于电流传感器、电机编码器等传感器的零力矩点的实时测量方法,并给出了该方法的结构框图。由于轮式移动仿人机器人与地面呈点式接触,难于安装力传感器,所以这种方法尤其适用于轮式移动仿人机器人。

Improved joint control using a genetic algorithm for a humanoid robot

This paper describes experiments conducted in order to simultaneously tune 15 joints of a humanoid robot. Two Genetic Algorithm (GA) based tuning methods were developed and compared against a hand-tuned solution. The system was tuned in order to minimise tracking error while at the same time achieve smooth joint motion. Joint smoothness is crucial for the accurate calculation of online ZMP estimation, a prerequisite for a closedloop dynamically stable humanoid walking gait. Results in both simulation and on a real robot are presented, demonstrating the superior smoothness performance of the GA based methods.

Evolving a locus based gait for a humanoid robot

This paper describes a process for evolving a stable humanoid walking gait that is based around parameterised loci of motion. The parameters of the loci are chosen by an evolutionary process based on the criteria that the robot's ZMP (zero moment point) follows a desirable path. The paper illustrates the evolution of a straight line walking gait. The gait has been tested on a 1.2 m tall humanoid robot (GuRoo). The results, apart form illustrating a successful walk, illustrate the effectiveness of the ZMP path criterion in not only ensuring a stable walk, but also in achieving efficient use of the actuators.

Mechanism of growth inhibition of intraerythrocytic stages of Plasmodium falciparum by 5-aminoimidazole-4-carboxamide ribonucleoside (AICAR)

Purine nucleotide synthesis in Plasmodium falciparum takes place solely by the purine salvage pathway in which preformed purine base(s) are salvaged from the host and acted upon by a battery of enzymes to generate AMP and GMP. Inhibitors of this pathway have a potent effect on the in vitro growth of P. falciparum and are hence, implicated as promising leads for the development of new generation anti-malarials. Here, we describe the mechanism of inhibition of the intraerythrocytic growth of P. falciparum by the purine nucleoside precursor, 5-aminoimidazole-4-carboxamide ribonucleoside (AICAR). Our results show that AICAR toxicity is mediated through the erythrocyte in which AICAR is phosphorylated to its nucleotide, ZMP. Further, purine metabolite labeling of the parasitized erythrocytes by H-3]-hypoxanthine, in the presence of AICAR, showed a significant decrease in radioactive counts in adenylate fractions but not in guanylate fractions. The most dramatic effect on parasite growth was observed when erythrocytes pretreated with AICAR were used in culture. Pretreatment of erythrocytes with AICAR led to significant intracellular accumulation of ZMP and these erythrocytes were incapable of supporting parasite growth. These results implicate that in addition to the purine salvage pathway in P. falciparum, AICAR alters the metabolic status of the erythrocytes, which inhibits parasite growth. As AICAR and ZMP are metabolites in the human serum and erythrocytes, our studies reported here throw light on their possible role in disease susceptibility, and also suggests the possibility of AICAR being a potential prophylactic or chemotherapeutic anti-malarial compound. (C) 2011 Elsevier B.V. All rights reserved.

Pattern formation during Caenorhabditis Elegans vulval development

Pattern formation during animal development involves at least three processes: establishment of the competence of precursor cells to respond to intercellular signals, formation of a pattern of different cell fates adopted by precursor cells, and execution of the cell fate by generating a pattern of distinct descendants from precursor cells. I have analyzed the fundamental mechanisms of pattern formation by studying the development of Caenorhabditis elegans vulva.

In C. elegans, six multipotential vulval precursor cells (VPCs) are competent to respond to an inductive signal LIN-3 (EGF) mediated by LET- 23 (RTK) and a lateral signal via LIN-12 (Notch) to form a fixed pattern of 3°-3°-2°-1°-2°-3°. Results from expressing LIN-3 as a function of time in animals lacking endogenous LIN-3 indicate that both VPCs and VPC daughters are competent to respond to LIN-3. Although the daughters of VPCs specified to be 2° or 3° can be redirected to adopt the 1°fate, the decision to adopt the 1° fate is irreversible. Coupling of VPC competence to cell cycle progression reveals that VPC competence may be periodic during each cell cycle and involve LIN-39 (HOM-C). These mechanisms are essential to ensure a bias towards the 1° fate, while preventing an excessive response.

After adopting the 1° fate, the VPC executes its fate by dividing three rounds to form a fixed pattern of four inner vulF and four outer vulE descendants. These two types of descendants can be distinguished by a molecular marker zmp-1::GFP. A short-range signal from the anchor cell (AC), along with signaling between the inner and outer 1° VPC descendants and intrinsic polarity of 1° VPC daughters, patterns the 1° lineage. The Ras and the Wnt signaling pathways may be involved in these mechanisms.

The temporal expression pattern of egl-17::GFP, another marker ofthe 1° fate, correlates with three different steps of 1° fate execution: the commitment to the 1° fate, as well as later steps before and after establishment of the uterine-vulval connection. Six transcription factors, including LIN-1(ETS), LIN-39 (HOM-C), LIN-11(LIM), LIN-29 (zinc finger), COG-1 (homeobox) and EGL-38 (PAX2/5/8), are involved in different steps during 1° fate execution.

蛇形机器人抬头运动分析

蛇形机器人需要抬头运动来获得环境信息.本文将蛇形曲线的蜿蜒运动步伐函数作适当改进后应用到蛇形机器人的抬头运动中,实现了蛇形机器人的动态抬头规划,并建立了动力学方程,对抬头运动的动力学作了分析.对抬头过程中ZMP的分析证明了运动规划的有效性.最后用仿真和实验验证了所提出的理论。

轮式仿人机器人动态稳定性分析及腰部控制研究

仿人机器人研究从仿生学角度具有拟人功能的智能机器人，它需要结合机构、控制、传感和材料等技术。随着社会经济与科技水平的发展，使仿人机器人引入人类环境，与人类一同工作、合作和交互成为可能，仿人机器人的研究也成为当今机器人研究中的热点内容之一。本论文以中科院沈阳自动化研究所机器人学重点实验室承担的国家863计划“十五”项目——“宜人化双臂操作型服务机器人”为依托，以本项目中的轮式仿人机器人为研究对象。本论文的主要内容包括：对项目样机中的差动腰部机构的运动学、动力学建模，腰部机构基于运动学的控制算法及实验研究；仿人机器人的整体动力学建模，基于动力学模型的腰部机构控制算法与仿真研究；依据零力矩点(ZMP)理论完成轮式仿人机器人的ZMP建模及其动态稳定性的深入分析。人类的腰部具有高度的灵活性、柔韧性，是人体系统运动的调节中枢。仿人机器人的腰部机构同样应具有调节系统平衡、协调系统运动的作用。本文中仿人机器人的腰部采用新颖的差动并联驱动的腰部机构。本文建立了该机构的运动学和动力学模型，采用分解运动速度控制实现了差动腰部机构的运动学控制，并进行了实验研究。仿人机器人是一个多自由度、非线性、具有复杂运动学、动力学特性的多刚体系统。本文在合理简化的基础上，利用高效牛顿－欧拉动力学建模方法完成了本轮式仿人机器人的整体动力学建模，分析了各关节间的动力学影响，并在此基础上给出了仿人机器人腰部机构动力学模型，该模型考虑了车体、手臂运动及手部外负载的动力学影响。本文还对基于动力学模型的腰部机构带计算力矩补偿的PD伺服控制与腰部机构基于运动学的PD伺服控制进行了仿真比较研究，仿真结果表明，基于动力学模型的腰部机构计算力矩控制算法能有效地提高腰部机构的位姿跟踪精度。本轮式仿人机器人移动性好，但支撑点少，上身重量偏大，它的动态稳定性成为不容忽视的问题。零力矩点理论是用于判定机械系统动态平衡的经典理论，至今仍被广泛应用。本文基于零力矩点概念，结合机器人的高效牛顿－欧拉动力学模型，建立了仿人机器人的基于车体坐标系的迭代ZMP计算模型，该模型考虑了机器人关节的质量、惯量等参数，包含了惯性力、离心力、重力等对ZMP的影响。经分析可知，腰部机构的运动模式和车体运动加速度是影响ZMP的主要因素，进而给出了ZMP的简化计算模型，依据该简化模型，本文深入讨论了腰部机构与车体的协调运动和轮式仿人机器人的动态稳定性之间的关系，为考虑机器人动态稳定性的腰部机构运动规划及仿人机器人的动态稳定性控制奠定了基础。

Effet de la mutation du gène lrpprc sur l'activité de l'AMPK dans les fibroblastes des patients atteints du syndrome de Leigh, type canadien français

Le syndrome de Leigh, type canadien français (LSFC) est une maladie infantile orpheline causée par une mutation du gène lrpprc. Elle se caractérise par une déficience tissu spécifique de cytochrome c oxydase (COX), une dysfonction mitochondriale et la survenue de crises d’acidose lactique fatales dans plus de 80% de cas. Selon les familles des patients, ces crises apparaissent lors d’une demande excessive d’énergie. Malheureusement, les mécanismes sous-jacents à l’apparition des crises et notamment la physiopathologie du LSFC demeurent inconnus. Afin de mieux comprendre les mécanismes de régulation du métabolisme énergétique chez les patients LSFC, nous avons examiné la régulation de la protéine kinase activée par l’AMP (AMPK), une enzyme clé de l'homéostasie énergétique, de même que certaines de ses voies cibles (SIRT1/PGC1α et Akt/mTOR) dans les fibroblastes de patients LSFC et de témoins en conditions basales et conditions de stress. En conditions basales, l’activité de l’AMPK était similaire dans les cellules LSFC et les témoins. Par contre, les cellules LSFC montraient une surexpression significative des voies Akt/mTOR et SIRT1/PGC1α comparativement aux cellules témoins. Nous avons aussi examiné ces voies de signalisation suite à une incubation de 4h avec 10 mM de lactate et 1 mM de palmitate (LP), nous permettant de mimer les conditions de « crise ». Nos résultats ont démontré que le LP augmentait les niveaux de phosphorylation de l’AMPK de 90% (p<0,01) dans les cellules témoins mais pas dans les cellules LSFC. Pourtant, l’AMPK est activée dans les cellules LSFC en réponse à une hypoxie chimique induite par le 2,4 dinitrophénol. Dans les cellules témoins, le LP augmentait aussi les niveaux d’expression de SIRT1 (57%, p<0,05), de LRPPRC (23%, p=0,045) et de COXIV (19%, p<0,05). Un prétraitement de 48h au ZMP, un activateur pharmacologique de l’AMPK, a eu un effet additif avec le LP et des augmentations de SIRT1 phosphorylée (120%, p<0,05), de SIRT1 total (75%, p<0,01), de LRPPRC (63%, p<0,001) et de COXIV (38%, p<0,001) ont été observées. Tous ces effets étaient aussi abolis dans les cellules LSFC. En conclusion, nos résultats ont démontré des altérations importantes de la régulation du métabolisme énergétique dans les fibroblastes de patients LSFC.

Estudo eletroquímico das interações do tartarato de sódio sobre superfícies zincadas para posterior eletrodeposição de polipirrol

Neste trabalho, foi estudada a síntese eletroquimica do pirrol sobre eletrodos de zinco e aço galvanizado em tartarato de sódio. De modo a avaliar a interação aço galvanizadoltartarato e zincoltartarato, foram empregadas as técnicas de voltametria cíclica, espectroscopia de impedância eletroquímica, Raman e análise morfológica. Através dos resultados verificou-se que há a formação de um filme de tartarato sobre as superficies galvanizadas que inibe a dissolução anódica do metal. Verificou-se que houve fonnação de polipirrol sobre substratos galvanizados em meio tartarato de sódio. No estudo da eletropolimerização do pirrol, a influência de parâmetros tais como concentrações do eletrólito, do tenso ativo e dos pigmentos e tempo e densidade de corrente na eletrodeposição foi investigada. Com o objetivo de melhorar as propriedades anticorrosivas dos filmes de polipirrol, foi estudada a incorporação de tensoativos e dos pigmentos de dióxido de titânio e fosfato de zinco comercial ZMP. Para avaliar os substratos metálicos e os filmes de polipirrol, foram empregadas as técnicas de voltametria ciclica e espectroscopia de impedância eletroquimica. A morfologia dos filmes poliméricos foi analisada por microscopia eletrônica de varredura. Os filmes de Ppy foram também caracterizados por espectros copia Raman. Os filmes de poliméricos em presença de moléculas tensoativos tornaram-se mais compactos e homogêneos. Com relação à incorporação de pigmentos nestes filmes, a adição destes tende a aumentar a resistência à corrosão.

Minderung physiologischer Reaktivität auf psychosozialen Stress durch Taiji-Training - wer profitiert besonders? Eine Untersuchung moderierender Effekte von selbstberichteter dispositioneller psychologischer Stressreaktivität und Achtsamkeit.

Theoretical background and objectives: Stress reducing effects of Taiji practice have been repeatedly reported. The aim of the present study was to investigate which persons benefit the most from Taiji practice in terms of reduced physiological stress reactivity. Methods: We conducted a secondary data analysis of a randomized controlled Taiji trial that significantly lowered stress reactivity of salivary cortisol and alpha-amylase in a Taiji group (n = 26) compared to a control group (n = 23). By using hierarchical regression analyses potential moderating influences of self-reported trait-mindfulness and trait values of general psychological stress reactivity on stress protective effects of a three months Taiji training were examined. Moderator variables were assessed at the beginning of the study using the Freiburg-Mindfulness-Inventory and the Perceived- Stress-Reactivity-Scale. Results: The interaction effect "study group x mindfulness" was significant for stress reactivity of salivary alpha-amylase (p = 0.050). Participants in the Taiji group with higher trait-mindfulness showed a lower salivary alpha-amylase stress reactivity, while in the control group higher trait-mindfulness was associated with higher alpha-amylase stress reactivity. In the control group (p = 0.042) but not in the Taiji group (p = 0.69) salivary cortisol stress reactivity was significantly increased in persons with higher trait-mindfulness scores. We could not find moderating effects of general psychological stress reactivity. Conclusion: Our results suggest that without intervention higher trait-mindfulness is associated with increased physiological stress reactivity. Persons with higher trait-mindfulness seem to benefit the most from practicing Taiji in terms of reduced sympathetic stress reactivity.

Improved joint control using a genetic algorithm for a humanoid robot

This paper describes experiments conducted in order to simultaneously tune 15 joints of a humanoid robot. Two Genetic Algorithm (GA) based tuning methods were developed and compared against a hand-tuned solution. The system was tuned in order to minimise tracking error while at the same time achieve smooth joint motion. Joint smoothness is crucial for the accurate calculation of online ZMP estimation, a prerequisite for a closedloop dynamically stable humanoid walking gait. Results in both simulation and on a real robot are presented, demonstrating the superior smoothness performance of the GA based methods.