Team THOR's Entry in the DARPA Robotics Challenge Finals 2015

This paper describes Team THOR's approach to human‐in‐the‐loop disaster response robotics for the 2015 DARPA Robotics Challenge (DRC) Finals. Under the duress of unpredictable networking and terrain, fluid operator interactions and dynamic disturbance rejection become major concerns for effective teleoperation. We present a humanoid robot designed to effectively traverse a disaster environment while allowing for a wide range of manipulation abilities. To complement the robot hardware, a hierarchical software foundation implements network strategies that provide real‐time feedback to an operator under restricted bandwidth using layered user interfaces. Our strategy for humanoid locomotion includes a backward‐facing knee configuration paired with specialized toe and heel lifting strategies that allow the robot to traverse difficult surfaces while rejecting external perturbations. With an upper body planner that encodes operator preferences, predictable motion plans are executed in unforeseen circumstances. These plans are critical for manipulation in unknown environments. Our approach was validated during the DRC Finals competition, where Team THOR scored three points in 18 min of operation time, and the results are presented along with an analysis of each task.     

A low‐complexity design for distributed containment control of networked pure‐feedback systems and its application to fault‐tolerant control

This paper addresses a low‐complexity distributed containment control problem and its extension to fault‐tolerant control for networked nonlinear pure‐feedback systems under a directed graph. The multiple dynamic leaders are neighbors of only a subset of the followers described by completely non‐affine multi‐input multi‐output pure‐feedback dynamics. It is assumed that all followers' nonlinearities are heterogeneous and unknown. The proposed containment controller is implemented by using only error surfaces integrated by performance bounding functions and does not require any differential equations for compensating uncertainties and faults. Thus, compared with the previous containment control approaches for multi‐agent systems with unknown non‐affine nonlinearities, the distributed containment control structure is simplified. In addition, it is shown that the proposed control scheme can be applied to the fault‐tolerant containment control problem in the presence of unexpected system and actuator faults, without reconstructing any control structure. It is shown from Lyapunov stability theorem that all followers nearly converge to the dynamic convex hull spanned by the dynamic leaders and the containment control errors are preserved within certain given predefined bounds. Copyright © 2016 John Wiley & Sons, Ltd.     

Adaptive Output Feedback Control of Flexible-Joint Robots Using Neural Networks: Dynamic Surface Design Approach

In this paper, we propose a new robust output feedback control approach for flexible-joint electrically driven (FJED) robots via the observer dynamic surface design technique. The proposed method only requires position measurements of the FJED robots. To estimate the link and actuator velocity information of the FJED robots with model uncertainties, we develop an adaptive observer using self-recurrent wavelet neural networks (SRWNNs). The SRWNNs are used to approximate model uncertainties in both robot (link) dynamics and actuator dynamics, and all their weights are trained online. Based on the designed observer, the link position tracking controller using the estimated states is induced from the dynamic surface design procedure. Therefore, the proposed controller can be designed more simply than the observer backstepping controller. From the Lyapunov stability analysis, it is shown that all signals in a closed-loop adaptive system are uniformly ultimately bounded. Finally, the simulation results on a three-link FJED robot are presented to validate the good position tracking performance and robustness of the proposed control system against payload uncertainties and external disturbances.     

Computer-assisted predictive formulas expressing survival probability and life expectancy in US adults, men and women, 2001

The National Center for Health Statistics (NCHS) reported the United States life tables, 2001 for US total, male and female populations on the basis of 2001 mortality statistics, the 2000 decennial census and the data from the Medicare program [E. Arias, United State life tables, 2001, Natl. Vital Stat. Rep. 52 (2004) 1-40]. The life tables show life expectancy, survival and death rate at each year between birth and 100 years of age. In this study formulas expressing survival probability and life expectancy in US adults, men and women are constructed from the data of the NCHS. A model of the 'probacent'-probability equation previously published by the author is employed in the study. Analysis of the formula-predicted values and the NCHS-reported data indicates that the formulas are accurate and reliable with a close agreement. The formula representing a generalized lognormal distribution might be useful for biomedical investigation, and epidemiological and demographic studies in US adults, men and women.     

The election problem in asynchronous distributed systems with bounded faulty processes

Determining the “weakest” failure detectors is a central topic in solving many agreement problems such as Consensus, Non-Blocking Atomic Commit and Election in asynchronous distributed systems. So far, this has been studied extensively for several such fundamental problems. It is stated that Perfect Failure Detector P is the weakest failure detector to solve the Election problem with any number of faulty processes. In this paper, we introduce Modal failure detector M and show that to solve Election, M is the weakest failure detector to solve election when the number of faulty processes is less than ⌈n/2⌉. We also show that it is strictly weaker than P.

Impedance cardiography used to assess patterns of cardiovascular response to behavioral stressors

This paper presents two examples of how impedance cardiography may be used to interpret the hemodynamic influences on blood pressures measured during behavioral stress. In Study 1, blood pressure changes which were similar during two tasks were shown to have important differences in their cardiac output and vascular resistance components. During work on a reaction time task having aversive incentives compared with a neutral task, the blood pressure changes were seen to be associated with lowered vascular resistance and raised cardiac activity, a "fight-flight" pattern. In Study 2, blood pressure response differences between two subject groups working on an identical task were found to have blood pressure changes differing in their underlying cardiac and vascular components as measured by impedance. Such uses impedance cardiography have widespread potential application in psychophysiological research with humans.     

Development and optimal design of a HDD spindle motor with pulling magnet to reduce electrical loss

A conventional hard disk drive (HDD) spindle motor has a pulling plate to generate the axial magnetic force. However, the pulling plate consumes significant amount of iron loss due to the alternating magnetic field on the pulling plate. We propose the new design of a HDD spindle motor with pulling magnet to generate the pre-load as well as to eliminate the iron loss of the pulling plate. We also develop an optimal design methodology to minimize iron and copper losses from the spindle motor of a computer HDD while maintaining the same level of torque ripple and pulling force. The new design is optimized by the developed optimal design methodology. A metamodel is constructed from the three-dimensional finite element analysis of the magnetic field and the meta-modeling techniques, and the accuracies of the metamodels are discussed. The proposed optimal design problem is solved by the progressive quadratic approximation method. The proposed design reduces the electrical loss of the HDD spindle motor by 30.42?% while maintaining the same level of torque ripple and pulling force.     

Sensitivity enhancement for H2 gas detection using a SnO2–Ag2O–PdOx nanocrystalline system

Thick film H₂ sensors were fabricated using SnO₂ loaded with Ag₂O and PdO_x. The composition that gave highest sensitivity for H₂ was in the wt.% ratio of SnO₂:Ag₂O:PdO_x as 93:5:2. The nano-crystalline powders of SnO₂–Ag₂O–PdO_x composites synthesized by sol–gel method were screen printed on alumina substrates. Fabricated sensors were tested against gases like H₂, CH₄, C₃H₈, C₂H₅OH and SO₂. The composite material was found sensitive against H₂ at the working temperature 125 °C, with minor interference of other gases. H₂ gas as low as 100 ppm can be detected by the present fabricated sensors. It was found that the sensors based on SnO₂–Ag₂O–PdO_x nanocrystalline system exhibited high performance, high selectivity and very short response time to H₂ at ppm level. These characteristics make the sensor to be a promising candidate for detecting low concentrations of H₂.     

Controlled density of vertically aligned carbon nanotubes in a triode plasma chemical vapor deposition system

We report on the growth mechanism and density control of vertically aligned carbon nanotubes using a triode plasma enhanced chemical vapor deposition system. The deposition reactor was designed in order to allow the intermediate mesh electrode to be biased independently from the ground and power electrodes. The CNTs grown with a mesh bias of + 300 V show a density of ∼ 1.5 μm^− 2 and a height of ∼ 5 μm. However, CNTs do not grow when the mesh electrode is biased to − 300 V. The growth of CNTs can be controlled by the mesh electrode bias which in turn controls the plasma density and ion flux on the sample.     

A novel way to improve the dispersion-limited transmission distance of electroabsorption modulated lasers

We propose and demonstrate a way to improve the dispersion-limited reach of electroabsorption modulated lasers (EMLs). We generate continuous-phase frequency-shift keying/amplitude-shift keying (ASK) signals with the EML by applying a small current modulation to the laser diode (LD) on top of electroabsorption-modulated ASK signals. The amount of frequency deviation induced by the current modulation is adjusted to have the EML output signals experience /spl pi/ phase shift at every space. The experimental demonstration shows that with the proposed scheme we can increase the dispersion-limited transmission distance of the EML-based transmitter by 25%-75%, and it can be further improved by employing an LD with flat frequency-modulation response.