Active suspension control with consensus strategy for dynamic posture tracking of wheel-legged robotic systems on uneven surfaces.

This work presents a dynamic posture tracking control strategy for wheel-legged systems on uneven surfaces. Based on the kinematic model of a wheel-legged robotic system, the expected positions for the end-effectors of wheel-legs are calculated according to posture references and sensor feedback. The position control problem for a general wheel-leg is investigated for the active mechanism to imitate a passive suspension and respond to the external contact forces. The position tracking accuracy of the wheel-leg is sacrificed to enhance the compliance performance under rough terrain. Because of the unique contact state with the uneven ground for each wheel-leg, the position responses are different. As a result, the forces from the wheel-legs to the fuselage are inconsistent, which leads to the risk of posture oscillations. Equipping the wheel-legs with an undirected communication network, a consensus scheme for the robotic system is developed with proven global asymptotic stability to improve the posture tracking property. A novel robotic system is established with Stewart-structured wheel-legs, which are connected by a user datagram protocol network. Comparative experimental results are carried out on the physical prototype to validate the effectiveness of the proposed approach.

An improved method combined SMC and MLESO for impedance control of legged robots' electro-hydraulic servo system.

The electro-hydraulic servo system (EHSS) drives the hydraulic quadruped robot, which has the advantages such as high load capacity, fast response velocity, and powerful motion ability. EHSS of single leg consists of three sets of hydraulic drive unit (HDU), which is the joint driver. As a result, HDU control is the fundamental control of the hydraulic quadruped robot, and it controls the robot's motion performance directly. In order to improve the control accuracy and adaptability to different working conditions of impedance control for HDU, a composite control method combining sliding mode control (SMC) and model-based linear extended state observer (MLESO), which is called SMC-MLESO, is designed in this paper. Firstly, the chattering problem of SMC is improved by designing a novel composite reaching law and adding total disturbance to sliding mode control law. Secondly, the parameters of sliding mode surface are calculated by the optimal control. The parameters of MLESO are calculated by the bandwidth of the controller. And the known model of the system is added to observer to reduce the influence of sensor noise. Finally, comparative experiments show that SMC-MLESO has a good control effect. The maximum error of using SMC-MLESO is 0.101 mm and the biggest change of the maximum error is 36.5% under different working conditions, which is better than PI+Gcp and PI+Gcp+Gfp(The two controllers were designed by the author's previous research, which was published by Journal of the Franklin Institute).

Speed consensus control for a parallel six-wheel-legged robot on uneven terrain.

Wheel-legged robots suffer from the disturbances arising from the inconsistent of the wheel's speed and the external environments while driving over the uneven terrain, which may impair the smoothness of driving, or even fail in moving over the terrain. In this study, a speed consensus control (SCC) method that combines the distributed consensus algorithm (DCA) with the linear active disturbance rejection control (LADRC) is proposed to enhance the smoothness of the wheel-legged robot while traversing the uneven terrain. Firstly, the DCA is employed to reach a consensus amongst the speeds of the robot's body and each wheel which are regarded as a multi-agent system. Furthermore, the LADRC is applied to attenuate the disturbances arising from the model uncertainty and the unknown environments and to precisely track each wheel's desired speed obtained by the DCA. Finally, a series of simulations and experiments are conducted on a parallel six-wheel-legged robot (i.e., BIT-NAZAII) to validate the proposed method.

Paced breathing and respiratory movement responses evoked by bidirectional constant current stimulation in anesthetized rabbits.

Objective: Diaphragm pacing (DP) is a long-term and effective respiratory assist therapy for patients with central alveolar hypoventilation and high cervical spinal cord injury. The existing DP system has some limitations, especially high price, inconvenience preoperative evaluation methods and diaphragm fatigue easily. Our objective was to develop a DP system and evaluated reliability through hardware testing and animal experiments. Methods: A DP system with bidirectional constant current was designed, manufactured and tested. Effects of a wide range of stimulus amplitudes (range: .5-2.5 mA) and frequencies (range: 10-250 Hz) on airflow and corresponding inspired volume were investigated during DP. Differences in airflow characteristics under various stimulation parameters were evaluated using power function. ECG interference in diaphragm electromyography (EMGdi) was filtered out using stationary wavelet transform to obtain pure EMGdi (EMGdip). 80-min period with a tendency for diaphragm fatigue by root mean square (RMS) and centroid frequency (f c ) of EMGdip was studied. Results: The increase of stimulus frequency and amplitude in animals resulted in different degrees of increase in envoked volume. Significant difference in Airflow Index (b) between anesthesia and DP provided a simple, non-invasive and feasible solution for phrenic nerve conduction function test. Increased stimulation duration with the developed DP system caused less diaphragm fatigue. Conclusion: A modular, inexpensive and reliable DP was successfully developed. Its effectiveness was confirmed in animal experiments. Significance: This study is useful for design of future implantable diaphragmatic pacemakers for improving diaphragm fatigue and convenient assessment of respiratory activity in experiments.

Human-robot skill transmission for mobile robot via learning by demonstration.

This paper proposed a skill transmission technique for the mobile robot via learning by demonstration. When the material is transported to the designated location, the robot can show the human-like capabilities: autonomous tracking target. In this case, a skill transmission framework is designed, which the Kinect sensor is utilized to distinguish human activity recognition to create a planned path. Moreover, the dynamic movement primitive method is implemented to represent the teaching data, and the Gaussian mixture regression is utilized to encode the learning trajectory. Furthermore, in order to realize the accurate position control of trajectory tracking, a model predictive tracking control is investigated, where the recurrent neural network is used to eliminate the uncertain interaction. Finally, some experimental tasks using the mobile robot (BIT-6NAZA) are carried out to demonstrate the effectiveness of the developed techniques in real-world scenarios.

Control strategy of stable walking for a hexapod wheel-legged robot.

This paper provides a legged stable walking control strategy based on multi-sensor information feedback about BIT-NAZA-II, a large load parallel hexapod wheel-legged robot developing for the problem of vertical contact impact and horizontal sliding of heavy leg robot in complex terrain environments. The BIT-NAZA-II robot has six legs and six wheels, and the wheels are installed on the foot-end. The wheels of each foot-end for the legs of the robot are locked when walking with legs. In order to realize the smooth transition between swing phase and stance phase, the leg motion is divided into different stages for control by state machine switching controller based on event (SMSCE). In the Z-direction, in order to avoid the shaking of the body caused by the contact impact at the moment of contact between the foot-end and the ground during the walking of the robot, an active compliance controller (ACC) based on impedance control (IC) is applied to solve the problem of contact impact. Moreover, in the X-direction, the swing leg retraction (SLR) based on Bezier curve (BC) is introduced to generate the foot-end trajectory of the robot, which solves the slip problem of the heavy leg robot and improves the horizontal stability. Finally, the control strategy of stable walking is respectively verified by the simulations and experiments. The results show that the ACC based on IC can effectively reduce the contact impact between the foot-end and the ground in the Z-direction and improve the stability of body. Besides, the anti-sliding ability is realized after introducing SLR based on BC in the X-direction, and we also verify that stable walking control strategy is effective, which provides a reference value for the stable walking of heavy leg robot in complex terrain.

A Deformable Configuration Planning Framework for a Parallel Wheel-Legged Robot Equipped with Lidar.

The wheel-legged hybrid robot (WLHR) is capable of adapting height and wheelbase configuration to traverse obstacles or rolling in confined space. Compared with legged and wheeled machines, it can be applied for more challenging mobile robotic exercises using the enhanced environment adapting performance. To make full use of the deformability and traversability of WHLR with parallel Stewart mechanism, this paper presents an optimization-driven planning framework for WHLR with parallel Stewart mechanism by abstracting the robot as a deformable bounding box. It will improve the obstacle negotiation ability of the high degree-of-freedoms robot, resulting in a shorter path through adjusting wheelbase of support polygon or trunk height instead of using a fixed configuration for wheeled robots. In the planning framework, we firstly proposed a pre-calculated signed distance field (SDF) mapping method based on point cloud data collected from a lidar sensor and a KD -tree-based point cloud fusion approach. Then, a covariant gradient optimization method is presented, which generates smooth, deformable-configuration, as well as collision-free trajectories in confined narrow spaces. Finally, with the user-defined driving velocity and position as motion inputs, obstacle-avoidancing actions including expanding or shrinking foothold polygon and lifting trunk were effectively testified in realistic conditions, demonstrating the practicability of our methodology. We analyzed the success rate of proposed framework in four different terrain scenarios through deforming configuration rather than bypassing obstacles.

Prevalence and Genetic Identification of Three Entamoeba Species in Pigs in Southeastern China.

Parasitic Entamoeba spp. can infect many classes of vertebrates including humans and pigs. Entamoeba suis and zoonotic Entamoeba polecki have been identified in pigs, and swine are implicated as potential reservoirs for Entamoeba histolytica. However, the prevalence of Entamoeba spp. in pigs in southeastern China has not been reported. In this study, 668 fecal samples collected from 6 different regions in Fujian Province, southeastern China, were analyzed to identify three Entamoeba species by nested PCR and sequencing analysis. The overall prevalence of Entamoeba spp. was 55.4% (370/668; 95% CI 51.6% to 59.2%), and the infection rate of E. polecki ST1 was the highest (302/668; 45.2%, 95% CI 41.4% to 49.0%), followed by E. polecki ST3 (228/668; 34.1%, 95% CI 30.5% to 37.7%) and E. suis (87/668; 13.0%, 95% CI 10.5% to 15.6%). E. histolytica was not detected in any samples. Moreover, the coinfection rate of E. polecki ST1 and ST3 was 25.1% (168/668; 95% CI 21.9% to 28.4%), the coinfection rate of E. polecki ST1 and E. suis was 3.7% (25/668; 95% CI 2.3% to 5.2%), the coinfection rate of E. polecki ST3 and E. suis was 0.3% (2/668), and the coinfection rate of E. polecki ST1, E. polecki ST3, and E. suis was 4.0% (27/668; 95% CI 2.5% to 5.5%). A representative sequence (MK347346) was identical to the sequence of E. suis (DQ286372). Two subtype-specific sequences (MK357717 and MK347347) were almost identical to the sequences of E. polecki ST1 (FR686383) and ST3 (AJ566411), respectively. This is the first study to survey the occurrence and to conduct molecular identification of three Entamoeba species in southeastern China. This is the first report regarding mixed infections with E. suis, E. polecki ST1, and E. polecki ST3 in China. More research studies are needed to better understand the transmission and zoonotic potential of Entamoeba spp.

Compliance control for a hydraulic bouncing system.

This paper is to reduce the contact impact, control the leg stiffness and bouncing height. Firstly, the combining position/force active compliance control was involved in the deceleration phase to decrease the impact force and improve the leg compliance capacity. Then a reasonable velocity control of cylinder was addressed to control the bouncing height to the given value in the acceleration phase. Due to the model uncertainties and disturbances in the deceleration and acceleration phase, a near inverse like controller with a proportional and differential control (PD) was added into the velocity control of acceleration phase to compensate the bouncing height control error. Finally, the effectiveness of proposed controller was validated by experiments. Experimental results showed the impact force could be reduced effectively and a significant bouncing height control performance could be achieved. The influences of initial energy, preload of spring and velocity of cylinder on the bouncing height were addressed as well.

Exploration of fluorescence-based real-time loop-mediated isothermal amplification (LAMP) assay for detection of Isospora suis oocysts.

Isospora suis is an intestinal protozoan parasite in pigs. The 2-3 weeks old piglets are most often infected by I. suis because their immune system is not fully developed. The infection exhibits clinical features such as diarrhea and dehydration and seriously affects the economic interests of farmers. The traditional method of identifying I. suis relies on the detection of fecal oocysts, which depends heavily on the accumulation of experience. Thus, missed detection, and false alarms often occur during detection. With the development of molecular-based detection methods, development of a simple, convenient and more sensitive method for the detection of I. suis is an urgent need. In this study, based on the 18S rRNA gene sequence, a fluorescence -based real-time loop-mediated isothermal amplification (LAMP) assay was established for the detection of I. suis. The results showed that the assay is highly specific and sensitive, with a detection limit of 2.74 × 10(2) copies/µL recombinant plasmid of I. suis, corresponding to 1 fg/µL plasmid when converted to DNA concentration. The sensitivity is about 100 times higher than conventional PCR. Additionally, DNA extracted from a certain number of oocysts was used for detection, and it showed that the LAMP assay had a detection limit of 5 oocysts, lower than that of 13 oocysts of conventional PCR. The established LAMP assay overcomes the shortage of the traditional microscopy-based method, and provides a valuable way for molecular detection of I. suis.

Genetic Characterization of Toxoplasma gondii from Zoo Wildlife and Pet Birds in Fujian, China.

BACKGROUND: Toxoplasmosis, a worldwide zoonotic disease, is caused by Toxoplasma gondii. The distribution of genetic diversity of T. gondii in wild animals is of great importance to understand the transmission of the parasite in the environment. However, little is known about T. gondii prevalence in wild animals and birds in China. METHODS: We conducted the genetic characterization of T. gondii isolated from Zoo Wild Animals and Pet Birds in Fujian Province, Southeastern China. Heart tissues were collected from 45 zoo animals and 140 pet birds. After identified using B1 gene, the genetic diversity of T. gondii isolates were typed at 11 genetic markers, including SAG1, 5' and 3'-SAG2, alternative SAG2, SAG3, BTUB, GRA6, c22-8, c29-2, L358, PK1, Apico, and CS3. RESULTS: Seven of 45 zoo animals and 3 of 140 pet birds were positive by PCR amplification using T. gondii B1 gene specific primers. Of these positive isolates, 3 isolates from Black-capped (Cebus apella), Peacock (Peafowl) and Budgerigar (Melopsittacus undulatus) were successfully genotyped at 11 genetic loci, and grouped to three distinct genotypes: ToxoDB Genotype #9, #2 and #10, respectively. CONCLUSION: This is the first genotyping of T. gondii isolated from zoo wild animals and pet birds in Fujian, China. There is a potential risk for the transmission of this parasite through zoo wild animals and pet birds in this region.

[Comprehensive treatment of aquariculture water pollution by flocculant and complex strain].

In order to purify aquariculture water, decrease fish-disease and sewage discharge, the purification efficiency of several types of flocculants such as PFS, PDMDAAC, EM, and combining PFS-PDMDAAC, PFS-PDMDAAC-EM used for treatment of soft-shelled turlle pond water were studied, and optimal mathematical of water qualities effected by several types of purification method were established. The results showed that the comprehensive treatment had the best purifcation efficiency, the flocculation rate was above 98%, CODcr removed rate was above 95%, BOD5/CODcr of pond water and effluent decreased from 0.61 and 0.51 to 0.24 and 0.29 respectively, the biodegradable matter in waters have been effectively removed, when 30 mg.L-1 PFS, 0.5 mg.L-1 PDMDAAC and 30 ml.m-3 EM were added. The various major water qualities were keeded stabilization and had attained special aquariculture water quality standard. The water qualities of pond water and that of effluent were showed no difference, which had attained pollution-free discharge and ecological equilibrium aquariculture.