Biological Jumping Mechanism Analysis and Modeling for Frog Robot

This paper presents a mechanical model of jumping robot based on the biological mechanism analysis of frog. By biological observation and kinematic analysis the frog jump is divided into take-offphase, aerial phase and landing phase. We find the similar trajectories of hindlimb joints during jump, the important effect of foot during take-off and the role of forelimb in supporting the body. Based on the observation, the frog jump is simplified and a mechanical model is put forward. The robot leg is represented by a 4-bar spring/linkage mechanism model, which has three Degrees of Freedom （DOF） at hip joint and one DOF （passive） at tarsometatarsal joint on the foot. The shoulder and elbow joints each has one DOF for the balancing function of arm. The ground reaction force of the model is analyzed and compared with that of frog during take-off. The results show that the model has the same advantages of low likelihood of premature lift-off and high efficiency as the frog. Analysis results and the model can be employed to develop and control a robot capable of mimicking the jumping behavior of frog.     

Empirical Study on Shapes of the Foot Pad and Walking Gaits for Water-Running Robots

Recently, various kinds ofbiomimetic robots have been studied. Among these biomimetic robots, water-running robots that mimic the characteristics of basilisk lizards have received much attention. However, studies on the performance with respect to different geometric parameters and gaits have been lacking. To run on the surface of water, a water-running robot needs suffi- cient force with high stability to stay above the water. We experimentally measured the performance of the foot pads with different geometric parameters and with various gaits. We measured and analyzed the forces in the vertical direction and rolling angles of five different foot pad shapes： a circular shape, square shape, half-spherical shape, open half-cylinder shape, and closed half-cylinder shape. Additionally, the rolling stabilities of three kinds of gaits： biped, trotting, and tripod, were also empirically analyzed. The results of this research can be used as a guideline to design a stable water-running robot.     

New species of the isolated Psaroniaceous rachis from the Early Permian in China

A new kind of marattialean raches are reported from the coal balls in Coal Seam No.7 in the upper part of the Taiyuan Formation （early Early Permian） from Taiyuan, Shanxi, China and are assigned to the genus Stipitopteris Grand＇Eury （Psaroniaceae）. The present specimens are different from all six reported species of the genus, and are therefore proposed as a new species： Stipitopteris shanxiensis. The raches of the new species are generally dorsi-ventrally flattened. The main raches usually exhibit scales of different forms on their surface. Beneath the epidermis is a zone of parenchymatous cells, some of which contain tannin-like contents. Inside this is a zone of small sclerenchymatous cells. Inward are the ground tissue and vascular bundles. The vascular bundles are continuous and are in two circles： the outer circle assumes a transversely elliptical shape with the gap and pinna trace, and the inner circle assumes a shallow C.shape with inrolled ends. The ground tissue located at the inner side of the vascular bundle is composed of thicker-walled parenchymatous cells. The cells of the ground tissue are vertically elongated in longitudinal sections. Subordered raches are smaller and have simpler structures than the main raches. The parenchyma zone beneath the epidermis is thinner, usually one to two cells wide and the sclerenchyma zone is usually absent. The scales are poorly developed and there is only one C-shaped vascular bundle. The new species is comparable to the crosiers of Psaroniaceae of the Euramerican Flora in some aspects, for example, it has a dorsi-ventrally flattened rachis and scales on the surface of the rachis. However, the other features and the preservative conditions of the present specimens indicate that they are not crosiers, but fully developed or mature raches. The new species is the first well-studied anatomically-preserved rachis of Psaroniaceae from the Cathaysian Flora and bears significance not only in understanding the anatomy and taxonomy of Psaroniaceae in the Cathaysian Flora, but also in the relationship between the Euramerican Flora and the Cathaysian Flora.     

Development of a Biomimetic Quadruped Robot

This paper presents the design and prototype of a small quadruped robot whose walking motion is realized by two piezocomposite actuators. In the design, biomimetic ideas are employed to obtain the agility of motions and sustainability of a heavy load. The design of the robot legs is inspired by the leg configuration of insects, two joints （hip and knee） of the leg enable two basic motions, lifting and stepping. The robot frame is designed to have a slope relative to the horizontal plane, which makes the robot move forward. In addition, the bounding locomotion of quadruped animals is implemented in the robot. Experiments show that the robot can carry an additional load of about 100 g and run with a fairly high velocity. The quadruped prototype can be an important step towards the goal of building an autonomous mobile robot actuated by piezocomposite actuators.     

Control of a Quadruped Robot with Bionic Springy Legs in Trotting Gait

Legged robots have better performance on discontinuous terrain than that of wheeled robots. However, the dynamic trotting and balance control of a quadruped robot is still a challenging problem, especially when the robot has multi-joint legs. This paper presents a three-dimensional model of a quadruped robot which has 6 Degrees of Freedom （DOF） on torso and 5 DOF on each leg. On the basis of the Spring-Loaded Inverted Pendulum （SLIP） model, body control algorithm is discussed in the first place to figure out how legs work in 3D trotting. Then, motivated by the principle of joint function separation and introducing certain biological characteristics, two joint coordination approaches are developed to produce the trot and provide balance. The robot reaches the highest speed of 2.0 m.s-1, and keeps balance under 250 Kg.m.s-1 lateral disturbance in the simulations. The effectiveness of these approaches is also verified on a prototype robot which runs to 0.83 m.s-1 on the treadmill, The simulations and experiments show that legged robots have good biological properties, such as the ground reaction force, and spring-like leg behavior.     

Design and Kinematic Analysis of a Novel Humanoid Robot Eye Using Pneumatic Artificial Muscles

This paper proposed a novel humanoid robot eye, which is driven by six Pneumatic Artificial Muscles （PAMs） and rotates with 3 Degree of Freedom （DOF）. The design of the mechanism and motion type of the robot eye are inspired by that of human eyes. The model of humanoid robot eye is established as a parallel mechanism, and the inverse-kinematic problem of this flexible tendons driving parallel system is solved by the analytical geometry method. As an extension, the simulation result for saccadic movement is presented under three conditions. The design and kinematic analysis of the prototype could be a sig- nificant step towards the goal of building an autonomous humanoid robot eye with the movement and especially the visual functions similar to that of human.     

Development of a Bionic Hexapod Robot for Walking on Unstructured Terrain

This paper reports the design methodology and control strategy in the development of a novel hexapod robot HITCR-II that is suitable for walking on unstructured terrain. First, the entire sensor system is designed to equip the robot with the perception of external environment and its internal states. The structure parameters are optimized for improving the dexterity of the robot. Second, a foot-force distribution model and a compensation model are built to achieve posture control. The two models are capable of effectively improving the stability of hexapod walking on unstructured terrain. Finally, the Posture Control strategy based on Force Distribution and Compensation （PCFDC） is applied to the HITCR-II hexapod robot. The experimental results show that the robot can effectively restrain the vibration of trunk and keep stable while walking and crossing over the un- structured terrains.     

Initial Development of a Novel Amphibious Robot with Transformable Fin-Leg Composite Propulsion Mechanisms

Amphibious robots are very attractive for their broad applications in resource exploration, disaster rescue, and recon- naissance. However, it is very challenging to develop the robots for their complex, amphibious working environments. In the complex amphibious environment, amphibious robots should possess multi-capabilities to walk on rough ground, maneuver underwater, and pass through transitional zones such as sandy and muddy terrain. These capabilities require a high-performance propulsion mechanism for the robots. To tackle a complex task, a novel amphibious robot （AmphiHex-I） with,transformable fin-leg composite propulsion mechanisms is developed. With the fin-leg composite propulsions, AmphiHex-I can walk on rough and soft substrates and swim in water with many maneuvers. This paper presents the structural design of the transformable fin-leg propulsion mechanism and its driving module. A hybrid model is used to explore the dynamics between the trans- formable legs and transitional environment such as granular medium. The locomotion performances of legs with various ellip- tical shapes are analyzed, which is verified by the coincidence between the model predictions and the simulation results. Further, an orthogonal experiment is conducted to study the locomotion performance of a two-legged platform walking with an asyn- chronous gait in the sandy and muddy terrain. Finally, initial experiments of AmphiHex-I walking on various lands and swimming in water are implemented. These results verify that the transformable fin-leg mechanisms enable the amphibious robot to pass through a complex, amphibious working environment.     

A Bio-Inspired Hopping Kangaroo Robot with an Active Tail

Inspired by kangaroo＇s locomotion, we report on developing a kangaroo-style hopping robot. Unlike bipeds, quadrupeds, or hexapods which altemate the legs for forward locomotion, the kangaroo uses both legs synchronously and generates the forward locomotion by continuous hopping behavior, and the tail actively balances the unwanted angular momentum generated by the leg motion. In this work, we generate the Center of Mass （CoM） locomotion of the robot based on the reduced-order Rolling Spring Loaded Inverted Pendulum （R-SLIP） model, for matching the dynamic behavior of the empirical robot legs. In order to compensate the possible body pitch variation, the robot is equipped with an active tail for pitch variation compensation, emulating the balance mechanism of a kangaroo. The robot is empirically built, and various design issues and strategies are addressed. Finally, the experimental evaluation is executed to validate the performance of the kangaroo-style robot with hopping locomotion.     

Piezoelectrically Actuated Biomimetic Self-Contained Quadruped Bounding Robot

This paper presents the development of a mesoscale self-contained quadruped mobile robot that employs two pieces ofpiezocomposite actuators for the bounding locomotion.The design of the robot leg is inspired by legged insects and animals,and the biomimetic concept is implemented in the robot in a simplified form,such that each leg of the robot has only one degreeof freedom.The lack of degree of freedom is compensated by a slope of the robot frame relative to the horizontal plane.For theimplementation of the self-contained mobile robot,a small power supply circuit is designed and installed on the robot.Experimentalresults show that the robot can locomote at about 50 mm·s^-1with the circuit on board,which can be considered as asignificant step toward the goal of building an autonomous legged robot actuated by piezoelectric actuators.     

Comparison of human and humanoid robot control of upright stance

There is considerable recent interest in developing humanoid robots. An important substrate for many motor actions in both humans and biped robots is the ability to maintain a statically or dynamically stable posture. Given the success of the human design, one would expect there are lessons to be learned in formulating a postural control mechanism for robots. In this study we limit ourselves to considering the problem of maintaining upright stance. Human stance control is compared to a suggested method for robot stance control called zero moment point (ZMP) compensation. Results from experimental and modeling studies suggest there are two important subsystems that account for the low- and mid-frequency (DC to 1 Hz) dynamic characteristics of human stance control. These subsystems are (1) a “sensory integration” mechanism whereby orientation information from multiple sensory systems encoding body kinematics (i.e. position, velocity) is flexibly combined to provide an overall estimate of body orientation while allowing adjustments (sensory re-weighting) that compensate for changing environmental conditions and (2) an “effort control” mechanism that uses kinetic-related (i.e., force-related) sensory information to reduce the mean deviation of body orientation from upright. Functionally, ZMP compensation is directly analogous to how humans appear to use kinetic feedback to modify the main sensory integration feedback loop controlling body orientation. However, a flexible sensory integration mechanism is missing from robot control leaving the robot vulnerable to instability in conditions where humans are able to maintain stance. We suggest the addition of a simple form of sensory integration to improve robot stance control. We also investigate how the biological constraint of feedback time delay influences the human stance control design. The human system may serve as a guide for improved robot control, but should not be directly copied because the constraints on robot and human control are different.     

Concept of Intelligent Mechanical Design for Autonomous Mobile Robots

The concept of Intelligent Mechanical Design (IMD) is presented to show how a mechanical structure can be designed to affect robot controllability, simplification and task performance. Exploring this concept produces landmarks in the territory of mechanical robot design in the form of seven design principles. The design principles, which we call the Mecha-Telligence Principles (MTP), provide guidance on how to design mechanics for autonomous mobile robots. These principles guide us to ask the right questions when investigating issues concerning self-controllable, reliable, feasible, and compatible mechanics for autonomous mobile robots. To show how MTP can be applied in the design process we propose a novel methodology, named as Mecha-Telligence Methodology (MTM). Mechanical design by the proposed methodology is based on preference classification of the robot specification described by interaction of the robot with its environment and the physical parameters of the robot mechatronics. After defining new terms, we investigate the feasibility of the proposed methodology to the mechanical design of an autonomous mobile sewer inspection robot. In this industrial project we show how a passive-active intelligent moving mechanism can be designed using the MTM and employed in the field.     

Jumping robots: a biomimetic solution to locomotion across rough terrain

This paper introduces jumping robots as a means to traverse rough terrain; such terrain can pose problems for traditional wheeled, tracked and legged designs. The diversity of jumping mechanisms found in nature is explored to support the theory that jumping is a desirable ability for a robot locomotion system to incorporate, and then the size-related constraints are determined from first principles. A series of existing jumping robots are presented and their performance summarized. The authors present two new biologically inspired jumping robots, Jollbot and Glumper, both of which incorporate additional locomotion techniques of rolling and gliding respectively. Jollbot consists of metal hoop springs forming a 300 mm diameter sphere, and when jumping it raises its centre of gravity by 0.22 m and clears a height of 0.18 m. Glumper is of octahedral shape, with four 'legs' that each comprise two 500 mm lengths of CFRP tube articulating around torsion spring 'knees'. It is able to raise its centre of gravity by 1.60 m and clears a height of 1.17 m. The jumping performance of the jumping robot designs presented is discussed and compared against some specialized jumping animals. Specific power output is thought to be the performance-limiting factor for a jumping robot, which requires the maximization of the amount of energy that can be stored together with a minimization of mass. It is demonstrated that this can be achieved through optimization and careful materials selection.     

How are the life history strategies of Antarctic terrestrial invertebrates influenced by extreme environmental conditions?

1. 1. Features of life history strategies of Antarctic terrestrial invertebrates are reviewed and compared with the predictions of two widely-used general life history models.

2. 2. Many features observed are consistent with the predictions of “adversity-” or “stress-selected” life histories, although “ruderal” characteristics are also observed.

3. 3. Many features are plesiotypic for the taxonomic groups concerned, suggesting a lack of evolved adaptations within the Antarctic biota.

4. 4. A large degree of flexibility is found in the life histories; this flexibility itself may allow passage of environmentally-imposed selective filters limiting colonisation and development in isolated and extreme terrestrial habitats.

5. 5. In general, Antarctic terrestrial invertebrates may be regarded as pre-adapted for survival of the various stresses imposed by their extreme environment.

     

Combination of u.v.-B. and ozone reduces pollen tube growth more than either stress alone

The rate of in vitro Nicotiana tabacum L. “Bel-W3” pollen tube growth was reduced 62 and 44%, respectively, when pollen tubes were exposed to 120 ppb ozone (O₃) for 3 hr or 300 μW/cm² ultraviolet-B (u.v.-B) radiation for 30 min. Petunia hybrida Vilm. “White Cascade” pollen tube growth was reduced 34 and 59%, respectively, upon exposure to O₃ or u.v.-B at the above doses. The combination of u.v.-B at 300 μW/cm² for 30 min, followed by O₃ at 120 ppb for 3 hr, reduced pollen tube growth by 79% for “Bel-W3” and 75% for “White Cascade”. The effect appeared to be additive, implying that different target areas may be affected by the two stressors. In the Northeast, plants are exposed to both u.v.-B and O₃ during the normal growing season. This may result in an unexpectedly higher stress on the reproductive system than had been previously suspected based on these two stressors acting individually.     

The effect of infra-red radiation on rectal temperature and respiration rate of unacclimated female new zealand white rabbits

1. 1.|An experiment was carried out to examine the effects of various levels of infra-red (i.r.) radiation on rectal temperature (RT) and respiration rate (RR) in New Zealand While rabbits.

2. 2.|A 4 × 3 × 6 factorial design was employed in which the factors were: four intensities of i.r. radiant heating of 0.0, 1.9, 2.1 and 2.4 MJ/m²/h, three replicates and six rabbits.

3. 3.|rectal temperature differed (P < 0.05) between treatments and were highest at the “high” level of i.r. radiation (1°C higher than for controls). At the “medium” and “low” levels of i.r. heating RTs were respectively 0.3 and 0.2°C higher than in controls.

4. 4.|At different levels of radiation RR were different (P < 0.05), with the highest (422.7 ± 218.1 breaths/min) at 2.4 MJ/m²/h i.r. radiant heating. This RR was almost 2.5 times that in controls, while at the “low” and “medium” i.r. levels RR values were respectively 1.5 and 2 times those of controls.

Principles of goal-directed spatial robot navigation in biomimetic models

Mobile robots and animals alike must effectively navigate their environments in order to achieve their goals. For animals goal-directed navigation facilitates finding food, seeking shelter or migration; similarly robots perform goal-directed navigation to find a charging station, get out of the rain or guide a person to a destination. This similarity in tasks extends to the environment as well; increasingly, mobile robots are operating in the same underwater, ground and aerial environments that animals do. Yet despite these similarities, goal-directed navigation research in robotics and biology has proceeded largely in parallel, linked only by a small amount of interdisciplinary research spanning both areas. Most state-of-the-art robotic navigation systems employ a range of sensors, world representations and navigation algorithms that seem far removed from what we know of how animals navigate; their navigation systems are shaped by key principles of navigation in ‘real-world’ environments including dealing with uncertainty in sensing, landmark observation and world modelling. By contrast, biomimetic animal navigation models produce plausible animal navigation behaviour in a range of laboratory experimental navigation paradigms, typically without addressing many of these robotic navigation principles. In this paper, we attempt to link robotics and biology by reviewing the current state of the art in conventional and biomimetic goal-directed navigation models, focusing on the key principles of goal-oriented robotic navigation and the extent to which these principles have been adapted by biomimetic navigation models and why.     

The cortisol-cortisone shuttle and hypertension

11β-OHSD is an enzyme complex consisting of 11β-DH, converting cortisol to cortisone in man and an 11-keto-reductase performing the reverse reaction. Congenital deficiency of 11β-DH should be considered in any child presenting with mineralocorticoid hypertension and suppression of the renin-angiotensin-aldosterone axis. The keystone to diagnosis is the demonstration of a reduced daily production rate of cortisol and an increase in its plasma half-life. In the majority of cases diagnosis can be made from a urinary steroid metabolite profile indicating a high excretion of cortisol relative to cortisone metabolites. Cortisol is the responsible mineralocorticoid, and as such treatment with the pure glucocorticoid dexamethasone will prevent life-threatening hypokalaemia, although additional antihypertensive drugs are usually required to control blood pressure.

Liquorice and carbenoxolone, for years thought to be direct “agonists” of the mineralocorticoid receptor, in fact cause sodium retention through inhibition of 11β-DH.

The demonstration of 11β-DH activity in the vasculature raises the possibility that it locally modules access of glucocorticoids to mineralocorticoid and possibly glucocorticoid receptors in the vessel wall.

It remains possible that subtle alterations of this cortisol-cortisone shuttle are responsible for other forms of hypertension which are currently classified under the umbrella diagnosis of essential hypertension.