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.     

Paralarval development,abundance, and distribution of Pterygioteuthis hoylei (Cephalopoda: Oegopsida: Pyroteuthidae) in the Gulf of California,México

The morphology and ecology of paralarvae (PL) through to the juvenile stages are unknown in most cephalopod species in spite of their importance as indicators of biodiversity, of adult spawning grounds, and as key basis for fisheries management programs. We describe, for the first time, the morphological development of Pterygioteuthis hoylei (Pfeffer 1912 Pfeffer, G. 1912. Die Cephalopoden der Plankton-Expedition. Zugleich eine monographische übersicht der Oegopsiden Cephalopoden. Ergebnisse der Plankton-Expedition der Humboldt-stiftung, 2: 1–815.  [Google Scholar]) and used cytochrome C oxidase for genetic identification of specimens, linking PL with both juveniles and adults. Pterygioteuthis hoylei represents the most abundant species of squid in oblique plankton collections in the Gulf of California, México. PL were collected in plankton tows made in the Gulf of California from 2004 to 2007. Almost all morphological features followed an increasing size/count trend. Most specimens were collected during March–May, accounting for 71.8% of total cephalopod paralarval abundance, and in November (13.5%). Size, abundance and distribution analyses indicate a high abundance of recently hatched PL (1.1–2.0 mm mantle length) off Bahía Concepción to Bahía de La Paz in these months along with the highest abundance of juveniles and adults in the same area. These results indicate that reproductive activity of P. hoylei takes place in the southern Gulf of California in late winter to early spring, and in November, representing an important spawning and hatching area for this species.     

Extreme plasticity in life‐history strategy allows a migratory predator (jumbo squid) to cope with a changing climate

Dosidicus gigas (jumbo or Humboldt squid) is a semelparous, major predator of the eastern Pacific that is ecologically and commercially important. In the Gulf of California, these animals mature at large size (>55 cm mantle length) in 1–1.5 years and have supported a major commercial fishery in the Guaymas Basin during the last 20 years. An El Niño event in 2009–2010, was accompanied by a collapse of this fishery, and squid in the region showed major changes in the distribution and life‐history strategy. Large squid abandoned seasonal coastal‐shelf habitats in 2010 and instead were found in the Salsipuedes Basin to the north, an area buffered from the effects of El Niño by tidal upwelling and a well‐mixed water column. The commercial fishery also relocated to this region. Although large squid were not found in the Guaymas Basin from 2010 to 2012, small squid were abundant and matured at an unusually small mantle‐length (<30 cm) and young age (approximately 6 months). Juvenile squid thus appeared to respond to El Niño with an alternative life‐history trajectory in which gigantism and high fecundity in normally productive coastal‐shelf habitats were traded for accelerated reproduction at small size in an offshore environment. Both small and large mature squid, were present in the Salsipuedes Basin during 2011, indicating that both life‐ history strategies can coexist. Hydro‐acoustic data, reveal that squid biomass in this study area nearly doubled between 2010 and 2011, primarily due to a large increase in small squid that were not susceptible to the fishery. Such a climate‐driven switch in size‐at‐maturity may allow D. gigas to rapidly adapt to and cope with El Niño. This ability is likely to be an important factor in conjunction with longerterm climate‐change and the potential ecological impacts of this invasive predator on marine ecosystems.     

Nonlinear fractal dynamics of human colonic pressure activity based upon the box-counting method

The computational fractal dimension of human colonic pressure activity acquired by a telemetric capsule robot under normal physiological conditions was studied using the box-counting method. The fractal dimension is a numeric value that quantifies to measure how rough the signal is from nonlinear dynamics, rather than its amplitude or other linear statistical features. The colonic pressure activities from the healthy subject during three typical periods were analysed. The results showed that the activity might be fractal with a non-integer fractal dimension after it being integrated over time using the cumsum method, which was never revealed before. Moreover, the activity (after it being integrated) acquired soon after wakening up was the roughest (also the most complex one) with the largest fractal dimension, closely followed by that acquired during sleep with that acquired long time after awakening up (in the daytime) ranking third with the smallest fractal dimension. Fractal estimation might provide a new method to learn the nonlinear dynamics of human gastrointestinal pressure recordings.     

An encounter between a pelagic shark and giant cephalopod

An oceanic whitetip shark (Carcharhinus longimanus) was observed off the coast of Kona, Hawaii, with scars caused by the tentacles of a large cephalopod. While the exact species could not be confirmed, candidate species include the giant squid (Architeuthis dux) or species from the genera Thysanoteuthis (flying squids) and Megalocranchia (glass squids). Telemetry shows C. longimanus will dive within the mesopelagic zone and may interact with or even forage for large cephalopods.     

Spermatophore consumption in a cephalopod

An individual''s gametes can represent a nourishing food source for a manipulative mate. Here, we provide evidence of ejaculate and sperm consumption in a cephalopod. Through labelling male spermatophores with ¹⁴C radiolabel, we found that female squid, Sepiadarium austrinum, consumed the spermatophores of their partners and directed the nutrients received into both somatic maintenance and egg production. We further show that in this species—where fertilization occurs externally in the female''s buccal cavity—sperm storage is short-term (less than 21 days). The combination of female spermatophore consumption and short-term external sperm storage has the potential to exert strong selection on male ejaculates and reproductive strategies.     

Propulsive Velocity Optimization of 3-Joint Fish Robot Using Genetic-Hill Climbing Algorithm

Underwater robot is a new research field which is emerging quickly in recent years.Previous researches in this field focuson Remotely Operated Vehicles(ROVs),Autonomous Underwater Vehicles(AUVs),underwater manipulators,etc.Fish robot,which is a new type of underwater biomimetic robot,has attracted great attention because of its silence in moving and energyefficiency compared to conventional propeller-oriented propulsive mechanism.However,most of researches on fish robots have been carried out via empirical or experimental approaches,not based ondynamic optimality.In this paper,we proposed an analytical optimization approach which can guarantee the maximum propulsivevelocity of fish robot in the given parametric conditions.First,a dynamic model of 3-joint(4 links)carangiform fishrobot is derived,using which the influences of parameters of input torque functions,such as amplitude,frequency and phasedifference,on its velocity are investigated by simulation.Second,the maximum velocity of the fish robot is optimized bycombining Genetic Algorithm(GA)and Hill Climbing Algorithm(HCA).GA is used to generate the initial optimal parametersof the input functions of the system.Then,the parameters are optimized again by HCA to ensure that the final set of parametersis the"near"global optimization.Finally,both simulations and primitive experiments are carried out to prove the feasibility ofthe proposed method.     

External sensory-motor cues while managing unexpected slippages can violate the planar covariation law

This study was aimed at investigating the intersegmental coordination of six older adults while managing unexpected slippages delivered during steady walking, and wearing an Active Pelvis Orthosis (APO). The APO was setup either to assist volunteers at the hip levels during balance loss or to be transparent. The Planar Covariation Law (PCL) of the lower limb elevation angles was the main tool used to assess the intersegmental coordination of both limbs (i.e., the perturbed and unperturbed ones). Results revealed that, after the onset of the perturbation, elevation angles of both limbs do not covary, a part from the robot-mediated assistance. These new evidences suggest that external sensory-motor cues can alter the temporal synchronization of elevation angles, thus violating the PCL.     

Combined climate‐ and prey‐mediated range expansion of Humboldt squid (Dosidicus gigas), a large marine predator in the California Current System

Climate‐driven range shifts are ongoing in pelagic marine environments, and ecosystems must respond to combined effects of altered species distributions and environmental drivers. Hypoxic oxygen minimum zones (OMZs) in midwater environments are shoaling globally; this can affect distributions of species both geographically and vertically along with predator–prey dynamics. Humboldt (jumbo) squid (Dosidicus gigas) are highly migratory predators adapted to hypoxic conditions that may be deleterious to their competitors and predators. Consequently, OMZ shoaling may preferentially facilitate foraging opportunities for Humboldt squid. With two separate modeling approaches using unique, long‐term data based on in situ observations of predator, prey, and environmental variables, our analyses suggest that Humboldt squid are indirectly affected by OMZ shoaling through effects on a primary food source, myctophid fishes. Our results suggest that this indirect linkage between hypoxia and foraging is an important driver of the ongoing range expansion of Humboldt squid in the northeastern Pacific Ocean.     

Computational and mathematical modeling of the effects of tailbeat frequency and flexural stiffness in swimming fish

In this paper we describe how we combine computational and mathematical models to form virtual fish to explore different hypotheses about the impact of centra. We show how we create simulation models using a combination of a mathematical model of a fish-like robot using caudal fin propulsion, a propulsion model, and an optimizer, to explore the impact of centra under various scenarios. The optimizer uses the mathematical model to construct valid configurations of the digital robot and uses the utility function and propulsion model to evaluate the performance of each configuration. The evaluations are used to explore the adaptive landscape and find high-performing configurations. Our results show that the high-performing configurations have both increased (flexural) stiffness of the tail and higher tailbeat frequencies.