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Sample records for biped locomotion controller

  1. Design of a biped locomotion controller based on adaptive neuro-fuzzy inference systems

    NASA Astrophysics Data System (ADS)

    Shieh, M.-Y.; Chang, K.-H.; Lia, Y.-S.

    2008-02-01

    This paper proposes a method for the design of a biped locomotion controller based on the ANFIS (Adaptive Neuro-Fuzzy Inference System) inverse learning model. In the model developed here, an integrated ANFIS structure is trained to function as the system identifier for the modeling of the inverse dynamics of a biped robot. The parameters resulting from the modeling process are duplicated and integrated as those of the biped locomotion controller to provide favorable control action. As the simulation results show, the proposed controller is able to generate a stable walking cycle for a biped robot. Moreover, the experimental results demonstrate that the performance of the proposed controller is satisfactory under conditions when the robot stands in different postures or moves on a rugged surface.

  2. Self-improving biped locomotion

    NASA Astrophysics Data System (ADS)

    Teixeira, C.; Costa, L.; Santos, C.

    2013-10-01

    An approach addressing biped locomotion is here introduced. Central Pattern Generators (CPGs) and Dynamic Movement Primitives (DMPs) were combined to easily produce complex trajectories for the joints of a simulated DARwIn-OP. Policy Learning by Weighting Exploration with the Returns (PoWER) was implemented to improve the robot's locomotion through variation of the DMP's parameters. Maximization of the DARwIn-OP's frontal velocity was addressed and results show a velocity improvement of 213%. The results are very promising and demonstrate the approach's flexibility at generating new trajectories for locomotion.

  3. Biped control via nonlinear dynamics

    NASA Astrophysics Data System (ADS)

    Hmam, Hatem M.

    1992-09-01

    This thesis applies nonlinear techniques to actuate a biped system and provides a rigorous analysis of the resulting motion. From observation of human locomotion, it is believed that the 'complex' dynamics developed by the aggregation of multiple muscle systems can be generated by a reduced order system which captures the rough details of the locomotion process. The investigation is begun with a simple model of a biped system. Since the locomotion process is cyclic in nature, we focus on applying the topologically similar concept of limit cycles to the simple model in order to generate the desired gaits. A rigorous analysis of the biped dynamics shows that the controlled motion is robust against dynamical disturbances. In addition, different biped gaits are generated by merely adjusting some of the limit cycle parameters. More dynamical and actuation complexities are then added for realism. First, two small foot components are added and the overall biped motion under the same control actuation is analyzed. Due to the physical constraints on the feet, it is shown using singular perturbation theory how the gross behavior of the biped dynamics are dictated by those of the reduced model. Next, an analysis of the biped dynamics under added nonlinear elasticities in the legs is carried out. Moreover, using a slightly modified model, forward motion is generated in the sagittal plane. At each step, a small amount of energy is consistently derived from the vertical plane and converted into a forward motion. Stability of the forward dynamics is guaranteed by appropriate foot placement. Finally, the robustness of the controlled biped dynamics is rigorously analyzed and illustrated through extensive computer simulations.

  4. A survey report for the design of biped locomotion robot: The WL-12 (Waseda Leg-12)

    NASA Astrophysics Data System (ADS)

    Takanishi, Atsuo; Kato, Ichiro; Kume, Etsuo

    1991-11-01

    A mechanical design study of biped locomotion robots is going on at JAERI within the scope of the Human Acts Simulation Program (HASP). The design study at JAERI is of an arbitrarily mobile robot for inspection of nuclear facilities. A survey has been performed for collecting useful information from already existing biped locomotion robots. This is a survey report of the biped locomotion robot: the WL-12 designed and developed at Waseda University. This report includes the mechanical model and control system designs.

  5. Modeling, Control and Simulation of Three-Dimensional Robotic Systems with Applications to Biped Locomotion.

    NASA Astrophysics Data System (ADS)

    Zheng, Yuan-Fang

    A three-dimensional, five link biped system is established. Newton-Euler state space formulation is employed to derive the equations of the system. The constraint forces involved in the equations can be eliminated by projection onto a smaller state space system for deriving advanced control laws. A model-referenced adaptive control scheme is developed to control the system. Digital computer simulations of point to point movement are carried out to show that the model-referenced adaptive control increases the dynamic range and speeds up the response of the system in comparison with linear and nonlinear feedback control. Further, the implementation of the controller is simpler. Impact effects of biped contact with the environment are modeled and studied. The instant velocity change at the moment of impact is derived as a function of the biped state and contact speed. The effects of impact on the state, as well as constraints are studied in biped landing on heels and toes simultaneously or on toes first. Rate and nonlinear position feedback are employed for stability of the biped after the impact. The complex structure of the foot is properly modeled. A spring and dashpot pair is suggested to represent the action of plantar fascia during the impact. This action prevents the arch of the foot from collapsing. A mathematical model of the skeletal muscle is discussed. A direct relationship between the stimulus rate and the active state is established. A piecewise linear relation between the length of the contractile element and the isometric force is considered. Hill's characteristic equation is maintained for determining the actual output force during different shortening velocities. A physical threshold model is proposed for recruitment which encompasses the size principle, its manifestations and exceptions to the size principle. Finally the role of spindle feedback in stability of the model is demonstrated by study of a pair of muscles.

  6. Innovization procedure applied to a multi-objective optimization of a biped robot locomotion

    NASA Astrophysics Data System (ADS)

    Oliveira, Miguel; Santos, Cristina P.; Costa, Lino

    2013-10-01

    This paper proposes an Innovization procedure approach for a bio-inspired biped gait locomotion controller. We combine a multi-objective evolutionary algorithm and a bio-inspired Central Patterns Generator locomotion controller to generates the necessary limb movements to perform the walking gait of a biped robot. The search for the best set of CPG parameters is optimized by considering multiple objectives along a staged evolution. An innovation analysis is issued to verify relationships between the parameters and the objectives and between objectives themselves in order to find relevant motor behaviors characteristics. The simulation results show the effectiveness of the proposed approach.

  7. Impact dynamics in biped locomotion analysis: two modelling and implementation approaches.

    PubMed

    Addi, Khalid; Rodić, Aleksandar D

    2010-07-01

    Stability during the biped locomotion and especially humanoid robots walking is a big challenge in robotics modelling. This paper compares the classical and novel methodologies of modelling and algorithmic implementation of the impact/contact dynamics that occurs during a biped motion. Thus, after establishing the free biped locomotion system model, a formulation using variational inequalities theory via a Linear Complementarity Problem then an impedance model are explicitly developed. Results of the numerical simulations are compared to the experimental measurements then the both approaches are discussed.

  8. Comparison of kinematic and dynamic leg trajectory optimization techniques for biped robot locomotion

    NASA Astrophysics Data System (ADS)

    Khusainov, R.; Klimchik, A.; Magid, E.

    2017-01-01

    The paper presents comparison analysis of two approaches in defining leg trajectories for biped locomotion. The first one operates only with kinematic limitations of leg joints and finds the maximum possible locomotion speed for given limits. The second approach defines leg trajectories from the dynamic stability point of view and utilizes ZMP criteria. We show that two methods give different trajectories and demonstrate that trajectories based on pure dynamic optimization cannot be realized due to joint limits. Kinematic optimization provides unstable solution which can be balanced by upper body movement.

  9. Design and control of a pneumatic musculoskeletal biped robot.

    PubMed

    Zang, Xizhe; Liu, Yixiang; Liu, Xinyu; Zhao, Jie

    2016-04-29

    Pneumatic artificial muscles are quite promising actuators for humanoid robots owing to their similar characteristics with human muscles. Moreover, biologically inspired musculoskeletal systems are particularly important for humanoid robots to perform versatile dynamic tasks. This study aims to develop a pneumatic musculoskeletal biped robot, and its controller, to realize human-like walking. According to the simplified musculoskeletal structure of human lower limbs, each leg of the biped robot is driven by nine muscles, including three pairs of monoarticular muscles which are arranged in the flexor-extensor form, as well as three biarticular muscles which span two joints. To lower cost, high-speed on/off solenoid valves rather than proportional valves are used to control the muscles. The joint trajectory tracking controller based on PID control method is designed to achieve the desired motion. Considering the complex characteristics of pneumatic artificial muscles, the control model is obtained through parameter identification experiments. Preliminary experimental results demonstrate that the biped robot is able to walk with this control strategy. The proposed musculoskeletal structure and control strategy are effective for the biped robot to achieve human-like walking.

  10. Generating Gaits for Biped Robots Using Multiple Dynamic Passivization of Joint Control

    NASA Astrophysics Data System (ADS)

    Ishida, Minoru; Kato, Shohei; Kanoh, Masayoshi; Itoh, Hidenori

    In the research field of bipedal locomotion, a central pattern generator (CPG) and passive dynamic walking (PDW) have attracted much attention. In this paper, we describe a motion control system for biped robots based on dynamic joint passivization. Our motion control system is based on a mixture of the CPG and PDW, that is, the multiple dynamic passivization of joint control (MDPJC). Our intention is to make the joint control of the swing leg temporarily passive in the swing leg phase. The important part is the passive phase time and the switch timings of the joint control. We optimize the switch timing parameters using simulated annealing with advanced adaptive neighborhood (SA/AAN). Experiments using the motion control system based on multiple dynamic passivization of joint control successfully generated energy efficient walking and enabled superior gaits.

  11. A reflexive neural network for dynamic biped walking control.

    PubMed

    Geng, Tao; Porr, Bernd; Wörgötter, Florentin

    2006-05-01

    Biped walking remains a difficult problem, and robot models can greatly facilitate our understanding of the underlying biomechanical principles as well as their neuronal control. The goal of this study is to specifically demonstrate that stable biped walking can be achieved by combining the physical properties of the walking robot with a small, reflex-based neuronal network governed mainly by local sensor signals. Building on earlier work (Taga, 1995; Cruse, Kindermann, Schumm, Dean, & Schmitz, 1998), this study shows that human-like gaits emerge without specific position or trajectory control and that the walker is able to compensate small disturbances through its own dynamical properties. The reflexive controller used here has the following characteristics, which are different from earlier approaches: (1) Control is mainly local. Hence, it uses only two signals (anterior extreme angle and ground contact), which operate at the interjoint level. All other signals operate only at single joints. (2) Neither position control nor trajectory tracking control is used. Instead, the approximate nature of the local reflexes on each joint allows the robot mechanics itself (e.g., its passive dynamics) to contribute substantially to the overall gait trajectory computation. (3) The motor control scheme used in the local reflexes of our robot is more straightforward and has more biological plausibility than that of other robots, because the outputs of the motor neurons in our reflexive controller are directly driving the motors of the joints rather than working as references for position or velocity control. As a consequence, the neural controller and the robot mechanics are closely coupled as a neuromechanical system, and this study emphasizes that dynamically stable biped walking gaits emerge from the coupling between neural computation and physical computation. This is demonstrated by different walking experiments using a real robot as well as by a Poincaré map analysis

  12. Foot and body control of biped robots to walk on irregularly protruded uneven surfaces.

    PubMed

    Park, Jong Hyeon; Kim, Eung Seo

    2009-02-01

    This correspondence proposes a control method for biped robots walking on a geometrically uneven surface with irregular protrusions. The focus is to maintain robot stability in leg and foot motions in order to adapt the foot to uneven terrains. Under the assumption that contact sensors are evenly installed at the foot soles, the geometric information under the landing foot is represented by a terrain matrix, whose elements represent the height of protruded cones. The control strategy of a landing phase (LP) is to form a large polygon with the contact points between the foot and the ground, based on the current zero-moment point (ZMP) and the locations of contact points during the transition from the LP to the stable double-support phase. The center of the polygon formed by the contact points at the end of the LP is to be used as the ZMP when the trajectory for the next step is generated. The gravity-compensated inverted-pendulum-mode-based trajectory is modified based on the newly located ZMP position and is interpolated to remove any trajectory discontinuity and to ensure a smooth transition. A series of computer simulations of a 28-degree-of-freedom (DOF) biped robot with a six-DOF environment model using SimMechanics shows that a stable compliant locomotion on uneven surfaces is successfully achieved with the proposed method.

  13. Neural compensation, muscle load distribution and muscle function in control of biped models

    NASA Astrophysics Data System (ADS)

    Bavarian, B.

    Three aspects of the neuromuscular control of muscle actuators in biped movements were studied: neural compensation, muscle load distribution, and muscle function. A block diagram of a neural control circuit model of the control nervous system is presented. Based on this block diagram a circuit comprised of a dynamic compensator, an inverse plant, and pre-programmed reference trajectory generators is proposed for control of a general n-link biped model. This circuit is used to study the postural stability and point-to-point voluntary movement of a two-link planar biped with two pairs of muscle models. The muscle load distribution, relevant to functional electrical stimulation of paraplegic patients for restoration of limited motor function, is considered. A quantitative analysis of the local controllability of a two-link planar biped model incorporating six major muscles of the lower extremities is presented. A model of the muscle for the lower extremities is presented.

  14. Design of variable-damping control for prosthetic knee based on a simulated biped.

    PubMed

    Zhao, Jie; Berns, Karsten; de Souza Baptista, Roberto; Bo, Antonio Padilha L

    2013-06-01

    This paper presents the development of a variable-damping controller for a prosthetic knee using a simulated biped in a virtual environment before real tests are conducted on humans. The simulated biped incorporates several features of human walking, such as functional morphology, exploitation of inherent dynamics, hierarchical control network, combination of feed-forward and feedback controllers and phase-dependent modulation. Based on this virtual model of human walking, we have studied biomechanical aspects of the knee joint during walking. Observing the damping profile developed by the simulated biped throughout a gait cycle, we designed a controller for the knee joint. This controller has been evaluated on a modified version of the simulated biped, in which the model of a real prosthetic leg was incorporated. Results of such experiments for walking on flat and rough terrains have provided satisfactory outputs, including improved robustness.

  15. Real-Time Step Length Control Method for a Biped Robot

    NASA Astrophysics Data System (ADS)

    Aiko, Takahiro; Ohnishi, Kouhei

    In this paper, the real-time step length control method for a biped robot is proposed. In human environment, it is necessary for a biped robot to change its gait on real-time since it is required to walk according to situations. By use of the proposed method, the center-of-gravity trajectory and swing leg trajectory were generated on real-time with that its command value is the step length. For generating the center-of-gravity trajectory, we develop Linear Inverted Pendulum Mode and additionally consider walking stability by ZMP. In order to demonstrate the proposed method, the simulation and experiment of a biped walk is performed.

  16. Stability analysis via the concept of Lyapunov exponents: a case study in optimal controlled biped standing

    NASA Astrophysics Data System (ADS)

    Sun, Yuming; Wu, Christine Qiong

    2012-12-01

    Balancing control is important for biped standing. In spite of large efforts, it is very difficult to design balancing control strategies satisfying three requirements simultaneously: maintaining postural stability, improving energy efficiency and satisfying the constraints between the biped feet and the ground. In this article, a proportional-derivative (PD) controller is proposed for a standing biped, which is simplified as a two-link inverted pendulum with one additional rigid foot-link. The genetic algorithm (GA) is used to search for the control gain meeting all three requirements. The stability analysis of such a deterministic biped control system is carried out using the concept of Lyapunov exponents (LEs), based on which, the system stability, where the disturbance comes from the initial states, and the structural stability, where the disturbance comes from the PD gains, are examined quantitively in terms of stability region. This article contributes to the biped balancing control, more significantly, the method shown in the studied case of biped provides a general framework of systematic stability analysis for certain deterministic nonlinear dynamical systems.

  17. Energy-efficient SVM learning control system for biped walking robots.

    PubMed

    Wang, Liyang; Liu, Zhi; Chen, Chun Lung Philip; Zhang, Yun; Lee, Sukhan; Chen, Xin

    2013-05-01

    An energy-efficient support vector machine (EE-SVM) learning control system considering the energy cost of each training sample of biped dynamic is proposed to realize energy-efficient biped walking. Energy costs of the biped walking samples are calculated. Then the samples are weighed with the inverses of the energy costs. An EE-SVM objective function with energy-related slack variables is proposed, which follows the principle that the sample with the lowest energy consumption is treated as the most important one in the training. That means the samples with lower energy consumption contribute more to the EE-SVM regression function learning, which highly increases the energy efficiency of the biped walking. Simulation results demonstrate the effectiveness of the proposed method.

  18. Gait Control for Redundant Legged Biped Robot at Constant Velocity and Constant Height of the Waist

    NASA Astrophysics Data System (ADS)

    Shima, Ryoichi; Haishi, Masahiko; Shibata, Masaaki

    In this paper, we propose a gait control method for redundant legged biped robot based on leg center of mass (COM) position control at constant velocity and constant height of the waist. The developed biped robot has redundant legs, which have 4 degree-of-freedoms (DOFs) on each in the saggital plane. The redundant DOF enables to move its leg tip position and its leg COM position independently. Therefore proposed robot has structural capability to control the leg COM position for keeping the projection of the total COM inside the support polygon without upper body motion. Such capability enables the stable static walk in the arbitrarily desired velocity and height of the waist motion. The validity of the proposed method for the static walk at constant velocity and constant height of the waist in the leg COM position control for redundant legged biped robot is confirmed by several results of simulation and experiment.

  19. The motion control of a statically stable biped robot on an uneven floor.

    PubMed

    Shih, C L; Chiou, C J

    1998-01-01

    This work studies the motion control of a statically stable biped robot having seven degrees of freedom. Statically stable walking of the biped robot is realized by maintaining the center-of-gravity inside the convex region of the supporting foot and/or feet during both single-support and double-support phases. The main points of this work are framing the stability in an easy and correct way, the design of a bipedal statically stable walker, and walking on sloping surfaces and stairs.

  20. Robust disturbance rejection control of a biped robotic system using high-order extended state observer.

    PubMed

    Martínez-Fonseca, Nadhynee; Castañeda, Luis Ángel; Uranga, Agustín; Luviano-Juárez, Alberto; Chairez, Isaac

    2016-05-01

    This study addressed the problem of robust control of a biped robot based on disturbance estimation. Active disturbance rejection control was the paradigm used for controlling the biped robot by direct active estimation. A robust controller was developed to implement disturbance cancelation based on a linear extended state observer of high gain class. A robust high-gain scheme was proposed for developing a state estimator of the biped robot despite poor knowledge of the plant and the presence of uncertainties. The estimated states provided by the state estimator were used to implement a feedback controller that was effective in actively rejecting the perturbations as well as forcing the trajectory tracking error to within a small vicinity of the origin. The theoretical convergence of the tracking error was proven using the Lyapunov theory. The controller was implemented by numerical simulations that showed the convergence of the tracking error. A comparison with a high-order sliding-mode-observer-based controller confirmed the superior performance of the controller using the robust observer introduced in this study. Finally, the proposed controller was implemented on an actual biped robot using an embedded hardware-in-the-loop strategy.

  1. SVR versus neural-fuzzy network controllers for the sagittal balance of a biped robot.

    PubMed

    Ferreira, João P; Crisóstomo, Manuel M; Coimbra, A Paulo

    2009-12-01

    The real-time balance control of an eight-link biped robot using a zero moment point (ZMP) dynamic model is difficult due to the processing time of the corresponding equations. To overcome this limitation, two alternative intelligent computing control techniques were compared: one based on support vector regression (SVR) and another based on a first-order Takagi-Sugeno-Kang (TSK)-type neural-fuzzy (NF) network. Both methods use the ZMP error and its variation as inputs and the output is the correction of the robot's torso necessary for its sagittal balance. The SVR and the NF were trained based on simulation data and their performance was verified with a real biped robot. Two performance indexes are proposed to evaluate and compare the online performance of the two control methods. The ZMP is calculated by reading four force sensors placed under each robot's foot. The gait implemented in this biped is similar to a human gait that was acquired and adapted to the robot's size. Some experiments are presented and the results show that the implemented gait combined either with the SVR controller or with the TSK NF network controller can be used to control this biped robot. The SVR and the NF controllers exhibit similar stability, but the SVR controller runs about 50 times faster.

  2. Impact Force Suppression for Redundant Legged Biped Robot Based on Unified Decoupling Control Method

    NASA Astrophysics Data System (ADS)

    Shibata, Masaaki; Tasaki, Go; Natori, Takeshi

    A swinging leg of a biped robot landing, impact force usually occurs between the sole and the ground, and then it causes instability of the gait. The paper describes the advantages of adopting redundant legs to the robot in order to conquer the difficulty, and proposes a novel way of the motion control for the redundant legged biped robot. In general, each leg of a conventional biped robot consists of 3 joints, namely, hip, knee and ankle in the sagittal plane. On the other hand, the proposed robot has been added extra joints, and thereby has redundancy in terms of degrees-of-freedom. Since the redundant leg can select its arbitrary posture, regardless of the tip position, the structure enables to move the position of the center of mass (COM) of the leg independently. The impact force is suppressed by controlling the COM acceleration of the landing leg. In order to achieve the decoupled motions between the tip and the COM, the unified decoupling controller is introduced. The controller includes three types of the disturbance observers together, and both desired motions are realized consequently. The validity of the proposed approach is confirmed in physical experimental results.

  3. Locomotion: Control from the Periphery?

    PubMed

    Wyart, Claire

    2017-02-20

    Studies of the neural control of locomotion have tended to focus on the modulation of motoneuron firing by premotor neurons; new work indicates that the regulation of synaptic transmission at the neuromuscular junction can also be important, revealing an inverse relationship between input resistance and synaptic output in motoneurons.

  4. Controlling legs for locomotion-insights from robotics and neurobiology.

    PubMed

    Buschmann, Thomas; Ewald, Alexander; von Twickel, Arndt; Büschges, Ansgar

    2015-06-29

    Walking is the most common terrestrial form of locomotion in animals. Its great versatility and flexibility has led to many attempts at building walking machines with similar capabilities. The control of walking is an active research area both in neurobiology and robotics, with a large and growing body of work. This paper gives an overview of the current knowledge on the control of legged locomotion in animals and machines and attempts to give walking control researchers from biology and robotics an overview of the current knowledge in both fields. We try to summarize the knowledge on the neurobiological basis of walking control in animals, emphasizing common principles seen in different species. In a section on walking robots, we review common approaches to walking controller design with a slight emphasis on biped walking control. We show where parallels between robotic and neurobiological walking controllers exist and how robotics and biology may benefit from each other. Finally, we discuss where research in the two fields diverges and suggest ways to bridge these gaps.

  5. Controlled Reduction of a Five-Link 3D Biped with Unactuated Yaw.

    PubMed

    Gregg, Robert D

    2011-12-01

    This paper presents a formulation of controlled geometric reduction with one degree of underactuation for mechanical systems with an unactuated cyclic variable subject to passive damping. We show that the first control term in the fully actuated case reduces to passive joint-velocity feedback, which can be equivalently provided by viscous friction. The underactuated control strategy is applied to a five-link 3D biped with a hip, torso, knees, and unactuated yaw at the foot contact point. We show asymptotically stable walking in the presence of passive yawing for realistic friction coefficients.

  6. Controlled Reduction of a Five-Link 3D Biped with Unactuated Yaw

    PubMed Central

    Gregg, Robert D.

    2014-01-01

    This paper presents a formulation of controlled geometric reduction with one degree of underactuation for mechanical systems with an unactuated cyclic variable subject to passive damping. We show that the first control term in the fully actuated case reduces to passive joint-velocity feedback, which can be equivalently provided by viscous friction. The underactuated control strategy is applied to a five-link 3D biped with a hip, torso, knees, and unactuated yaw at the foot contact point. We show asymptotically stable walking in the presence of passive yawing for realistic friction coefficients. PMID:25663742

  7. Walking motion generation, synthesis, and control for biped robot by using PGRL, LPI, and fuzzy logic.

    PubMed

    Li, Tzuu-Hseng S; Su, Yu-Te; Lai, Shao-Wei; Hu, Jhen-Jia

    2011-06-01

    This paper proposes the implementation of fuzzy motion control based on reinforcement learning (RL) and Lagrange polynomial interpolation (LPI) for gait synthesis of biped robots. First, the procedure of a walking gait is redefined into three states, and the parameters of this designed walking gait are determined. Then, the machine learning approach applied to adjusting the walking parameters is policy gradient RL (PGRL), which can execute real-time performance and directly modify the policy without calculating the dynamic function. Given a parameterized walking motion designed for biped robots, the PGRL algorithm automatically searches the set of possible parameters and finds the fastest possible walking motion. The reward function mainly considered is first the walking speed, which can be estimated from the vision system. However, the experiment illustrates that there are some stability problems in this kind of learning process. To solve these problems, the desired zero moment point trajectory is added to the reward function. The results show that the robot not only has more stable walking but also increases its walking speed after learning. This is more effective and attractive than manual trial-and-error tuning. LPI, moreover, is employed to transform the existing motions to the motion which has a revised angle determined by the fuzzy motion controller. Then, the biped robot can continuously walk in any desired direction through this fuzzy motion control. Finally, the fuzzy-based gait synthesis control is demonstrated by tasks and point- and line-target tracking. The experiments show the feasibility and effectiveness of gait learning with PGRL and the practicability of the proposed fuzzy motion control scheme.

  8. Generation of the Human Biped Stance by a Neural Controller Able to Compensate Neurological Time Delay

    PubMed Central

    Jiang, Ping; Chiba, Ryosuke; Takakusaki, Kaoru; Ota, Jun

    2016-01-01

    The development of a physiologically plausible computational model of a neural controller that can realize a human-like biped stance is important for a large number of potential applications, such as assisting device development and designing robotic control systems. In this paper, we develop a computational model of a neural controller that can maintain a musculoskeletal model in a standing position, while incorporating a 120-ms neurological time delay. Unlike previous studies that have used an inverted pendulum model, a musculoskeletal model with seven joints and 70 muscular-tendon actuators is adopted to represent the human anatomy. Our proposed neural controller is composed of both feed-forward and feedback controls. The feed-forward control corresponds to the constant activation input necessary for the musculoskeletal model to maintain a standing posture. This compensates for gravity and regulates stiffness. The developed neural controller model can replicate two salient features of the human biped stance: (1) physiologically plausible muscle activations for quiet standing; and (2) selection of a low active stiffness for low energy consumption. PMID:27655271

  9. Gravity Compensation and Feedback of Ground Reaction Forces for Biped Balance Control

    PubMed Central

    Nishio, Shingo; Fukumoto, Yuuki; Matsushita, Kojiro

    2017-01-01

    This paper considers the balance control of a biped robot under a constant external force or on a sloped ground. We have proposed a control method with feedback of the ground reaction forces and have realized adaptive posture changes that ensure the stability of the robot. However, fast responses have not been obtained because effective control is achieved by an integral feedback that accompanies a time delay necessary for error accumulation. To improve this response, here, we introduce gravity compensation in a feedforward manner. The stationary state and its stability are analyzed based on dynamic equations, and the robustness as well as the response is evaluated using computer simulations. Finally, the adaptive behaviors of the robot are confirmed by standing experiments on the slope. PMID:28555091

  10. Patterned control of human locomotion

    PubMed Central

    Lacquaniti, Francesco; Ivanenko, Yuri P; Zago, Myrka

    2012-01-01

    There is much experimental evidence for the existence of biomechanical constraints which simplify the problem of control of multi-segment movements. In addition, it has been hypothesized that movements are controlled using a small set of basic temporal components or activation patterns, shared by several different muscles and reflecting global kinematic and kinetic goals. Here we review recent studies on human locomotion showing that muscle activity is accounted for by a combination of few basic patterns, each one timed at a different phase of the gait cycle. Similar patterns are involved in walking and running at different speeds, walking forwards or backwards, and walking under different loading conditions. The corresponding weights of distribution to different muscles may change as a function of the condition, allowing highly flexible control. Biomechanical correlates of each activation pattern have been described, leading to the hypothesis that the co-ordination of limb and body segments arises from the coupling of neural oscillators between each other and with limb mechanical oscillators. Muscle activations need only intervene during limited time epochs to force intrinsic oscillations of the system when energy is lost. PMID:22411012

  11. Spinal and supraspinal control of the direction of stepping during locomotion.

    PubMed

    Musienko, Pavel E; Zelenin, Pavel V; Lyalka, Vladimir F; Gerasimenko, Yury P; Orlovsky, Grigory N; Deliagina, Tatiana G

    2012-11-28

    Most bipeds and quadrupeds, in addition to forward walking, are also capable of backward and sideward walking. The direction of walking is determined by the direction of stepping movements of individual limbs in relation to the front-to-rear body axis. Our goal was to assess the functional organization of the system controlling the direction of stepping. Experiments were performed on decerebrate cats walking on the treadmill with their hindlimbs, whereas the head and trunk were rigidly fixed. Different directions of the treadmill motion relative to the body axis were used (0, ± 45, ± 90, and 180°). For each direction, we compared locomotion evoked from the brainstem (by stimulation of the mesencephalic locomotor region, MLR) with locomotion evoked by epidural stimulation of the spinal cord (SC). It was found that SC stimulation evoked well coordinated stepping movements at different treadmill directions. The direction of steps was opposite to the treadmill motion, suggesting that this direction was determined by sensory input from the limb during stance. Thus, SC stimulation activates limb controllers, which are able to generate stepping movements in different directions. By contrast, MLR stimulation evoked well coordinated stepping movements only if the treadmill was moving in the front-to-rear direction. One can conclude that supraspinal commands (caused by MLR stimulation) select one of the numerous forms of operation of the spinal limb controllers, namely, the forward walking. The MLR can thus be considered as a command center for forward locomotion, which is the main form of progression in bipeds and quadrupeds.

  12. Pareto Design of State Feedback Tracking Control of a Biped Robot via Multiobjective PSO in Comparison with Sigma Method and Genetic Algorithms: Modified NSGAII and MATLAB's Toolbox

    PubMed Central

    Mahmoodabadi, M. J.; Taherkhorsandi, M.; Bagheri, A.

    2014-01-01

    An optimal robust state feedback tracking controller is introduced to control a biped robot. In the literature, the parameters of the controller are usually determined by a tedious trial and error process. To eliminate this process and design the parameters of the proposed controller, the multiobjective evolutionary algorithms, that is, the proposed method, modified NSGAII, Sigma method, and MATLAB's Toolbox MOGA, are employed in this study. Among the used evolutionary optimization algorithms to design the controller for biped robots, the proposed method operates better in the aspect of designing the controller since it provides ample opportunities for designers to choose the most appropriate point based upon the design criteria. Three points are chosen from the nondominated solutions of the obtained Pareto front based on two conflicting objective functions, that is, the normalized summation of angle errors and normalized summation of control effort. Obtained results elucidate the efficiency of the proposed controller in order to control a biped robot. PMID:24616619

  13. Pareto design of state feedback tracking control of a biped robot via multiobjective PSO in comparison with sigma method and genetic algorithms: modified NSGAII and MATLAB's toolbox.

    PubMed

    Mahmoodabadi, M J; Taherkhorsandi, M; Bagheri, A

    2014-01-01

    An optimal robust state feedback tracking controller is introduced to control a biped robot. In the literature, the parameters of the controller are usually determined by a tedious trial and error process. To eliminate this process and design the parameters of the proposed controller, the multiobjective evolutionary algorithms, that is, the proposed method, modified NSGAII, Sigma method, and MATLAB's Toolbox MOGA, are employed in this study. Among the used evolutionary optimization algorithms to design the controller for biped robots, the proposed method operates better in the aspect of designing the controller since it provides ample opportunities for designers to choose the most appropriate point based upon the design criteria. Three points are chosen from the nondominated solutions of the obtained Pareto front based on two conflicting objective functions, that is, the normalized summation of angle errors and normalized summation of control effort. Obtained results elucidate the efficiency of the proposed controller in order to control a biped robot.

  14. Evolution of neural controllers for salamanderlike locomotion

    NASA Astrophysics Data System (ADS)

    Ijspeert, Auke J.

    1999-08-01

    This paper presents an experiment in which evolutionary algorithms are used for the development of neural controllers for salamander locomotion. The aim of the experiment is to investigate which kind of neural circuitry can produce the typical swimming and trotting gaits of the salamander, and to develop a synthetic approach to neurobiology by using genetic algorithms as design tool. A 2D bio-mechanical simulation of the salamander's body is developed whose muscle contraction is determined by the locomotion controller simulated as continuous-time neural networks. While the connectivity of the neural circuitry underlying locomotion in the salamander has not been decoded for the moment, the general organization of the designed neural circuits corresponds to that hypothesized by neurobiologist for the real animal. In particular, the locomotion controllers are based on a body central pattern generator (CPG) corresponding to a lamprey-like swimming controller as developed by Ekeberg, and are extended with a limb CPG for controlling the salamander's body. A genetic algorithm is used to instantiate synaptic weights of the connections within the limb CPG and from the limb CPG to the body CPG given a high level description of the desired gaits. A set of biologically plausible controllers are thus developed which can produce a neural activity and locomotion gaits very similar to those observed in the real salamander. By simply varying the external excitation applied to the network, the speed, direction and type of gait can be varied.

  15. Adaptive, fast walking in a biped robot under neuronal control and learning.

    PubMed

    Manoonpong, Poramate; Geng, Tao; Kulvicius, Tomas; Porr, Bernd; Wörgötter, Florentin

    2007-07-01

    Human walking is a dynamic, partly self-stabilizing process relying on the interaction of the biomechanical design with its neuronal control. The coordination of this process is a very difficult problem, and it has been suggested that it involves a hierarchy of levels, where the lower ones, e.g., interactions between muscles and the spinal cord, are largely autonomous, and where higher level control (e.g., cortical) arises only pointwise, as needed. This requires an architecture of several nested, sensori-motor loops where the walking process provides feedback signals to the walker's sensory systems, which can be used to coordinate its movements. To complicate the situation, at a maximal walking speed of more than four leg-lengths per second, the cycle period available to coordinate all these loops is rather short. In this study we present a planar biped robot, which uses the design principle of nested loops to combine the self-stabilizing properties of its biomechanical design with several levels of neuronal control. Specifically, we show how to adapt control by including online learning mechanisms based on simulated synaptic plasticity. This robot can walk with a high speed (>3.0 leg length/s), self-adapting to minor disturbances, and reacting in a robust way to abruptly induced gait changes. At the same time, it can learn walking on different terrains, requiring only few learning experiences. This study shows that the tight coupling of physical with neuronal control, guided by sensory feedback from the walking pattern itself, combined with synaptic learning may be a way forward to better understand and solve coordination problems in other complex motor tasks.

  16. Adaptive, Fast Walking in a Biped Robot under Neuronal Control and Learning

    PubMed Central

    Kulvicius, Tomas; Porr, Bernd; Wörgötter, Florentin

    2007-01-01

    Human walking is a dynamic, partly self-stabilizing process relying on the interaction of the biomechanical design with its neuronal control. The coordination of this process is a very difficult problem, and it has been suggested that it involves a hierarchy of levels, where the lower ones, e.g., interactions between muscles and the spinal cord, are largely autonomous, and where higher level control (e.g., cortical) arises only pointwise, as needed. This requires an architecture of several nested, sensori–motor loops where the walking process provides feedback signals to the walker's sensory systems, which can be used to coordinate its movements. To complicate the situation, at a maximal walking speed of more than four leg-lengths per second, the cycle period available to coordinate all these loops is rather short. In this study we present a planar biped robot, which uses the design principle of nested loops to combine the self-stabilizing properties of its biomechanical design with several levels of neuronal control. Specifically, we show how to adapt control by including online learning mechanisms based on simulated synaptic plasticity. This robot can walk with a high speed (>3.0 leg length/s), self-adapting to minor disturbances, and reacting in a robust way to abruptly induced gait changes. At the same time, it can learn walking on different terrains, requiring only few learning experiences. This study shows that the tight coupling of physical with neuronal control, guided by sensory feedback from the walking pattern itself, combined with synaptic learning may be a way forward to better understand and solve coordination problems in other complex motor tasks. PMID:17630828

  17. Dynamics and control of motion on the ground and in the air with application to biped robots

    NASA Astrophysics Data System (ADS)

    Hemami, H.; Zheng, Y.-F.

    The dynamics of a multi-linkage model of natural or man-made systems with arbitrary holonomic and non-holonomic constraints at the joints are formulated. The formulation is equally applicable to movements on the ground or in the air. Nonlinear control strategies for postural balance and rhythmic motion are presented. A predictive algorithm to compensate for computation or transmission delay is proposed. Digital computer simulations are presented to demonstrate the effectiveness of the control strategy for a five-link three-dimensional biped.

  18. Locomotion control of hybrid cockroach robots.

    PubMed

    Sanchez, Carlos J; Chiu, Chen-Wei; Zhou, Yan; González, Jorge M; Vinson, S Bradleigh; Liang, Hong

    2015-04-06

    Natural systems retain significant advantages over engineered systems in many aspects, including size and versatility. In this research, we develop a hybrid robotic system using American (Periplaneta americana) and discoid (Blaberus discoidalis) cockroaches that uses the natural locomotion and robustness of the insect. A tethered control system was firstly characterized using American cockroaches, wherein implanted electrodes were used to apply an electrical stimulus to the prothoracic ganglia. Using this approach, larger discoid cockroaches were engineered into a remotely controlled hybrid robotic system. Locomotion control was achieved through electrical stimulation of the prothoracic ganglia, via a remotely operated backpack system and implanted electrodes. The backpack consisted of a microcontroller with integrated transceiver protocol, and a rechargeable battery. The hybrid discoid roach was able to walk, and turn in response to an electrical stimulus to its nervous system with high repeatability of 60%.

  19. Locomotion control of hybrid cockroach robots

    PubMed Central

    Sanchez, Carlos J.; Chiu, Chen-Wei; Zhou, Yan; González, Jorge M.; Vinson, S. Bradleigh; Liang, Hong

    2015-01-01

    Natural systems retain significant advantages over engineered systems in many aspects, including size and versatility. In this research, we develop a hybrid robotic system using American (Periplaneta americana) and discoid (Blaberus discoidalis) cockroaches that uses the natural locomotion and robustness of the insect. A tethered control system was firstly characterized using American cockroaches, wherein implanted electrodes were used to apply an electrical stimulus to the prothoracic ganglia. Using this approach, larger discoid cockroaches were engineered into a remotely controlled hybrid robotic system. Locomotion control was achieved through electrical stimulation of the prothoracic ganglia, via a remotely operated backpack system and implanted electrodes. The backpack consisted of a microcontroller with integrated transceiver protocol, and a rechargeable battery. The hybrid discoid roach was able to walk, and turn in response to an electrical stimulus to its nervous system with high repeatability of 60%. PMID:25740855

  20. Intermittent locomotion as an optimal control strategy.

    PubMed

    Paoletti, P; Mahadevan, L

    2014-04-08

    Birds, fish and other animals routinely use unsteady effects to save energy by alternating between phases of active propulsion and passive coasting. Here, we construct a minimal model for such behaviour that can be couched as an optimal control problem via an analogy to travelling with a rechargeable battery. An analytical solution of the optimal control problem proves that intermittent locomotion has lower energy requirements relative to steady-state strategies. Additional realistic hypotheses, such as the assumption that metabolic cost at a given power should be minimal (the fixed gear hypothesis), a nonlinear dependence of the energy storage rate on propulsion and/or a preferred average speed, allow us to generalize the model and demonstrate the flexibility of intermittent locomotion with implications for biological and artificial systems.

  1. Intermittent locomotion as an optimal control strategy

    PubMed Central

    Paoletti, P.; Mahadevan, L.

    2014-01-01

    Birds, fish and other animals routinely use unsteady effects to save energy by alternating between phases of active propulsion and passive coasting. Here, we construct a minimal model for such behaviour that can be couched as an optimal control problem via an analogy to travelling with a rechargeable battery. An analytical solution of the optimal control problem proves that intermittent locomotion has lower energy requirements relative to steady-state strategies. Additional realistic hypotheses, such as the assumption that metabolic cost at a given power should be minimal (the fixed gear hypothesis), a nonlinear dependence of the energy storage rate on propulsion and/or a preferred average speed, allow us to generalize the model and demonstrate the flexibility of intermittent locomotion with implications for biological and artificial systems. PMID:24711718

  2. User Control of Simulated Locomotion

    DTIC Science & Technology

    2001-01-05

    mechanical system utilizes an omni-directional treadmill and allows the user to walk in any direction. The treadmill consists of a pair of conveyor belts ...their head to look to the side while moving without altering their path. This makes it difficult to move to a desired position in the virtual...directional coordinate frame relative to a fixed external point in space, this is an unnatural condition that makes turning of the body and controlling

  3. 49 CFR 229.13 - Control of locomotives.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... coupled in remote or multiple control, the propulsion system, the sanders, and the power brake system of each locomotive shall respond to control from the cab of the controlling locomotive. If a dynamic brake or regenerative brake system is in use, that portion of the system in use shall respond to control...

  4. 49 CFR 229.13 - Control of locomotives.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... coupled in remote or multiple control, the propulsion system, the sanders, and the power brake system of each locomotive shall respond to control from the cab of the controlling locomotive. If a dynamic brake or regenerative brake system is in use, that portion of the system in use shall respond to control...

  5. 49 CFR 229.13 - Control of locomotives.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... coupled in remote or multiple control, the propulsion system, the sanders, and the power brake system of each locomotive shall respond to control from the cab of the controlling locomotive. If a dynamic brake or regenerative brake system is in use, that portion of the system in use shall respond to control...

  6. 49 CFR 229.13 - Control of locomotives.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... coupled in remote or multiple control, the propulsion system, the sanders, and the power brake system of each locomotive shall respond to control from the cab of the controlling locomotive. If a dynamic brake or regenerative brake system is in use, that portion of the system in use shall respond to control...

  7. 49 CFR 229.13 - Control of locomotives.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... coupled in remote or multiple control, the propulsion system, the sanders, and the power brake system of each locomotive shall respond to control from the cab of the controlling locomotive. If a dynamic brake or regenerative brake system is in use, that portion of the system in use shall respond to control...

  8. Cerebellar contribution to feedforward control of locomotion

    PubMed Central

    Pisotta, Iolanda; Molinari, Marco

    2014-01-01

    The cerebellum is an important contributor to feedforward control mechanisms of the central nervous system, and sequencing—the process that allows spatial and temporal relationships between events to be recognized—has been implicated as the fundamental cerebellar mode of operation. By adopting such a mode and because cerebellar activity patterns are sensitive to a variety of sensorimotor-related tasks, the cerebellum is believed to support motor and cognitive functions that are encoded in the frontal and parietal lobes of the cerebral cortex. In this model, the cerebellum is hypothesized to make predictions about the consequences of a motor or cognitive command that originates from the cortex to prepare the entire system to cope with ongoing changes. In this framework, cerebellar predictive mechanisms for locomotion are addressed, focusing on sensorial and motoric sequencing. The hypothesis that sequence recognition is the mechanism by which the cerebellum functions in gait control is presented and discussed. PMID:25009490

  9. Cerebellar contribution to feedforward control of locomotion.

    PubMed

    Pisotta, Iolanda; Molinari, Marco

    2014-01-01

    The cerebellum is an important contributor to feedforward control mechanisms of the central nervous system, and sequencing-the process that allows spatial and temporal relationships between events to be recognized-has been implicated as the fundamental cerebellar mode of operation. By adopting such a mode and because cerebellar activity patterns are sensitive to a variety of sensorimotor-related tasks, the cerebellum is believed to support motor and cognitive functions that are encoded in the frontal and parietal lobes of the cerebral cortex. In this model, the cerebellum is hypothesized to make predictions about the consequences of a motor or cognitive command that originates from the cortex to prepare the entire system to cope with ongoing changes. In this framework, cerebellar predictive mechanisms for locomotion are addressed, focusing on sensorial and motoric sequencing. The hypothesis that sequence recognition is the mechanism by which the cerebellum functions in gait control is presented and discussed.

  10. A Global Step Planning Method for Biped Robot Considering Obstacles

    NASA Astrophysics Data System (ADS)

    Tsuji, Toshiaki; Ohnishi, Kouhei

    This paper discusses about step planning of a biped robot in an environment with obstacles. Biped robot has a mechanical advantage to work in human surroundings. This is accomplished by its capability to select the discrete contact point with the ground. Though its foot placement should be discussed to step over obstacles, it is difficult because dynamic biped locomotion is a complex interaction system between upper body motion and stepping point. Applying the idea of virtual supporting point, this complex interaction is solved. The collision detection is easily achieved through modeling the obstacles to an off-limits on the horizontal plane. A stamp area is set in order to avoid the extreme stride alteration. Through these methods, the robot can prepare for the obstacle beforehand and select a series of footsteps that provides stable locomotion. Experimental results are shown to confirm the validity of the proposed methods.

  11. Hydrodynamics and control of microbial locomotion

    NASA Astrophysics Data System (ADS)

    Dunkel, Jorn; Kantsler, Vasily; Polin, Marco; Wioland, Hugo; Goldstein, Raymond

    2014-03-01

    Interactions between swimming cells, surfaces and fluid flow are essential to many microbiological processes, from the formation of biofilms to the fertilization of human egg cells. Yet, relatively little remains known quantitatively about the physical mechanisms that govern the response of bacteria, algae and sperm cells to flow velocity gradients and solid surfaces. A better understanding of cell-surface and cell-flow interactions promises new biological insights and may advance microfluidic techniques for controlling microbial and sperm locomotion, with potential applications in diagnostics and therapeutic protein synthesis. Here, we report new experimental measurements that quantify surface interactions of bacteria, unicellular green algae and mammalian spermatozoa. These experiments show that the subtle interplay of hydrodynamics and surface interactions can stabilize collective bacterial motion, that direct ciliary contact interactions dominate surface scattering of eukaryotic biflagellate algae, and that rheotaxis combined with steric surface interactions provides a robust long-range navigation mechanism for sperm cells.

  12. Goal Directed Locomotion and Balance Control in Autistic Children

    ERIC Educational Resources Information Center

    Vernazza-Martin, S.; Martin, N.; Vernazza, A.; Lepellec-Muller, A.; Rufo, M.; Massion, J.; Assaiante, C.

    2005-01-01

    This article focuses on postural anticipation and multi-joint coordination during locomotion in healthy and autistic children. Three questions were addressed: (1) Are gait parameters modified in autistic children? (2) Is equilibrium control affected in autistic children? (3) Is locomotion adjusted to the experimenter-imposed goal? Six healthy…

  13. Goal Directed Locomotion and Balance Control in Autistic Children

    ERIC Educational Resources Information Center

    Vernazza-Martin, S.; Martin, N.; Vernazza, A.; Lepellec-Muller, A.; Rufo, M.; Massion, J.; Assaiante, C.

    2005-01-01

    This article focuses on postural anticipation and multi-joint coordination during locomotion in healthy and autistic children. Three questions were addressed: (1) Are gait parameters modified in autistic children? (2) Is equilibrium control affected in autistic children? (3) Is locomotion adjusted to the experimenter-imposed goal? Six healthy…

  14. Dynamic legged locomotion in robots and animals

    NASA Astrophysics Data System (ADS)

    Raibert, Marc; Playter, Robert; Ringrose, Robert; Bailey, Dave; Leeser, Karl

    1995-01-01

    This report documents our study of active legged systems that balance actively and move dynamically. The purpose of this research is to build a foundation of knowledge that can lead both to the construction of useful legged vehicles and to a better understanding of how animal locomotion works. In this report we provide an update on progress during the past year. Here are the topics covered in this report: (1) Is cockroach locomotion dynamic? To address this question we created three models of cockroaches, each abstracted at a different level. We provided each model with a control system and computer simulation. One set of results suggests that 'Groucho Running,' a type of dynamic walking, seems feasible at cockroach scale. (2) How do bipeds shift weight between the legs? We built a simple planar biped robot specifically to explore this question. It shifts its weight from one curved foot to the other, using a toe-off and toe-on strategy, in conjunction with dynamic tipping. (3) 3D biped gymnastics: The 3D biped robot has done front somersaults in the laboratory. The robot changes its leg length in flight to control rotation rate. This in turn provides a mechanism for controlling the landing attitude of the robot once airborne. (4) Passively stabilized layout somersault: We have found that the passive structure of a gymnast, the configuration of masses and compliances, can stabilize inherently unstable maneuvers. This means that body biomechanics could play a larger role in controlling behavior than is generally thought. We used a physical 'doll' model and computer simulation to illustrate the point. (5) Twisting: Some gymnastic maneuvers require twisting. We are studying how to couple the biomechanics of the system to its control to produce efficient, stable twisting maneuvers.

  15. A sensory-driven controller for quadruped locomotion.

    PubMed

    Ferreira, César; Santos, Cristina P

    2017-02-01

    Locomotion of quadruped robots has not yet achieved the harmony, flexibility, efficiency and robustness of its biological counterparts. Biological research showed that spinal reflexes are crucial for a successful locomotion in the most varied terrains. In this context, the development of bio-inspired controllers seems to be a good way to move toward an efficient and robust robotic locomotion, by mimicking their biological counterparts. This contribution presents a sensory-driven controller designed for the simulated Oncilla quadruped robot. In the proposed reflex controller, movement is generated through the robot's interactions with the environment, and therefore, the controller is solely dependent on sensory information. The results show that the reflex controller is capable of producing stable quadruped locomotion with a regular stepping pattern. Furthermore, it is capable of dealing with slopes without changing the parameters and with small obstacles, overcoming them successfully. Finally, system robustness was verified by adding noise to sensors and actuators and also delays.

  16. Simulation and robotics studies of salamander locomotion: applying neurobiological principles to the control of locomotion in robots.

    PubMed

    Ijspeert, Auke Jan; Crespi, Alessandro; Cabelguen, Jean-Marie

    2005-01-01

    This article presents a project that aims at understanding the neural circuitry controlling salamander locomotion, and developing an amphibious salamander-like robot capable of replicating its bimodal locomotion, namely swimming and terrestrial walking. The controllers of the robot are central pattern generator models inspired by the salamander's locomotion control network. The goal of the project is twofold: (1) to use robots as tools for gaining a better understanding of locomotion control in vertebrates and (2) to develop new robot and control technologies for developing agile and adaptive outdoor robots. The article has four parts. We first describe the motivations behind the project. We then present neuromechanical simulation studies of locomotion control in salamanders. This is followed by a description of the current stage of the robotic developments. We conclude the article with a discussion on the usefulness of robots in neuroscience research with a special focus on locomotion control.

  17. 49 CFR 229.14 - Non-MU control cab locomotives.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... 49 Transportation 4 2013-10-01 2013-10-01 false Non-MU control cab locomotives. 229.14 Section 229... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION RAILROAD LOCOMOTIVE SAFETY STANDARDS General § 229.14 Non-MU control cab locomotives. On each non-MU control cab locomotive, only those components added to the...

  18. 49 CFR 229.14 - Non-MU control cab locomotives.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... 49 Transportation 4 2011-10-01 2011-10-01 false Non-MU control cab locomotives. 229.14 Section 229... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION RAILROAD LOCOMOTIVE SAFETY STANDARDS General § 229.14 Non-MU control cab locomotives. On each non-MU control cab locomotive, only those components added to the...

  19. 49 CFR 229.14 - Non-MU control cab locomotives.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... 49 Transportation 4 2010-10-01 2010-10-01 false Non-MU control cab locomotives. 229.14 Section 229... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION RAILROAD LOCOMOTIVE SAFETY STANDARDS General § 229.14 Non-MU control cab locomotives. On each non-MU control cab locomotive, only those components added to the...

  20. 49 CFR 229.14 - Non-MU control cab locomotives.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... 49 Transportation 4 2012-10-01 2012-10-01 false Non-MU control cab locomotives. 229.14 Section 229... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION RAILROAD LOCOMOTIVE SAFETY STANDARDS General § 229.14 Non-MU control cab locomotives. On each non-MU control cab locomotive, only those components added to the...

  1. 49 CFR 229.14 - Non-MU control cab locomotives.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... 49 Transportation 4 2014-10-01 2014-10-01 false Non-MU control cab locomotives. 229.14 Section 229... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION RAILROAD LOCOMOTIVE SAFETY STANDARDS General § 229.14 Non-MU control cab locomotives. On each non-MU control cab locomotive, only those components added to the...

  2. Visuomotor Control of Human Adaptive Locomotion: Understanding the Anticipatory Nature

    PubMed Central

    Higuchi, Takahiro

    2013-01-01

    To maintain balance during locomotion, the central nervous system (CNS) accommodates changes in the constraints of spatial environment (e.g., existence of an obstacle or changes in the surface properties). Locomotion while modifying the basic movement patterns in response to such constraints is referred to as adaptive locomotion. The most powerful means of ensuring balance during adaptive locomotion is to visually perceive the environmental properties at a distance and modify the movement patterns in an anticipatory manner to avoid perturbation altogether. For this reason, visuomotor control of adaptive locomotion is characterized, at least in part, by its anticipatory nature. The purpose of the present article is to review the relevant studies which revealed the anticipatory nature of the visuomotor control of adaptive locomotion. The anticipatory locomotor adjustments for stationary and changeable environment, as well as the spatio-temporal patterns of gaze behavior to support the anticipatory locomotor adjustments are described. Such description will clearly show that anticipatory locomotor adjustments are initiated when an object of interest (e.g., a goal or obstacle) still exists in far space. This review also show that, as a prerequisite of anticipatory locomotor adjustments, environmental properties are accurately perceived from a distance in relation to individual’s action capabilities. PMID:23720647

  3. Visuomotor control of human adaptive locomotion: understanding the anticipatory nature.

    PubMed

    Higuchi, Takahiro

    2013-01-01

    To maintain balance during locomotion, the central nervous system (CNS) accommodates changes in the constraints of spatial environment (e.g., existence of an obstacle or changes in the surface properties). Locomotion while modifying the basic movement patterns in response to such constraints is referred to as adaptive locomotion. The most powerful means of ensuring balance during adaptive locomotion is to visually perceive the environmental properties at a distance and modify the movement patterns in an anticipatory manner to avoid perturbation altogether. For this reason, visuomotor control of adaptive locomotion is characterized, at least in part, by its anticipatory nature. The purpose of the present article is to review the relevant studies which revealed the anticipatory nature of the visuomotor control of adaptive locomotion. The anticipatory locomotor adjustments for stationary and changeable environment, as well as the spatio-temporal patterns of gaze behavior to support the anticipatory locomotor adjustments are described. Such description will clearly show that anticipatory locomotor adjustments are initiated when an object of interest (e.g., a goal or obstacle) still exists in far space. This review also show that, as a prerequisite of anticipatory locomotor adjustments, environmental properties are accurately perceived from a distance in relation to individual's action capabilities.

  4. Advanced underground Vehicle Power and Control: The locomotive Research Platform

    SciTech Connect

    Vehicle Projects LLC

    2003-01-28

    Develop a fuelcell mine locomotive with metal-hydride hydrogen storage. Test the locomotive for fundamental limitations preventing successful commercialization of hydride fuelcells in underground mining. During Phase 1 of the DOE-EERE sponsored project, FPI and its partner SNL, completed work on the development of a 14.4 kW fuelcell power plant and metal-hydride energy storage. An existing battery-electric locomotive with similar power requirements, minus the battery module, was used as the base vehicle. In March 2001, Atlas Copco Wagner of Portland, OR, installed the fuelcell power plant into the base vehicle and initiated integration of the system into the vehicle. The entire vehicle returned to Sandia in May 2001 for further development and integration. Initial system power-up took place in December 2001. A revision to the original contract, Phase 2, at the request of DOE Golden Field Office, established Vehicle Projects LLC as the new prime contractor,. Phase 2 allowed industry partners to conduct surface tests, incorporate enhancements to the original design by SNL, perform an extensive risk and safety analysis, and test the fuelcell locomotive underground under representative production mine conditions. During the surface tests one of the fuelcell stacks exhibited reduced power output resulting in having to replace both fuelcell stacks. The new stacks were manufactured with new and improved technology resulting in an increase of the gross power output from 14.4 kW to 17 kW. Further work by CANMET and Hatch Associates, an engineering consulting firm specializing in safety analysis for the mining industry, both under subcontract to Vehicle Projects LLC, established minimum requirements for underground testing. CANMET upgraded the Programmable Logic Control (PLC) software used to monitor and control the fuelcell power plant, taking into account locomotive operator's needs. Battery Electric, a South Africa manufacturer, designed and manufactured (at no cost to

  5. Towards a general neural controller for quadrupedal locomotion.

    PubMed

    Maufroy, Christophe; Kimura, Hiroshi; Takase, Kunikatsu

    2008-05-01

    Our study aims at the design and implementation of a general controller for quadruped locomotion, allowing the robot to use the whole range of quadrupedal gaits (i.e. from low speed walking to fast running). A general legged locomotion controller must integrate both posture control and rhythmic motion control and have the ability to shift continuously from one control method to the other according to locomotion speed. We are developing such a general quadrupedal locomotion controller by using a neural model involving a CPG (Central Pattern Generator) utilizing ground reaction force sensory feedback. We used a biologically faithful musculoskeletal model with a spine and hind legs, and computationally simulated stable stepping motion at various speeds using the neuro-mechanical system combining the neural controller and the musculoskeletal model. We compared the changes of the most important locomotion characteristics (stepping period, duty ratio and support length) according to speed in our simulations with the data on real cat walking. We found similar tendencies for all of them. In particular, the swing period was approximately constant while the stance period decreased with speed, resulting in a decreasing stepping period and duty ratio. Moreover, the support length increased with speed due to the posterior extreme position that shifted progressively caudally, while the anterior extreme position was approximately constant. This indicates that we succeeded in reproducing to some extent the motion of a cat from the kinematical point of view, even though we used a 2D bipedal model. We expect that such computational models will become essential tools for legged locomotion neuroscience in the future.

  6. Design of a biped robot actuated by pneumatic artificial muscles.

    PubMed

    Liu, Yixiang; Zang, Xizhe; Liu, Xinyu; Wang, Lin

    2015-01-01

    High compliant legs are essential for the efficient versatile locomotion and shock absorbency of humans. This study proposes a biped robot actuated by pneumatic artificial muscles to mimic human locomotion. On the basis of the musculoskeletal architecture of human lower limbs, each leg of the biped robot is modeled as a system of three segments, namely, hip joint, knee joint, and ankle joint, and eleven muscles, including both monoarticular and biarticular muscles. Each rotational joint is driven by a pair of antagonistic muscles, enabling joint compliance to be tuned by operating the pressure inside the muscles. Biarticular muscles play an important role in transferring power between joints. Walking simulations verify that biarticular muscles contribute to joint compliance and can absorb impact energy when the robot makes an impact upon ground contact.

  7. Generation of an Optimal Gait Trajectory for Biped Robots Using a Genetic Algorithm

    NASA Astrophysics Data System (ADS)

    Park, Jong Hyeon; Choi, Moosung

    This paper proposes a method that minimizes the energy consumption in the locomotion of a biped robot. A real-coded genetic algorithm is employed in order to search for the optimal locomotion pattern, and at the same time the optimal locations of the mass centers of the links that compose the biped robot. Since many of the essential characteristics of the human walking motion can be captured with a seven-link planar biped walking in the saggital plane, a 6-DOF biped robot that consists of seven links is used as the model used in the work. For trajectories of the robot in a single stride, fourth-order polynomials are used as their basis functions to approximate the locomotion gait. The coefficients of the polynomials are defined as design variables. For the optimal locations of the mass centers of the links, three variables are added to the design variables under the assumption that the left and right legs are identical. Simulations were performed to compare locomotion trajectories obtained with the genetic algorithm and the one obtained with the gravity-compensated inverted pendulum mode (GCIPM). They show that the proposed trajectory with the optimized mass centers significantly reduces the energy consumption, indicating that the proposed optimized method is a valuable tool in the design of biped robots.

  8. A Control Framework for Anthropomorphic Biped Walking Based on Stabilizing Feedforward Trajectories.

    PubMed

    Rezazadeh, Siavash; Gregg, Robert D

    2016-10-01

    Although dynamic walking methods have had notable successes in control of bipedal robots in the recent years, still most of the humanoid robots rely on quasi-static Zero Moment Point controllers. This work is an attempt to design a highly stable controller for dynamic walking of a human-like model which can be used both for control of humanoid robots and prosthetic legs. The method is based on using time-based trajectories that can induce a highly stable limit cycle to the bipedal robot. The time-based nature of the controller motivates its use to entrain a model of an amputee walking, which can potentially lead to a better coordination of the interaction between the prosthesis and the human. The simulations demonstrate the stability of the controller and its robustness against external perturbations.

  9. A Control Framework for Anthropomorphic Biped Walking Based on Stabilizing Feedforward Trajectories

    PubMed Central

    Rezazadeh, Siavash; Gregg, Robert D.

    2016-01-01

    Although dynamic walking methods have had notable successes in control of bipedal robots in the recent years, still most of the humanoid robots rely on quasi-static Zero Moment Point controllers. This work is an attempt to design a highly stable controller for dynamic walking of a human-like model which can be used both for control of humanoid robots and prosthetic legs. The method is based on using time-based trajectories that can induce a highly stable limit cycle to the bipedal robot. The time-based nature of the controller motivates its use to entrain a model of an amputee walking, which can potentially lead to a better coordination of the interaction between the prosthesis and the human. The simulations demonstrate the stability of the controller and its robustness against external perturbations. PMID:28239504

  10. Decoding the organization of spinal circuits that control locomotion

    PubMed Central

    Kiehn, Ole

    2016-01-01

    Unravelling the functional operation of neuronal networks and linking cellular activity to specific behavioural outcomes are among the biggest challenges in neuroscience. In this broad field of research, substantial progress has been made in studies of the spinal networks that control locomotion. Through united efforts using electrophysiological and molecular genetic network approaches and behavioural studies in phylogenetically diverse experimental models, the organization of locomotor networks has begun to be decoded. The emergent themes from this research are that the locomotor networks have a modular organization with distinct transmitter and molecular codes and that their organization is reconfigured with changes to the speed of locomotion or changes in gait. PMID:26935168

  11. [Locomotion and control study on autonomous interventional diagnostic micro-robots].

    PubMed

    Gu, Da-qiang; Zhou, Yong

    2008-09-01

    This paper introduces the locomotion control and the research status of the autonomous interventional diagnostic micro-robots in detail, outlines technical problems and difficulties now existing, and discusses the developing trend of locomotion control.

  12. Gait Generation for a Small Biped Robot using Approximated Optimization Method

    NASA Astrophysics Data System (ADS)

    Nguyen, Tinh; Tao, Linh; Hasegawa, Hiroshi

    2016-11-01

    This paper proposes a novel approach for gait pattern generation of a small biped robot to enhance its walking behavior. This is to aim to make the robot gait more natural and more stable in the walking process. In this study, we mention the approximated optimization method which applied the Differential Evolution algorithm (DE) to objective function approximated by Artificial Neural Network (ANN). In addition, we also present a new humanlike foot structure with toes for the biped robot in this paper. To evaluate this method achievement, the robot was simulated by multi-body dynamics simulation software, Adams (MSC software, USA). As a result, we confirmed that the biped robot with the proposed foot structure can walk naturally. The approximated optimization method based on DE algorithm and ANN is an effective approach to generate a gait pattern for the locomotion of the biped robot. This method is simpler than the conventional methods using Zero Moment Point (ZMP) criterion.

  13. Some historical reflections on the neural control of locomotion.

    PubMed

    Clarac, François

    2008-01-01

    Thought on the neural control of locomotion dates back to antiquity. In this article, however, the focus is more recent by starting with some major 17th century concepts, which were developed by René Descartes, a French philosopher; Thomas Willis, an English anatomist; and Giovanni Borelli, an Italian physiologist and physicist. Each relied on his personal expertise to theorize on the organization and control of movements. The 18th and early 19th centuries saw work on both the central and peripheral control of movement: the former most notably by Johann Unzer, Marie Jean-Pierre Flourens and Julien-Jean-César Legallois, and the latter by Unzer, Jirí Procháska and many others. Next in the 19th century, neurologists used human locomotion as a precise tool for characterizing motor pathologies: e.g., Guillaume Duchenne de Boulogne's description of locomotor ataxia. Jean-Martin Charcot considered motor control to be organized at two levels of the central nervous system: the cerebral cortex and the spinal cord. Maurice Philippson's defined the dog's step cycle and considered that locomotion used both central and reflex mechanisms. Charles Sherrington explained that locomotor control was usually thought to consist of a succession of peripheral reflexes (e.g., the stepping reflexes). Thomas Graham Brown's then contemporary evidence for the spinal origin of locomotor rhythmicity languished in obscurity until the early 1960s. By then the stage was set for an international assault on the neural control of locomotion, which featured research conducted on both invertebrate and vertebrate animal models. These contributions have progressively became more integrated and interactive, with current work emphasizing that locomotor control involves a seamless integration between central locomotor networks and peripheral feedback.

  14. Controlled regular locomotion of algae cell microrobots.

    PubMed

    Xie, Shuangxi; Jiao, Niandong; Tung, Steve; Liu, Lianqing

    2016-06-01

    Algae cells can be considered as microrobots from the perspective of engineering. These organisms not only have a strong reproductive ability but can also sense the environment, harvest energy from the surroundings, and swim very efficiently, accommodating all these functions in a body of size on the order of dozens of micrometers. An interesting topic with respect to random swimming motions of algae cells in a liquid is how to precisely control them as microrobots such that they swim according to manually set routes. This study developed an ingenious method to steer swimming cells based on the phototaxis. The method used a varying light signal to direct the motion of the cells. The swimming trajectory, speed, and force of algae cells were analyzed in detail. Then the algae cell could be controlled to swim back and forth, and traverse a crossroad as a microrobot obeying specific traffic rules. Furthermore, their motions along arbitrarily set trajectories such as zigzag, and triangle were realized successfully under optical control. Robotize algae cells can be used to precisely transport and deliver cargo such as drug particles in microfluidic chip for biomedical treatment and pharmacodynamic analysis. The study findings are expected to bring significant breakthrough in biological drives and new biomedical applications.

  15. Tendon Based Full Size Biped Humanoid Robot Walking Platform Design

    NASA Astrophysics Data System (ADS)

    Kuo, Chung-Hsien; Chiou, Kuo-Wei

    Actuators and gear trains of most biped humanoid robots are divergently allocated on the links of two legs. Disadvantages of such a mechanical design are complicated wiring of power cord and sensing/ control signal bundles and imprecise kinetics models of mixed link-and-actuator structures. Based on these drawbacks, this paper proposes a tendon-driven mechanism to develop a lower body structure of a full-size biped humanoid robot. The actuators are compacted as an actuator module, and they are placed at a distal site. A 12 degree-of-freedom mechanical structure is proposed with 100 cm in height and 45 kg in weight. The gait planning module is simulated and evaluated using the Matlab software. At the same time, an ARM7 based controller is developed to automatically generate walking patterns as well as to control the motors. Finally, a tendon-driven biped humanoid robot prototype is realized for practical waling control in the future.

  16. Support afferentation in the posture and locomotion control system

    NASA Astrophysics Data System (ADS)

    Grigoriev, Anatoly; Tomilovskaya, Elena; Kozlovskaya, Inesa

    Mechanisms of support afferentation contribution in posture and locomotion control, which were uncertain up to now, became the point of intensive studies recently. This became possible since the space flights era started which created the conditions for simulated microgravity experiments under conditions of dry immersion and bedrest. The results of neurophysiological studies performed under the conditions of supportlessness have shown that decline or elimination of support loads is followed by deep and fast developing alterations in postural tonic system, including development of postural muscle atonia, changes of recruitment order of motoneurons innervating the shin muscles, spinal hyperreflexia development etc. (Kozlovskaya I.B. et al., 1987). It has been also shown that application of artificial support stimulation in the regimen of natural locomotion under these conditions decreases significantly or even eliminates the development of mentioned changes. The results of these studies laid down the basis for a new hypothesis on the trigger role of support afferentation in postural tonic system and its role in organization and control of postural synergies (Grigoriev A.I. et al., 2004). According to this hypothesis the muscle reception is considered to be the leading afferent input in the control of locomotion. However the data of recent studies pointed out strongly to the participation of support afferentation in definition of cognitive strategies and motor programs of locomotor movements (Chernikova L.A. et al., 2013) and, consequently, in the processes of their initiation (Gerasimenko Yu.P. et al., 2012). The cortical locomotor reflex composes apparently the basis of these processes. The receptive field of this reflex is located in the support zones of the soles and the central part is located in the posterior parietal areas (IPL) of brain cortex. The study is supported by RFBR grant N 13-04-12091 OFI-m.

  17. Modular neuromuscular control of human locomotion by central pattern generator.

    PubMed

    Haghpanah, Seyyed Arash; Farahmand, Farzam; Zohoor, Hassan

    2017-02-28

    The central pattern generators (CPG) in the spinal cord are thought to be responsible for producing the rhythmic motor patterns during rhythmic activities. For locomotor tasks, this involves much complexity, due to a redundant system of muscle actuators with a large number of highly nonlinear muscles. This study proposes a reduced neural control strategy for the CPG, based on modular organization of the co-active muscles, i.e., muscle synergies. Four synergies were extracted from the EMG data of the major leg muscles of two subjects, during two gait trials each, using non-negative matrix factorization algorithm. A Matsuoka׳s four-neuron CPG model with mutual inhibition, was utilized to generate the rhythmic activation patterns of the muscle synergies, using the hip flexion angle and foot contact force information from the sensory afferents as inputs. The model parameters were tuned using the experimental data of one gait trial, which resulted in a good fitting accuracy (RMSEs between 0.0491 and 0.1399) between the simulation and experimental synergy activations. The model׳s performance was then assessed by comparing its predictions for the activation patterns of the individual leg muscles during locomotion with the relevant EMG data. Results indicated that the characteristic features of the complex activation patterns of the muscles were well reproduced by the model for different gait trials and subjects. In general, the CPG- and muscle synergy-based model was promising in view of its simple architecture, yet extensive potentials for neuromuscular control, e.g., resolving redundancies, distributed and fast control, and modulation of locomotion by simple control signals.

  18. Locomotion training of legged robots using hybrid machine learning techniques

    NASA Technical Reports Server (NTRS)

    Simon, William E.; Doerschuk, Peggy I.; Zhang, Wen-Ran; Li, Andrew L.

    1995-01-01

    In this study artificial neural networks and fuzzy logic are used to control the jumping behavior of a three-link uniped robot. The biped locomotion control problem is an increment of the uniped locomotion control. Study of legged locomotion dynamics indicates that a hierarchical controller is required to control the behavior of a legged robot. A structured control strategy is suggested which includes navigator, motion planner, biped coordinator and uniped controllers. A three-link uniped robot simulation is developed to be used as the plant. Neurocontrollers were trained both online and offline. In the case of on-line training, a reinforcement learning technique was used to train the neurocontroller to make the robot jump to a specified height. After several hundred iterations of training, the plant output achieved an accuracy of 7.4%. However, when jump distance and body angular momentum were also included in the control objectives, training time became impractically long. In the case of off-line training, a three-layered backpropagation (BP) network was first used with three inputs, three outputs and 15 to 40 hidden nodes. Pre-generated data were presented to the network with a learning rate as low as 0.003 in order to reach convergence. The low learning rate required for convergence resulted in a very slow training process which took weeks to learn 460 examples. After training, performance of the neurocontroller was rather poor. Consequently, the BP network was replaced by a Cerebeller Model Articulation Controller (CMAC) network. Subsequent experiments described in this document show that the CMAC network is more suitable to the solution of uniped locomotion control problems in terms of both learning efficiency and performance. A new approach is introduced in this report, viz., a self-organizing multiagent cerebeller model for fuzzy-neural control of uniped locomotion is suggested to improve training efficiency. This is currently being evaluated for a possible

  19. The hippocampus participates in the control of locomotion speed.

    PubMed

    López Ruiz, J R; Osuna Carrasco, L P; López Valenzuela, C L; Franco Rodríguez, N E; de la Torre Valdovinos, B; Jiménez Estrada, I; Dueñas Jiménez, J M; Dueñas Jiménez, S H

    2015-12-17

    The hippocampus role in sensory-motor integration remains unclear. In these experiments we study its function in the locomotor control. To establish the connection between the hippocampus and the locomotor system, electrical stimulation in the CA1 region was applied and EMG recordings were obtained. We also evaluated the hindlimbs and forelimbs kinematic patterns in rats with a penetrating injury (PI) in the hippocampus as well as in a cortex-injured group (CI), which served as control. After the PI, tamoxifen a selective estrogen receptor modulator (SERM) that has been described as a neuroprotector and antiinflammatory drug, or vehicle was administered. Electrical stimulation in the hippocampus produces muscle contractions in the contralateral triceps, when 6 Hz or 8 Hz pulse trains were applied. The penetrating injury in the hippocampus reduced the EMG amplitude after the electrical stimulation. At 7 DPI (days post-injury) we observed an increase in the strides speed in all four limbs of the non-treated group, decreasing the correlation percentage of the studied joints. After 15 DPI the strides speed in the non-treated returned to normal. These changes did not occur in the tamoxifen group nor in cortex-injured group. After 30 days, the nontreated group presented a reduction in the number of pyramidal cell layer neurons at the injury site, in comparison to the tam-treated group. The loss of neurons, may cause the interruption of the trisynaptic circuit and changes in the locomotion speed. Tamoxifen preserves the pyramidal neurons after the injury, probably resulting in the strides speed recovery. Copyright © 2015 IBRO. Published by Elsevier Ltd. All rights reserved.

  20. An adaptive, self-organizing dynamical system for hierarchical control of bio-inspired locomotion.

    PubMed

    Arena, Paolo; Fortuna, Luigi; Frasca, Mattia; Sicurella, Giovanni

    2004-08-01

    In this paper, dynamical systems made up of locally coupled nonlinear units are used to control the locomotion of bio-inspired robots and, in particular, a simulation of an insect-like hexapod robot. These controllers are inspired by the biological paradigm of central pattern generators and are responsible for generating a locomotion gait. A general structure, which is able to change the locomotion gait according to environmental conditions, is introduced. This structure is based on an adaptive system, implemented by motor maps, and is able to learn the correct locomotion gait on the basis of a reward function. The proposed control system is validated by a large number of simulations carried out in a dynamic environment for simulating legged robots.

  1. Arbitrary Symmetric Running Gait Generation for an Underactuated Biped Model.

    PubMed

    Dadashzadeh, Behnam; Esmaeili, Mohammad; Macnab, Chris

    2017-01-01

    This paper investigates generating symmetric trajectories for an underactuated biped during the stance phase of running. We use a point mass biped (PMB) model for gait analysis that consists of a prismatic force actuator on a massless leg. The significance of this model is its ability to generate more general and versatile running gaits than the spring-loaded inverted pendulum (SLIP) model, making it more suitable as a template for real robots. The algorithm plans the necessary leg actuator force to cause the robot center of mass to undergo arbitrary trajectories in stance with any arbitrary attack angle and velocity angle. The necessary actuator forces follow from the inverse kinematics and dynamics. Then these calculated forces become the control input to the dynamic model. We compare various center-of-mass trajectories, including a circular arc and polynomials of the degrees 2, 4 and 6. The cost of transport and maximum leg force are calculated for various attack angles and velocity angles. The results show that choosing the velocity angle as small as possible is beneficial, but the angle of attack has an optimum value. We also find a new result: there exist biped running gaits with double-hump ground reaction force profiles which result in less maximum leg force than single-hump profiles.

  2. Arbitrary Symmetric Running Gait Generation for an Underactuated Biped Model

    PubMed Central

    Esmaeili, Mohammad; Macnab, Chris

    2017-01-01

    This paper investigates generating symmetric trajectories for an underactuated biped during the stance phase of running. We use a point mass biped (PMB) model for gait analysis that consists of a prismatic force actuator on a massless leg. The significance of this model is its ability to generate more general and versatile running gaits than the spring-loaded inverted pendulum (SLIP) model, making it more suitable as a template for real robots. The algorithm plans the necessary leg actuator force to cause the robot center of mass to undergo arbitrary trajectories in stance with any arbitrary attack angle and velocity angle. The necessary actuator forces follow from the inverse kinematics and dynamics. Then these calculated forces become the control input to the dynamic model. We compare various center-of-mass trajectories, including a circular arc and polynomials of the degrees 2, 4 and 6. The cost of transport and maximum leg force are calculated for various attack angles and velocity angles. The results show that choosing the velocity angle as small as possible is beneficial, but the angle of attack has an optimum value. We also find a new result: there exist biped running gaits with double-hump ground reaction force profiles which result in less maximum leg force than single-hump profiles. PMID:28118401

  3. The role of vision in Parkinson's disease locomotion control: free walking task.

    PubMed

    Vitório, Rodrigo; Lirani-Silva, Ellen; Barbieri, Fabio Augusto; Raile, Vivian; Batistela, Rosangela Alice; Stella, Florindo; Gobbi, Lilian Teresa Bucken

    2012-02-01

    The current study addressed the role of visual information in the control of locomotion in people with Parkinson's disease. Twelve healthy individuals and 12 mild to moderate Parkinson's disease patients were examined while walking at self-selected velocities, under three visual sampling conditions: dynamic (normal lighting), static (static visual samples) and voluntary visual sampling. Subjects wore liquid crystal glasses for visual manipulation. Outcome measures included spatial-temporal parameters, braking and propulsive impulses, number of samples and total duration of voluntary visual samples. Interaction between groups and visual conditions was not observed for kinematic parameters or braking and propulsive impulses. There were no significant differences between groups for voluntary visual sampling variables. These findings suggest that the visual control of locomotion in Parkinson's disease patients was similar to that observed in controls. Furthermore, Parkinson's disease patients were not more dependent on visual information than healthy individuals for the locomotion control.

  4. Limb and Trunk Mechanisms for Balance Control during Locomotion in Quadrupeds

    PubMed Central

    Musienko, Pavel E.; Deliagina, Tatiana G.; Gerasimenko, Yury P.; Orlovsky, Grigori N.

    2014-01-01

    In quadrupeds, the most critical aspect of postural control during locomotion is lateral stability. However, neural mechanisms underlying lateral stability are poorly understood. Here, we studied lateral stability in decerebrate cats walking on a treadmill with their hindlimbs. Two destabilizing factors were used: a brief lateral push of the cat and a sustained lateral tilt of the treadmill. It was found that the push caused considerable trunk bending and twisting, as well as changes in the stepping pattern, but did not lead to falling. Due to postural reactions, locomotion with normal body configuration was restored in a few steps. It was also found that the decerebrate cat could keep balance during locomotion on the laterally tilted treadmill. This postural adaptation was based on the transformation of the symmetrical locomotor pattern into an asymmetrical one, with different functional lengths of the right and left limbs. Then, we analyzed limb and trunk neural mechanisms contributing to postural control during locomotion. It was found that one of the limb mechanisms operates in the transfer phase and secures a standard (relative to the trunk) position for limb landing. Two other limb mechanisms operate in the stance phase; they counteract distortions of the locomotor pattern by regulating the limb stiffness. The trunk configuration mechanism controls the body shape on the basis of sensory information coming from trunk afferents. We suggest that postural reactions generated by these four mechanisms are integrated, thus forming a response of the whole system to perturbation of balance during locomotion. PMID:24741060

  5. Adaptation to a cortex controlled robot attached at the pelvis and engaged during locomotion in rats

    PubMed Central

    Song, Weiguo; Giszter, Simon F.

    2011-01-01

    Brain Machine Interfaces (BMIs) should ideally show robust adaptation of the BMI across different tasks and daily activities. Most BMIs have used over-practiced tasks. Little is known about BMIs in dynamic environments. How are mechanically body-coupled BMIs integrated into ongoing rhythmic dynamics, e.g., in locomotion? To examine this we designed a novel BMI using neural discharge in the hindlimb/trunk motor cortex in rats during locomotion to control a robot attached at the pelvis. We tested neural adaptation when rats experienced (a) control locomotion, (b) ‘simple elastic load’ (a robot load on locomotion without any BMI neural control) and (c) ‘BMI with elastic load’ (in which the robot loaded locomotion and a BMI neural control could counter this load). Rats significantly offset applied loads with the BMI while preserving more normal pelvic height compared to load alone. Adaptation occurred over about 100–200 step cycles in a trial. Firing rates increased in both the loaded conditions compared to baseline. Mean phases of cells’ discharge in the step cycle shifted significantly between BMI and the simple load condition. Over time more BMI cells became positively correlated with the external force and modulated more deeply, and neurons’ network correlations on a 100ms timescale increased. Loading alone showed none of these effects. The BMI neural changes of rate and force correlations persisted or increased over repeated trials. Our results show that rats have the capacity to use motor adaptation and motor learning to fairly rapidly engage hindlimb/trunk coupled BMIs in their locomotion. PMID:21414932

  6. A Modular Approach for Trajectory Generation in Biped Robots

    NASA Astrophysics Data System (ADS)

    Pinto, Carla M. A.; Rocha, Diana; Santos, Cristina P.; Matos, Vítor

    2011-09-01

    Robot locomotion has been a major research issue in the last decades. In particular, humanoid robotics has had a major breakthrough. The motivation for this study is that bipedal locomotion is superior to wheeled approaches on real terrain and situations where robots accompany or replace humans. Some examples are, on the development of human assisting device, such as prosthetics, orthotics, and devices for rehabilitation, rescue of wounded troops, help at the office, help as maidens, accompany and assist elderly people, amongst others. Generating trajectories online for these robots is a hard process, that includes different types of movements, i.e., distinct motor primitives. In this paper, we consider two motor primitives: rhythmic and discrete. We study the effect on a bipeds robots' gaits of inserting the discrete part as an offset of the rhythmic primitive, in synaptic and diffusive couplings. Numerical results show that amplitude and frequency of the periodic solution, corresponding to the gait run are almost constant in all cases studied here.

  7. Locomotion and eye behaviour under controlled environment in individuals with Alzheimer's disease.

    PubMed

    Suzuki, Tatsuto; Yong, Keir; Yang, Biao; Carton, Amelia; McCarthy, Ian; Papadosifos, Nikolaos; Boampong, Derrick; Holloway, Catherine; Tyler, Nick; Crutch, Sebastian

    2015-01-01

    This study aimed to examine simple locomotion and eye behaviour of individuals with Posterior Cortical Atrophy (PCA) and typical Alzheimer's disease (tAD) within a simulated real-world environment. Posterior cortical atrophy (PCA) is a neurodegenerative condition characterised by parietal, occipital and occipito-temporal tissue loss and progressive impairment of higher-order visual function in contrast to relatively spared memory and language. Targeted types of locomotion were walking in a series of corridors, up or down stairs, and across an open room with or without the presence of an obstacle. Eye tracking measures and inertial moment units (IMU) were used in this experiment, and resultant acceleration of left foot and fixation duration were extracted. Findings from three participants are presented as a case series: one control, one PCA and one tAD patient. The averaged resultant acceleration of PCA patient was the slowest in all types of locomotion, especially in stairs. The averaged resultant accelerations of PCA and tAD participants were slower than the control participant. The PCA participant had longer mean fixation durations than the tAD and control participants, however, mean fixation duration was similar between tAD and control participants. Results may help characterise locomotion and eye behaviour in PCA and tAD and may suggest ways to support effective diagnosis and assessment of disease progression.

  8. Effects of locomotion mode recognition errors on volitional control of powered above-knee prostheses.

    PubMed

    Zhang, Fan; Liu, Ming; Huang, He

    2015-01-01

    Recent studies have reported various methods that recognize amputees' intent regarding locomotion modes, which is potentially useful for volitional control of powered artificial legs. However, occasional errors in locomotion mode recognition are inevitable. When these intent recognition decisions are used for volitional prosthesis control, the effects of the decision errors on the operation of the prosthesis and user's task performance is unknown. Hence, the goals of this study were to 1) systematically investigate the effects of locomotion mode recognition errors on volitional control of powered prosthetic legs and the user's gait stability, and 2) identify the critical mode recognition errors that impact safe and confident use of powered artificial legs in lower limb amputees. Five able-bodied subjects and two above-knee (AK) amputees were recruited and tested when wearing a powered AK prosthesis. Four types of locomotion mode recognition errors with different duration and at different gait phases were purposely applied to the prosthesis control. The subjects' gait stabilities were subjectively and objectively quantified. The results showed that not all of the mode recognition errors in volitional prosthesis control disturb the subjects' gait stability. The effects of errors on the user's balance depended on 1) the gait phase when the errors happened and 2) the amount of mechanical work change applied on the powered knee caused by the errors. Based on the study results, "critical errors" were defined and suggested as a new index to evaluate locomotion mode recognition algorithms for artificial legs. The outcome of this study might aid the future design of volitionally-controlled powered prosthetic legs that are reliable and safe for practice.

  9. 49 CFR 1242.67 - Switch crews; controlling operations; yard and terminal clerical; locomotive fuel; electric power...

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... 49 Transportation 9 2012-10-01 2012-10-01 false Switch crews; controlling operations; yard and terminal clerical; locomotive fuel; electric power purchased/produced for motive power; operating switches...; yard and terminal clerical; locomotive fuel; electric power purchased/produced for motive...

  10. 49 CFR 1242.67 - Switch crews; controlling operations; yard and terminal clerical; locomotive fuel; electric power...

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... 49 Transportation 9 2014-10-01 2014-10-01 false Switch crews; controlling operations; yard and terminal clerical; locomotive fuel; electric power purchased/produced for motive power; operating switches...; yard and terminal clerical; locomotive fuel; electric power purchased/produced for motive...

  11. 49 CFR 1242.67 - Switch crews; controlling operations; yard and terminal clerical; locomotive fuel; electric power...

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... 49 Transportation 9 2013-10-01 2013-10-01 false Switch crews; controlling operations; yard and terminal clerical; locomotive fuel; electric power purchased/produced for motive power; operating switches...; yard and terminal clerical; locomotive fuel; electric power purchased/produced for motive...

  12. FPGA implementation of a configurable neuromorphic CPG-based locomotion controller.

    PubMed

    Barron-Zambrano, Jose Hugo; Torres-Huitzil, Cesar

    2013-09-01

    Neuromorphic engineering is a discipline devoted to the design and development of computational hardware that mimics the characteristics and capabilities of neuro-biological systems. In recent years, neuromorphic hardware systems have been implemented using a hybrid approach incorporating digital hardware so as to provide flexibility and scalability at the cost of power efficiency and some biological realism. This paper proposes an FPGA-based neuromorphic-like embedded system on a chip to generate locomotion patterns of periodic rhythmic movements inspired by Central Pattern Generators (CPGs). The proposed implementation follows a top-down approach where modularity and hierarchy are two desirable features. The locomotion controller is based on CPG models to produce rhythmic locomotion patterns or gaits for legged robots such as quadrupeds and hexapods. The architecture is configurable and scalable for robots with either different morphologies or different degrees of freedom (DOFs). Experiments performed on a real robot are presented and discussed. The obtained results demonstrate that the CPG-based controller provides the necessary flexibility to generate different rhythmic patterns at run-time suitable for adaptable locomotion.

  13. Similar Motor Cortical Control Mechanisms for Precise Limb Control during Reaching and Locomotion

    PubMed Central

    Yakovenko, Sergiy

    2015-01-01

    Throughout the course of evolution there has been a parallel development of the complexity and flexibility of the nervous system and the skeletomuscular system that it controls. This development is particularly evident for the cerebral cortical areas and the transformation of the use of the upper limbs from a purely locomotor function to one including, or restricted to, reaching and grasping. This study addresses the issue of whether the control of reaching has involved the development of new cortical circuits or whether the same neurons are used to control both locomotion and reaching. We recorded the activity of pyramidal tract neurons in the motor cortex of the cat both during voluntary gait modifications and during reaching. All cells showed generally similar patterns of activity in both tasks. More specifically, we showed that, in many cases, cells maintained a constant temporal relationship to the activity of synergistic muscle groups in each task. In addition, in some cells the relationship between the intensity of the cell discharge activity and the magnitude of the EMG activity was equally constant during gait modifications and reaching. As such, the results are compatible with the hypothesis that the corticospinal circuits used to control reaching evolved from those used to precisely modify gait. SIGNIFICANCE STATEMENT In an article in 1989, Georgopoulos and Grillner (1989) proposed that the corticospinal control mechanisms used for reaching movements in primates may have evolved from those used to control precise modifications of gait during quadrupedal locomotion. In this article, we provide a test of this hypothesis by recording the activity of individual motor cortical cells during both behaviors. Our results are compatible with the hypothesis in that they demonstrate that individual cortical neurons exhibit similar qualitative and quantitative patterns during each behavior. Beyond a general similarity of activity patterns, we show that some cortical

  14. Efficient worm-like locomotion: slip and control of soft-bodied peristaltic robots.

    PubMed

    Daltorio, Kathryn A; Boxerbaum, Alexander S; Horchler, Andrew D; Shaw, Kendrick M; Chiel, Hillel J; Quinn, Roger D

    2013-09-01

    In this work, we present a dynamic simulation of an earthworm-like robot moving in a pipe with radially symmetric Coulomb friction contact. Under these conditions, peristaltic locomotion is efficient if slip is minimized. We characterize ways to reduce slip-related losses in a constant-radius pipe. Using these principles, we can design controllers that can navigate pipes even with a narrowing in radius. We propose a stable heteroclinic channel controller that takes advantage of contact force feedback on each segment. In an example narrowing pipe, this controller loses 40% less energy to slip compared to the best-fit sine wave controller. The peristaltic locomotion with feedback also has greater speed and more consistent forward progress

  15. Using a System Identification Approach to Investigate Subtask Control during Human Locomotion.

    PubMed

    Logan, David; Kiemel, Tim; Jeka, John J

    2016-01-01

    Here we apply a control theoretic view of movement to the behavior of human locomotion with the goal of using perturbations to learn about subtask control. Controlling one's speed and maintaining upright posture are two critical subtasks, or underlying functions, of human locomotion. How the nervous system simultaneously controls these two subtasks was investigated in this study. Continuous visual and mechanical perturbations were applied concurrently to subjects (n = 20) as probes to investigate these two subtasks during treadmill walking. Novel application of harmonic transfer function (HTF) analysis to human motor behavior was used, and these HTFs were converted to the time-domain based representation of phase-dependent impulse response functions (ϕIRFs). These ϕIRFs were used to identify the mapping from perturbation inputs to kinematic and electromyographic (EMG) outputs throughout the phases of the gait cycle. Mechanical perturbations caused an initial, passive change in trunk orientation and, at some phases of stimulus presentation, a corrective trunk EMG and orientation response. Visual perturbations elicited a trunk EMG response prior to a trunk orientation response, which was subsequently followed by an anterior-posterior displacement response. This finding supports the notion that there is a temporal hierarchy of functional subtasks during locomotion in which the control of upper-body posture precedes other subtasks. Moreover, the novel analysis we apply has the potential to probe a broad range of rhythmic behaviors to better understand their neural control.

  16. Using a System Identification Approach to Investigate Subtask Control during Human Locomotion

    PubMed Central

    Logan, David; Kiemel, Tim; Jeka, John J.

    2017-01-01

    Here we apply a control theoretic view of movement to the behavior of human locomotion with the goal of using perturbations to learn about subtask control. Controlling one's speed and maintaining upright posture are two critical subtasks, or underlying functions, of human locomotion. How the nervous system simultaneously controls these two subtasks was investigated in this study. Continuous visual and mechanical perturbations were applied concurrently to subjects (n = 20) as probes to investigate these two subtasks during treadmill walking. Novel application of harmonic transfer function (HTF) analysis to human motor behavior was used, and these HTFs were converted to the time-domain based representation of phase-dependent impulse response functions (ϕIRFs). These ϕIRFs were used to identify the mapping from perturbation inputs to kinematic and electromyographic (EMG) outputs throughout the phases of the gait cycle. Mechanical perturbations caused an initial, passive change in trunk orientation and, at some phases of stimulus presentation, a corrective trunk EMG and orientation response. Visual perturbations elicited a trunk EMG response prior to a trunk orientation response, which was subsequently followed by an anterior-posterior displacement response. This finding supports the notion that there is a temporal hierarchy of functional subtasks during locomotion in which the control of upper-body posture precedes other subtasks. Moreover, the novel analysis we apply has the potential to probe a broad range of rhythmic behaviors to better understand their neural control. PMID:28123365

  17. A remotely-controlled locomotive IC driven by electrolytic bubbles and wireless powering.

    PubMed

    Hsieh, Jian-Yu; Kuo, Po-Hung; Huang, Yi-Chun; Huang, Yu-Jie; Tsai, Rong-Da; Wang, Tao; Chiu, Hung-Wei; Wang, Yao-Hung; Lu, Shey-Shi

    2014-12-01

    A batteryless remotely-controlled locomotive IC utilizing electrolytic bubbles as propelling force is realized in 0.35 μm CMOS technology. Without any external components, such as magnets and on-board coils, the bare IC is wirelessly powered and controlled by a 10 MHz ASK modulated signal with RS232 control commands to execute movement in four moving directions and with two speeds. The receiving coil and electrolysis electrodes are all integrated on the locomotive chip. The experiment successfully demonstrated that the bare IC moved on the surface of an electrolyte with a speed up to 0.3 mm/s and change moving directions according to the commands. The total power consumptions of the chip are 207.4 μW and 180 μ W while the output electrolysis voltages are 2 V and 1.3 V, respectively.

  18. Robustness of a distributed neural network controller for locomotion in a hexapod robot

    NASA Technical Reports Server (NTRS)

    Chiel, Hillel J.; Beer, Randall D.; Quinn, Roger D.; Espenschied, Kenneth S.

    1992-01-01

    A distributed neural-network controller for locomotion, based on insect neurobiology, has been used to control a hexapod robot. How robust is this controller? Disabling any single sensor, effector, or central component did not prevent the robot from walking. Furthermore, statically stable gaits could be established using either sensor input or central connections. Thus, a complex interplay between central neural elements and sensor inputs is responsible for the robustness of the controller and its ability to generate a continuous range of gaits. These results suggest that biologically inspired neural-network controllers may be a robust method for robotic control.

  19. Robustness of a distributed neural network controller for locomotion in a hexapod robot

    NASA Technical Reports Server (NTRS)

    Chiel, Hillel J.; Beer, Randall D.; Quinn, Roger D.; Espenschied, Kenneth S.

    1992-01-01

    A distributed neural-network controller for locomotion, based on insect neurobiology, has been used to control a hexapod robot. How robust is this controller? Disabling any single sensor, effector, or central component did not prevent the robot from walking. Furthermore, statically stable gaits could be established using either sensor input or central connections. Thus, a complex interplay between central neural elements and sensor inputs is responsible for the robustness of the controller and its ability to generate a continuous range of gaits. These results suggest that biologically inspired neural-network controllers may be a robust method for robotic control.

  20. A basic study of a triangular magnet chain for locomotion control

    NASA Astrophysics Data System (ADS)

    Kim, Sung Hoon; Hashi, Shuichiro; Ishiyama, Kazushi

    2011-04-01

    This paper introduces a theoretical (magnetic and robotic) and experimental study of a robotic locomotion principle utilizing a triangular artificial magnetic chain with a rotating magnetic field for biomedical applications. A three-axis Helmholtz coil system with external controller (joystick) controls the moving direction of the proposed magnet chain according to changes of the plane of the rotating magnetic field. The proposed magnet chain consists of three NdFeB magnets, and its magnetic property depends on dipoles interaction. Also, motion dynamics bring about a magnetic torque analyzed by robotics. A total magnetic moment on the triangular magnet chain provides magnetic torque in the rotating magnetic field, and a geometric property produces a stable movement for robotic locomotion.

  1. Reactive and anticipatory control of posture and bipedal locomotion in a nonhuman primate.

    PubMed

    Mori, Futoshi; Nakajima, Katsumi; Tachibana, Atsumichi; Takasu, Chijiko; Mori, Masahiro; Tsujimoto, Toru; Tsukada, Hideo; Mori, Shigemi

    2004-01-01

    Bipedal locomotion is a common daily activity. Despite its apparent simplicity, it is a complex set of movements that requires the integrated neural control of multiple body segments. We have recently shown that the juvenile Japanese monkey, M. fuscata, can be operant-trained to walk bipedally on moving treadmill. It can control the body axis and lower limb movements when confronted by a change in treadmill speed. M. fuscata can also walk bipedally on a slanted treadmill. Furthermore, it can learn to clear an obstacle attached to the treadmill's belt. When failing to clear the obstacle, the monkey stumbles but quickly corrects its posture and the associated movements of multiple motor segments to again resume smooth bipedal walking. These results give indication that in learning to walk bipedally, M. fuscata transforms relevant visual, vestibular, proprioceptive, and exteroceptive sensory inputs into commands that engage both anticipatory and reactive motor mechanisms. Both mechanisms are essential for meeting external demands imposed upon posture and locomotion.

  2. Central pattern generators for locomotion control in animals and robots: a review.

    PubMed

    Ijspeert, Auke Jan

    2008-05-01

    The problem of controlling locomotion is an area in which neuroscience and robotics can fruitfully interact. In this article, I will review research carried out on locomotor central pattern generators (CPGs), i.e. neural circuits capable of producing coordinated patterns of high-dimensional rhythmic output signals while receiving only simple, low-dimensional, input signals. The review will first cover neurobiological observations concerning locomotor CPGs and their numerical modelling, with a special focus on vertebrates. It will then cover how CPG models implemented as neural networks or systems of coupled oscillators can be used in robotics for controlling the locomotion of articulated robots. The review also presents how robots can be used as scientific tools to obtain a better understanding of the functioning of biological CPGs. Finally, various methods for designing CPGs to control specific modes of locomotion will be briefly reviewed. In this process, I will discuss different types of CPG models, the pros and cons of using CPGs with robots, and the pros and cons of using robots as scientific tools. Open research topics both in biology and in robotics will also be discussed.

  3. Full-Body Gaze Control Mechanisms Elicited During Locomotion: Effects Of VOR Adaptation

    NASA Technical Reports Server (NTRS)

    Mulavara, A. P.; Houser, J.; Peters, B.; Miller, C.; Richards, J.; Marshburn, A.; Brady, R.; Cohen, H.; Bloomberg, J. J.

    2004-01-01

    Control of locomotion requires precise interaction between several sensorimotor subsystems. During locomotion the performer must satisfy two performance criteria: maintain stable forward translation and to stabilize gaze (McDonald, et al., 1997). Precise coordination demands integration of multiple sensorimotor subsystems for fulfilling both criteria. In order to test the general hypothesis that the whole body can serve as an integrated gaze stabilization system, we have previously investigated how the multiple, interdependent full-body sensorimotor subsystems respond to changes in gaze stabilization task constraints during locomotion (Mulavara and Bloomberg, 2003). The results suggest that the full body contributes to gaze stabilization during locomotion, and that its different functional elements respond to changes in visual task constraints. The goal of this study was to determine how the multiple, interdependent, full-body sensorimotor subsystems aiding gaze stabilization during locomotion are functionally coordinated after the vestibulo-ocular reflex (VOR) gain has been altered. We investigated the potential of adaptive remodeling of the full-body gaze control system following exposure to visual-vestibular conflict known to adaptively reduce the VOR. Subjects (n=14) walked (6.4 km/h) on the treadmill before and after they were exposed to 0.5X manifying lenses worn for 30 minutes during self-generated sinusoidal vertical head rotations performed while seated. In this study we measured: temporal parameters of gait, full body sagittal plane segmental kinematics of the head, trunk, thigh, shank and foot, accelerations along the vertical axis at the head and the shank, and the vertical forces acting on the support surface. Results indicate that, following exposure to the 0.5X minifying lenses, there was a significant increase in the duration of stance and stride times, alteration in the amplitude of head movement with respect to space and a significant increase in

  4. Full-Body Gaze Control Mechanisms Elicited During Locomotion: Effects Of VOR Adaptation

    NASA Technical Reports Server (NTRS)

    Mulavara, A. P.; Houser, J.; Peters, B.; Miller, C.; Richards, J.; Marshburn, A.; Brady, R.; Cohen, H.; Bloomberg, J. J.

    2004-01-01

    Control of locomotion requires precise interaction between several sensorimotor subsystems. During locomotion the performer must satisfy two performance criteria: maintain stable forward translation and to stabilize gaze (McDonald, et al., 1997). Precise coordination demands integration of multiple sensorimotor subsystems for fulfilling both criteria. In order to test the general hypothesis that the whole body can serve as an integrated gaze stabilization system, we have previously investigated how the multiple, interdependent full-body sensorimotor subsystems respond to changes in gaze stabilization task constraints during locomotion (Mulavara and Bloomberg, 2003). The results suggest that the full body contributes to gaze stabilization during locomotion, and that its different functional elements respond to changes in visual task constraints. The goal of this study was to determine how the multiple, interdependent, full-body sensorimotor subsystems aiding gaze stabilization during locomotion are functionally coordinated after the vestibulo-ocular reflex (VOR) gain has been altered. We investigated the potential of adaptive remodeling of the full-body gaze control system following exposure to visual-vestibular conflict known to adaptively reduce the VOR. Subjects (n=14) walked (6.4 km/h) on the treadmill before and after they were exposed to 0.5X manifying lenses worn for 30 minutes during self-generated sinusoidal vertical head rotations performed while seated. In this study we measured: temporal parameters of gait, full body sagittal plane segmental kinematics of the head, trunk, thigh, shank and foot, accelerations along the vertical axis at the head and the shank, and the vertical forces acting on the support surface. Results indicate that, following exposure to the 0.5X minifying lenses, there was a significant increase in the duration of stance and stride times, alteration in the amplitude of head movement with respect to space and a significant increase in

  5. Vestibular-Somatosensory Convergence in Head Movement Control During Locomotion after Long-Duration Space Flight

    NASA Technical Reports Server (NTRS)

    Mulavara, Ajitkumar; Ruttley, Tara; Cohen, Helen; Peters, Brian; Miller, Chris; Brady, Rachel; Merkle, Lauren; Bloomberg, Jacob

    2010-01-01

    Exposure to the microgravity conditions of space flight induces adaptive modification in the control of vestibular-mediated reflexive head movement during locomotion after space flight. Space flight causes astronauts to be exposed to somatosensory adaptation in both the vestibular and body load-sensing (BLS) systems. The goal of these studies was to examine the contributions of vestibular and BLS-mediated somatosensory influences on head movement control during locomotion after long-duration space flight. Subjects were asked to walk on a treadmill driven at 1.8 m/s while performing a visual acuity task. Data were collected using the same testing protocol from three independent subject groups; 1) normal subjects before and after exposure to 30 minutes of 40% bodyweight unloaded treadmill walking, 2) bilateral labyrinthine deficient (LD) patients and 3) astronauts who performed the protocol before and after long duration space flight. Motion data from head and trunk segmental motion data were obtained to calculate the angular head pitch (HP) movements during walking trials while subjects performed the visual task, to estimate the contributions of vestibular reflexive mechanisms in HP movements. Results showed that exposure to unloaded locomotion caused a significant increase in HP movements, whereas in the LD patients the HP movements were significantly decreased. Astronaut subjects results showed a heterogeneous response of both increases and decreases in the amplitude of HP movement. We infer that BLS-mediated somatosensory input centrally modulates vestibular input and can adaptively modify head-movement control during locomotion. Thus, space flight may cause a central adaptation mediated by the converging vestibular and body load-sensing somatosensory systems.

  6. Control of Vertebrate Respiration and Locomotion: A Brief Account.

    ERIC Educational Resources Information Center

    Feldman, Jack L.; Grillner, Sten

    1983-01-01

    Areas considered in this discussion include: activation/modulation of movement; control of motoneuronal discharge by excitation/inhibition; neural generation of movement synergies (considering interaction of central/peripheral elements, phasic gating of reflex effects, and neuronal organization of central pattern generators); protean nature of…

  7. Control of Vertebrate Respiration and Locomotion: A Brief Account.

    ERIC Educational Resources Information Center

    Feldman, Jack L.; Grillner, Sten

    1983-01-01

    Areas considered in this discussion include: activation/modulation of movement; control of motoneuronal discharge by excitation/inhibition; neural generation of movement synergies (considering interaction of central/peripheral elements, phasic gating of reflex effects, and neuronal organization of central pattern generators); protean nature of…

  8. Static standing and dynamic walking of a practical biped robot

    SciTech Connect

    Zheng, Yuan F.; Rao, M.

    1987-01-01

    The study of static standing and dynamic walking of a practical biped robot is presented in this research report. A systematic method for describing the kinematic behavior of a biped robot is first developed. The development is based on the well-known Denavit-Hartenburg convention. As a result, the method is basically the same as the one used for robot manipulators, except for some considerations given to the unique functions and structure of a biped robot. The static standing of a biped robot is then studied. It is argued that static standing capability is very important if a biped robot is to be employed in an industrial environment. In order to measure the performance of the biped in static standing in terms of its stability, two parameters, stable margin and stable index, are introduced. Based on these parameters, optimal stability of the biped robot with one-foot and two-foot standing cases are discussed. For dynamic walking, a mathematical treatment is first described. Conclusion is reached that by proper positioning of the landing, stable dynamic walking can be realized. A practical biped robot is introduced in the final part of the report. Experimental results of static standing and dynamic walking of the biped robot are presented, to verify the theoretical results. 28 refs., 9 figs., 1 tab.

  9. Body Trajectory Planning of Biped Robot Based on ZMP

    NASA Astrophysics Data System (ADS)

    Sato, Tomoya; Suzuki, Tomoyuki; Shibuya, Maki; Ohnishi, Kouhei

    In this paper, a body trajectory planning method of a biped robot based on ZMP (zero-moment point) is proposed. In the proposed method, the body of the biped robot is maintained at a constant height during walking. By this body trajectory, the biped robot walks stably without moving up and down the body height. Higher energy efficiency can be achieved by the proposed method than the conventional method that maintains a constant COG (center of gravity) height, since the biped robot walks with a higher body position and with less torque of joints. Additionally, the validity of the proposed method was confirmed by experiments of walking.

  10. Similar Motor Cortical Control Mechanisms for Precise Limb Control during Reaching and Locomotion.

    PubMed

    Yakovenko, Sergiy; Drew, Trevor

    2015-10-28

    Throughout the course of evolution there has been a parallel development of the complexity and flexibility of the nervous system and the skeletomuscular system that it controls. This development is particularly evident for the cerebral cortical areas and the transformation of the use of the upper limbs from a purely locomotor function to one including, or restricted to, reaching and grasping. This study addresses the issue of whether the control of reaching has involved the development of new cortical circuits or whether the same neurons are used to control both locomotion and reaching. We recorded the activity of pyramidal tract neurons in the motor cortex of the cat both during voluntary gait modifications and during reaching. All cells showed generally similar patterns of activity in both tasks. More specifically, we showed that, in many cases, cells maintained a constant temporal relationship to the activity of synergistic muscle groups in each task. In addition, in some cells the relationship between the intensity of the cell discharge activity and the magnitude of the EMG activity was equally constant during gait modifications and reaching. As such, the results are compatible with the hypothesis that the corticospinal circuits used to control reaching evolved from those used to precisely modify gait. Copyright © 2015 the authors 0270-6474/15/3514476-15$15.00/0.

  11. Initial experiments in thrusterless locomotion control of a free-flying robot

    NASA Technical Reports Server (NTRS)

    Jasper, W. J.; Cannon, R. H., Jr.

    1990-01-01

    A two-arm free-flying robot has been constructed to study thrusterless locomotion in space. This is accomplished by pushing off or landing on a large structure in a coordinated two-arm maneuver. A new control method, called system momentum control, allows the robot to follow desired momentum trajectories and thus leap or crawl from one structure to another. The robot floats on an air-cushion, simulating in two dimensions the drag-free zero-g environment of space. The control paradigm has been verified experimentally by commanding the robot to push off a bar with both arms, rotate 180 degrees, and catch itself on another bar.

  12. Initial experiments in thrusterless locomotion control of a free-flying robot

    NASA Technical Reports Server (NTRS)

    Jasper, W. J.; Cannon, R. H., Jr.

    1990-01-01

    A two-arm free-flying robot has been constructed to study thrusterless locomotion in space. This is accomplished by pushing off or landing on a large structure in a coordinated two-arm maneuver. A new control method, called system momentum control, allows the robot to follow desired momentum trajectories and thus leap or crawl from one structure to another. The robot floats on an air-cushion, simulating in two dimensions the drag-free zero-g environment of space. The control paradigm has been verified experimentally by commanding the robot to push off a bar with both arms, rotate 180 degrees, and catch itself on another bar.

  13. Controlled locomotion of robots driven by a vibrating surface

    NASA Astrophysics Data System (ADS)

    Umbanhowar, Paul; Lynch, Kevin M.

    Robots typically derive their powers of movement from onboard actuators and power sources, but other scenarios are possible where the external environment provides part or all of the necessary forcing and control. I will discuss details of a system where the ``robots'' are just planar solid objects and the requisite driving forces originate from frictional sliding-interactions with a periodically oscillated and nominally horizontal surface. For the robots to move, the temporal symmetry of the frictional forces must be broken, which is achieved here by modulating the normal force using vertical acceleration of the surface. Independent of the initial conditions and vibration waveform, a sliding locomotor reaches a unique velocity limit cycle at a given position. Its resulting motion can be described in terms of velocity fields which specify the robot's cycle-averaged velocity as a function of position. Velocity fields with non-zero spatial divergence can be generated by combining translational and rotational surface motions; this allows the simultaneous and open-loop collection, dispersal, and transport of multiple robots. Fields and field sequences can simultaneously move multiple robots between arbitrary positions and, potentially, along arbitrary trajectories. Supported by NSF CMMI #0700537.

  14. Walking biped humanoids that perform manual labour.

    PubMed

    Hirukawa, Hirohisa

    2007-01-15

    The Humanoid Robotics Project of the Ministry of Economy, Trade and Industry of Japan realized that biped humanoid robots can perform manual labour. The project developed humanoid robot platforms, consisting of humanoid robot hardware and a package of fundamental software, and explored applications of humanoid robots on them. The applications include maintenance tasks of industrial plants, teleoperation of industrial vehicles, cooperative tasks with a human, guarding the home and office and the care of patients in beds.

  15. Head and Trunk Movement Control During Locomotion After Long-Duration Spaceflight

    NASA Technical Reports Server (NTRS)

    Bloomberg, Jacob J.; Paige, Gary D.; Mulavara, A. P.; McDonald, P. V.; Layne, C. S.; Merkle, L. A.; Kozlovskaya, I. B.; Paloski, William H. (Technical Monitor)

    1999-01-01

    Exposure to the microgravity environment encountered during spaceflight induces adaptive alteration in sensorimotor function that leads to postflight disturbances in locomotor control. Head and trunk movement control plays a central role in maintaining gaze stability and in providing a stable reference system to permit spatial navigation in a complex and constantly varying environment. The goal of the present study was to investigate the effects of long-duration spaceflight (3-6 months) on head and trunk movement control during postflight terrestrial locomotion. Before and after spaceflight, subjects walked on a motorized treadmill while performing a challenging gaze stabilization task requiring number recognition. Head and trunk kinematic data were collected with a video-based motion analysis system. Analysis of roll, pitch and yaw head and trunk movements during treadmill walking revealed postflight alterations in head and trunk movement control in all three planes of motion. Subjects also experienced oscillopsia during postflight walking which led to impairment in performance of the number recognition task. These data indicate that exposure to long-duration space flight causes alteration in head and trunk movement control during postflight locomotion. These changes have implications for the control of gaze and maintenance of dynamic stability during walking after long-duration spaceflight.

  16. Electroencephalography(EEG)-based instinctive brain-control of a quadruped locomotion robot.

    PubMed

    Jia, Wenchuan; Huang, Dandan; Luo, Xin; Pu, Huayan; Chen, Xuedong; Bai, Ou

    2012-01-01

    Artificial intelligence and bionic control have been applied in electroencephalography (EEG)-based robot system, to execute complex brain-control task. Nevertheless, due to technical limitations of the EEG decoding, the brain-computer interface (BCI) protocol is often complex, and the mapping between the EEG signal and the practical instructions lack of logic associated, which restrict the user's actual use. This paper presents a strategy that can be used to control a quadruped locomotion robot by user's instinctive action, based on five kinds of movement related neurophysiological signal. In actual use, the user drives or imagines the limbs/wrists action to generate EEG signal to adjust the real movement of the robot according to his/her own motor reflex of the robot locomotion. This method is easy for real use, as the user generates the brain-control signal through the instinctive reaction. By adopting the behavioral control of learning and evolution based on the proposed strategy, complex movement task may be realized by instinctive brain-control.

  17. Neural control and adaptive neural forward models for insect-like, energy-efficient, and adaptable locomotion of walking machines.

    PubMed

    Manoonpong, Poramate; Parlitz, Ulrich; Wörgötter, Florentin

    2013-01-01

    Living creatures, like walking animals, have found fascinating solutions for the problem of locomotion control. Their movements show the impression of elegance including versatile, energy-efficient, and adaptable locomotion. During the last few decades, roboticists have tried to imitate such natural properties with artificial legged locomotion systems by using different approaches including machine learning algorithms, classical engineering control techniques, and biologically-inspired control mechanisms. However, their levels of performance are still far from the natural ones. By contrast, animal locomotion mechanisms seem to largely depend not only on central mechanisms (central pattern generators, CPGs) and sensory feedback (afferent-based control) but also on internal forward models (efference copies). They are used to a different degree in different animals. Generally, CPGs organize basic rhythmic motions which are shaped by sensory feedback while internal models are used for sensory prediction and state estimations. According to this concept, we present here adaptive neural locomotion control consisting of a CPG mechanism with neuromodulation and local leg control mechanisms based on sensory feedback and adaptive neural forward models with efference copies. This neural closed-loop controller enables a walking machine to perform a multitude of different walking patterns including insect-like leg movements and gaits as well as energy-efficient locomotion. In addition, the forward models allow the machine to autonomously adapt its locomotion to deal with a change of terrain, losing of ground contact during stance phase, stepping on or hitting an obstacle during swing phase, leg damage, and even to promote cockroach-like climbing behavior. Thus, the results presented here show that the employed embodied neural closed-loop system can be a powerful way for developing robust and adaptable machines.

  18. Neural control and adaptive neural forward models for insect-like, energy-efficient, and adaptable locomotion of walking machines

    PubMed Central

    Manoonpong, Poramate; Parlitz, Ulrich; Wörgötter, Florentin

    2013-01-01

    Living creatures, like walking animals, have found fascinating solutions for the problem of locomotion control. Their movements show the impression of elegance including versatile, energy-efficient, and adaptable locomotion. During the last few decades, roboticists have tried to imitate such natural properties with artificial legged locomotion systems by using different approaches including machine learning algorithms, classical engineering control techniques, and biologically-inspired control mechanisms. However, their levels of performance are still far from the natural ones. By contrast, animal locomotion mechanisms seem to largely depend not only on central mechanisms (central pattern generators, CPGs) and sensory feedback (afferent-based control) but also on internal forward models (efference copies). They are used to a different degree in different animals. Generally, CPGs organize basic rhythmic motions which are shaped by sensory feedback while internal models are used for sensory prediction and state estimations. According to this concept, we present here adaptive neural locomotion control consisting of a CPG mechanism with neuromodulation and local leg control mechanisms based on sensory feedback and adaptive neural forward models with efference copies. This neural closed-loop controller enables a walking machine to perform a multitude of different walking patterns including insect-like leg movements and gaits as well as energy-efficient locomotion. In addition, the forward models allow the machine to autonomously adapt its locomotion to deal with a change of terrain, losing of ground contact during stance phase, stepping on or hitting an obstacle during swing phase, leg damage, and even to promote cockroach-like climbing behavior. Thus, the results presented here show that the employed embodied neural closed-loop system can be a powerful way for developing robust and adaptable machines. PMID:23408775

  19. Experiments in thrusterless robot locomotion control for space applications. Ph.D. Thesis

    NASA Technical Reports Server (NTRS)

    Jasper, Warren Joseph

    1990-01-01

    While performing complex assembly tasks or moving about in space, a space robot should minimize the amount of propellant consumed. A study is presented of space robot locomotion and orientation without the use of thrusters. The goal was to design a robot control paradigm that will perform thrusterless locomotion between two points on a structure, and to implement this paradigm on an experimental robot. A two arm free flying robot was constructed which floats on a cushion of air to simulate in 2-D the drag free, zero-g environment of space. The robot can impart momentum to itself by pushing off from an external structure in a coordinated two arm maneuver, and can then reorient itself by activating a momentum wheel. The controller design consists of two parts: a high level strategic controller and a low level dynamic controller. The control paradigm was verified experimentally by commanding the robot to push off from a structure with both arms, rotate 180 degs while translating freely, and then to catch itself on another structure. This method, based on the computed torque, provides a linear feedback law in momentum and its derivatives for a system of rigid bodies.

  20. Fast Dynamical Coupling Enhances Frequency Adaptation of Oscillators for Robotic Locomotion Control

    PubMed Central

    Nachstedt, Timo; Tetzlaff, Christian; Manoonpong, Poramate

    2017-01-01

    Rhythmic neural signals serve as basis of many brain processes, in particular of locomotion control and generation of rhythmic movements. It has been found that specific neural circuits, named central pattern generators (CPGs), are able to autonomously produce such rhythmic activities. In order to tune, shape and coordinate the produced rhythmic activity, CPGs require sensory feedback, i.e., external signals. Nonlinear oscillators are a standard model of CPGs and are used in various robotic applications. A special class of nonlinear oscillators are adaptive frequency oscillators (AFOs). AFOs are able to adapt their frequency toward the frequency of an external periodic signal and to keep this learned frequency once the external signal vanishes. AFOs have been successfully used, for instance, for resonant tuning of robotic locomotion control. However, the choice of parameters for a standard AFO is characterized by a trade-off between the speed of the adaptation and its precision and, additionally, is strongly dependent on the range of frequencies the AFO is confronted with. As a result, AFOs are typically tuned such that they require a comparably long time for their adaptation. To overcome the problem, here, we improve the standard AFO by introducing a novel adaptation mechanism based on dynamical coupling strengths. The dynamical adaptation mechanism enhances both the speed and precision of the frequency adaptation. In contrast to standard AFOs, in this system, the interplay of dynamics on short and long time scales enables fast as well as precise adaptation of the oscillator for a wide range of frequencies. Amongst others, a very natural implementation of this mechanism is in terms of neural networks. The proposed system enables robotic applications which require fast retuning of locomotion control in order to react to environmental changes or conditions. PMID:28377710

  1. Vestibular-somatosensory convergence in head movement control during locomotion after long-duration space flight.

    PubMed

    Mulavara, A P; Ruttley, T; Cohen, H S; Peters, B T; Miller, C; Brady, R; Merkle, L; Bloomberg, J J

    2012-01-01

    Space flight causes astronauts to be exposed to adaptation in both the vestibular and body load-sensing somatosensory systems. The goal of these studies was to examine the contributions of vestibular and body load-sensing somatosensory influences on vestibular mediated head movement control during locomotion after long-duration space flight. Subjects walked on a motor driven treadmill while performing a gaze stabilization task. Data were collected from three independent subject groups that included bilateral labyrinthine deficient (LD) patients, normal subjects before and after 30 minutes of 40% bodyweight unloaded treadmill walking, and astronauts before and after long-duration space flight. Motion data from the head and trunk segments were used to calculate the amplitude of angular head pitch and trunk vertical translation movement while subjects performed a gaze stabilization task, to estimate the contributions of vestibular reflexive mechanisms in head pitch movements. Exposure to unloaded locomotion caused a significant increase in head pitch movements in normal subjects, whereas the head pitch movements of LD patients were significantly decreased. This is the first evidence of adaptation of vestibular mediated head movement responses to unloaded treadmill walking. Astronaut subjects showed a heterogeneous response of both increases and decreases in the amplitude of head pitch movement. We infer that body load-sensing somatosensory input centrally modulates vestibular input and can adaptively modify vestibularly mediated head-movement control during locomotion. Thus, space flight may cause central adaptation of the converging vestibular and body load-sensing somatosensory systems leading to alterations in head movement control.

  2. Distinct Thalamo-Cortical Controls for Shoulder, Elbow, and Wrist during Locomotion.

    PubMed

    Beloozerova, Irina N; Stout, Erik E; Sirota, Mikhail G

    2013-01-01

    Recent data from this laboratory on differential controls for the shoulder, elbow, and wrist exerted by the thalamo-cortical network during locomotion is presented, based on experiments involving chronically instrumented cats walking on a flat surface and along a horizontal ladder. The activity of the following three groups of neurons is characterized: (1) neurons of the motor cortex that project to the pyramidal tract (PTNs), (2) neurons of the ventrolateral thalamus (VL), many identified as projecting to the motor cortex (thalamo-cortical neurons, TCs), and (3) neurons of the reticular nucleus of thalamus (RE), which inhibit TCs. Neurons were grouped according to their receptive field into shoulder-, elbow-, and wrist/paw-related categories. During simple locomotion, shoulder-related PTNs were most active in the late stance and early swing, and on the ladder, often increased activity and stride-related modulation while reducing discharge duration. Elbow-related PTNs were most active during late swing/early stance and typically remained similar on the ladder. Wrist-related PTNs were most active during swing, and on the ladder often decreased activity and increased modulation while reducing discharge duration. In the VL, shoulder-related neurons were more active during the transition from swing-to-stance. Elbow-related cells tended to be more active during the transition from stance-to-swing and on the ladder often decreased their activity and increased modulation. Wrist-related neurons were more active throughout the stance phase. In the RE, shoulder-related cells had low discharge rates and depths of modulation and long periods of activity distributed evenly across the cycle. In sharp contrast, wrist/paw-related cells discharged synchronously during the end of stance and swing with short periods of high activity, high modulation, and frequent sleep-type bursting. We conclude that thalamo-cortical network processes information related to different segments of the

  3. An automatic and user-driven training method for locomotion mode recognition for artificial leg control.

    PubMed

    Zhang, Xiaorong; Wang, Ding; Yang, Qing; Huang, He

    2012-01-01

    Our previously developed locomotion-mode-recognition (LMR) system has provided a great promise to intuitive control of powered artificial legs. However, the lack of fast, practical training methods is a barrier for clinical use of our LMR system for prosthetic legs. This paper aims to design a new, automatic, and user-driven training method for practical use of LMR system. In this method, a wearable terrain detection interface based on a portable laser distance sensor and an inertial measurement unit (IMU) is applied to detect the terrain change in front of the prosthesis user. The mechanical measurement from the prosthetic pylon is used to detect gait phase. These two streams of information are used to automatically identify the transitions among various locomotion modes, switch the prosthesis control mode, and label the training data with movement class and gait phase in real-time. No external device is required in this training system. In addition, the prosthesis user without assistance from any other experts can do the whole training procedure. The pilot experimental results on an able-bodied subject have demonstrated that our developed new method is accurate and user-friendly, and can significantly simplify the LMR training system and training procedure without sacrificing the system performance. The novel design paves the way for clinical use of our designed LMR system for powered lower limb prosthesis control.

  4. The role of reafference in recalibration of limb movement control and locomotion

    NASA Technical Reports Server (NTRS)

    Lackner, J. R.; DiZio, P.

    1997-01-01

    The reafference model has frequently been used to explain spatial constancy during eye and head movements. We have found that its basic concepts also form part of the information processing necessary for the control and recalibration of reaching movements. Reaching was studied in a novel force environment--a rotating room that creates centripetal forces of the type that could someday substitute for gravity in space flight, and Coriolis forces which are side effects of rotation. We found that inertial, noncontacting Coriolis forces deviate the path and endpoint of reaching movements, a finding that shows the inadequacy of equilibrium position models of movement control. Repeated movements in the rotating room quickly lead to normal movement patterns and to a failure to perceive the perturbing forces. The first movements made after rotation stops, without Coriolis forces present, show mirror-image deviations and evoke perception of a perturbing force even though none is present. These patterns of sensorimotor control and adaptation can largely be explained on the basis of comparisons of efference copy, reafferent muscle spindle, and cutaneous mechanoreceptor signals. We also describe experiments on human locomotion using an apparatus similar to that which Mittelstaedt used to study the optomotor response of the Eristalis fly. These results show that the reafference principle relates as well to the perception of the forces acting on and exerted by the body during voluntary locomotion.

  5. [Mathematical model of the hindlimbs control during cat locomotion with balance].

    PubMed

    Lyakhovetskii, V A; Gorskii, O V; Gerasimenko, Yu P; Musienko, P E

    2015-02-01

    The musculoskeletal model of cat's hind limbs, capable to step while maintaining balance, was developed using the MatLab. The skeletal part of the model (spine, pelvis, hips, shanks, foots) was created at SimMechanics. The joint in the spine attachment to the support and hip joint have three degrees of freedom. Knee and ankle joints have one degree of freedom. The pelvis is rigidly connected to the spine. The control of the skeleton's segments is done by six groups of muscles (flexors and extensors of hips, knees and ankles), modeled using the package VirtualMuscle. The generalized lateral force exerted on the spine was introduced to compensate insecure lateral deviations. Experimental verification of the model realness have shown that its locomotor characteristics (e. g., muscles activation patterns, oscillation period of pelvis, correlation between step length and maximal lateral shift of pelvis) do not significantly differ from the locomotion of decerebrate cats. The simulation confirms the key role of lateral force evolved by paravertebral and abductor-adductor muscles in the control of lateral stability during locomotion.

  6. A dynamical systems analysis of afferent control in a neuromechanical model of locomotion: I. Rhythm generation

    NASA Astrophysics Data System (ADS)

    Spardy, Lucy E.; Markin, Sergey N.; Shevtsova, Natalia A.; Prilutsky, Boris I.; Rybak, Ilya A.; Rubin, Jonathan E.

    2011-10-01

    Locomotion in mammals is controlled by a spinal central pattern generator (CPG) coupled to a biomechanical limb system, with afferent feedback to the spinal circuits and CPG closing the control loop. We have considered a simplified model of this system, in which the CPG establishes a rhythm when a supra-spinal activating drive is present and afferent signals from a single-joint limb feed back to affect CPG operation. Using dynamical system methods, in a series of two papers we analyze the mechanisms by which this model produces oscillations, and the characteristics of these oscillations, in the closed- and open-loop regimes. In this first paper, we analyze the phase transition mechanisms operating within the CPG and use the results to explain how afferent feedback allows oscillations to occur at a wider range of drive values to the CPG than the range over which oscillations occur in the CPG without feedback, and then to comment on why stronger feedback leads to faster oscillations. Linking these transitions to structures in the phase plane associated with the limb segment clarifies how increased weights of afferent feedback to the CPG can restore locomotion after removal of supra-spinal drive to simulate spinal cord injury.

  7. Fifteen observations on the structure of energy-minimizing gaits in many simple biped models

    PubMed Central

    Srinivasan, Manoj

    2011-01-01

    A popular hypothesis regarding legged locomotion is that humans and other large animals walk and run in a manner that minimizes the metabolic energy expenditure for locomotion. Here, using numerical optimization and supporting analytical arguments, I obtain the energy-minimizing gaits of many different simple biped models. I consider bipeds with point-mass bodies and massless legs, with or without a knee, with or without a springy tendon in series with the leg muscle and minimizing one of many different ‘metabolic cost’ models—correlated with muscle work, muscle force raised to some power, the Minetti–Alexander quasi-steady approximation to empirical muscle metabolic rate (from heat and ATPase activity), a new cost function called the ‘generalized work cost’ Cg having some positivity and convexity properties (and includes the Minetti–Alexander cost and the work cost as special cases), and generalizations thereof. For many of these models, walking-like gaits are optimal at low speeds and running-like gaits at higher speeds, so a gait transition is optimal. Minimizing the generalized work cost Cg appears mostly indistinguishable from minimizing muscle work for all the models. Inverted pendulum walking and impulsive running gaits minimize the work cost, generalized work costs Cg and a few other costs for the springless bipeds; in particular, a knee-torque-squared cost, appropriate as a simplified model for electric motor power for a kneed robot biped. Many optimal gaits had symmetry properties; for instance, the left stance phase was identical to the right stance phases. Muscle force–velocity relations and legs with masses have predictable qualitative effects, if any, on the optima. For bipeds with compliant tendons, the muscle work-minimizing strategies have close to zero muscle work (isometric muscles), with the springs performing all the leg work. These zero work gaits also minimize the generalized work costs Cg with substantial additive force or

  8. Fifteen observations on the structure of energy-minimizing gaits in many simple biped models.

    PubMed

    Srinivasan, Manoj

    2011-01-06

    A popular hypothesis regarding legged locomotion is that humans and other large animals walk and run in a manner that minimizes the metabolic energy expenditure for locomotion. Here, using numerical optimization and supporting analytical arguments, I obtain the energy-minimizing gaits of many different simple biped models. I consider bipeds with point-mass bodies and massless legs, with or without a knee, with or without a springy tendon in series with the leg muscle and minimizing one of many different 'metabolic cost' models-correlated with muscle work, muscle force raised to some power, the Minetti-Alexander quasi-steady approximation to empirical muscle metabolic rate (from heat and ATPase activity), a new cost function called the 'generalized work cost' C(g) having some positivity and convexity properties (and includes the Minetti-Alexander cost and the work cost as special cases), and generalizations thereof. For many of these models, walking-like gaits are optimal at low speeds and running-like gaits at higher speeds, so a gait transition is optimal. Minimizing the generalized work cost C(g) appears mostly indistinguishable from minimizing muscle work for all the models. Inverted pendulum walking and impulsive running gaits minimize the work cost, generalized work costs C(g) and a few other costs for the springless bipeds; in particular, a knee-torque-squared cost, appropriate as a simplified model for electric motor power for a kneed robot biped. Many optimal gaits had symmetry properties; for instance, the left stance phase was identical to the right stance phases. Muscle force-velocity relations and legs with masses have predictable qualitative effects, if any, on the optima. For bipeds with compliant tendons, the muscle work-minimizing strategies have close to zero muscle work (isometric muscles), with the springs performing all the leg work. These zero work gaits also minimize the generalized work costs C(g) with substantial additive force or force rate

  9. Revisiting the stability of 2D passive biped walking: Local behavior

    NASA Astrophysics Data System (ADS)

    Norris, James A.; Marsh, Anthony P.; Granata, Kevin P.; Ross, Shane D.

    2008-12-01

    Models of biped walking have demonstrated that stable walking motions are possible without active control. Stability of these motions has typically been quantified by studying the stability of an associated Poincaré map (orbital stability). However, additional insight may be obtained by examining how perturbations evolve over the short-term (local stability). For example, there may be regions where small perturbations actually diverge from the unperturbed trajectory, even if over the entire cycle small (but perhaps not large) perturbations are dissipated. We present techniques to calculate local stability, and demonstrate the utility of these techniques by examining the local stability of the 2D compass biped. These techniques are relevant to the design of controllers to maintain stability in robots, and in understanding how the neuromuscular system maintains stability in humans.

  10. Towards autonomous locomotion: CPG-based control of smooth 3D slithering gait transition of a snake-like robot.

    PubMed

    Bing, Zhenshan; Cheng, Long; Chen, Guang; Röhrbein, Florian; Huang, Kai; Knoll, Alois

    2017-04-04

    Snake-like robots with 3D locomotion ability have significant advantages of adaptive travelling in diverse complex terrain over traditional legged or wheeled mobile robots. Despite numerous developed gaits, these snake-like robots suffer from unsmooth gait transitions by changing the locomotion speed, direction, and body shape, which would potentially cause undesired movement and abnormal torque. Hence, there exists a knowledge gap for snake-like robots to achieve autonomous locomotion. To address this problem, this paper presents the smooth slithering gait transition control based on a lightweight central pattern generator (CPG) model for snake-like robots. First, based on the convergence behavior of the gradient system, a lightweight CPG model with fast computing time was designed and compared with other widely adopted CPG models. Then, by reshaping the body into a more stable geometry, the slithering gait was modified, and studied based on the proposed CPG model, including the gait transition of locomotion speed, moving direction, and body shape. In contrast to sinusoid-based method, extensive simulations and prototype experiments finally demonstrated that smooth slithering gait transition can be effectively achieved using the proposed CPG-based control method without generating undesired locomotion and abnormal torque.

  11. 49 CFR 1242.67 - Switch crews; controlling operations; yard and terminal clerical; locomotive fuel; electric power...

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... 49 Transportation 9 2011-10-01 2011-10-01 false Switch crews; controlling operations; yard and terminal clerical; locomotive fuel; electric power purchased/produced for motive power; operating switches... SERVICE FOR RAILROADS 1 Operating Expenses-Transportation § 1242.67 Switch crews; controlling...

  12. 49 CFR 1242.67 - Switch crews; controlling operations; yard and terminal clerical; locomotive fuel; electric power...

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... 49 Transportation 9 2010-10-01 2010-10-01 false Switch crews; controlling operations; yard and terminal clerical; locomotive fuel; electric power purchased/produced for motive power; operating switches... SERVICE FOR RAILROADS 1 Operating Expenses-Transportation § 1242.67 Switch crews; controlling...

  13. 49 CFR 236.566 - Locomotive of each train operating in train stop, train control or cab signal territory; equipped.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... 49 Transportation 4 2011-10-01 2011-10-01 false Locomotive of each train operating in train stop... TRANSPORTATION RULES, STANDARDS, AND INSTRUCTIONS GOVERNING THE INSTALLATION, INSPECTION, MAINTENANCE, AND REPAIR OF SIGNAL AND TRAIN CONTROL SYSTEMS, DEVICES, AND APPLIANCES Automatic Train Stop, Train Control...

  14. 49 CFR 236.566 - Locomotive of each train operating in train stop, train control or cab signal territory; equipped.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... 49 Transportation 4 2014-10-01 2014-10-01 false Locomotive of each train operating in train stop... TRANSPORTATION RULES, STANDARDS, AND INSTRUCTIONS GOVERNING THE INSTALLATION, INSPECTION, MAINTENANCE, AND REPAIR OF SIGNAL AND TRAIN CONTROL SYSTEMS, DEVICES, AND APPLIANCES Automatic Train Stop, Train Control...

  15. 49 CFR 236.566 - Locomotive of each train operating in train stop, train control or cab signal territory; equipped.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... 49 Transportation 4 2012-10-01 2012-10-01 false Locomotive of each train operating in train stop... TRANSPORTATION RULES, STANDARDS, AND INSTRUCTIONS GOVERNING THE INSTALLATION, INSPECTION, MAINTENANCE, AND REPAIR OF SIGNAL AND TRAIN CONTROL SYSTEMS, DEVICES, AND APPLIANCES Automatic Train Stop, Train Control...

  16. 49 CFR 236.566 - Locomotive of each train operating in train stop, train control or cab signal territory; equipped.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... 49 Transportation 4 2013-10-01 2013-10-01 false Locomotive of each train operating in train stop... TRANSPORTATION RULES, STANDARDS, AND INSTRUCTIONS GOVERNING THE INSTALLATION, INSPECTION, MAINTENANCE, AND REPAIR OF SIGNAL AND TRAIN CONTROL SYSTEMS, DEVICES, AND APPLIANCES Automatic Train Stop, Train Control...

  17. Functional Coordination of a Full-Body Gaze Control Mechanisms Elicited During Locomotion

    NASA Technical Reports Server (NTRS)

    Bloomberg, Jacob J.; Mulavara, Ajitkumar P.; Cohen, Helen S.

    2003-01-01

    Control of locomotion requires precise interaction between several sensorimotor subsystems. Exposure to the microgravity environment of spaceflight leads to postflight adaptive alterations in these multiple subsystems leading to postural and gait disturbances. Countermeasures designed to mitigate these postflight gait alterations will need to be assessed with a new generation of functional tests that evaluate the interaction of various elements central to locomotor control. The goal of this study is to determine how the multiple, interdependent, full- body sensorimotor subsystems aiding gaze stabilization during locomotion are functionally coordinated. To explore this question two experiments were performed. In the first study (Study 1) we investigated how alteration in gaze tasking changes full-body locomotor control strategies. Subjects (n=9) performed two discreet gaze stabilization tasks while walking at 6.4 km/hr on a motorized treadmill: 1) focusing on a central point target; 2) reading numeral characters; both presented at 2m in front at eye level. The second study (Study 2) investigated the potential of adaptive remodeling of the full-body gaze control systems following exposure to visual-vestibular conflict. Subjects (n=14) walked (6.4 km/h) on the treadmill before and after they were exposed to 0.5X minifying lenses worn for 30 minutes during self-generated sinusoidal vertical head rotations performed while seated. In both studies we measured: temporal parameters of gait, full body sagittal plane segmental kinematics of the head, trunk, thigh, shank and foot, accelerations along the vertical axis at the head and the shank, and the vertical forces acting on the support surface. Results from Study 1 showed that while reading numeral characters as compared to the central point target: 1) compensatory head pitch movements were on average 22% greater 2) the peak acceleration measured at the head was significantly reduced by an average of 13% in four of the six

  18. Locomotion and Control of a Self-Propelled Shape-Changing Body in a Fluid

    NASA Astrophysics Data System (ADS)

    Chambrion, Thomas; Munnier, Alexandre

    2011-06-01

    In this paper we study the locomotion of a shape-changing body swimming in a two-dimensional perfect fluid of infinite extent. The shape changes are prescribed as functions of time satisfying constraints ensuring that they result from the work of internal forces only: conditions necessary for the locomotion to be termed self-propelled. The net rigid motion of the body results from the exchange of momentum between these shape changes and the surrounding fluid. The aim of this paper is three-fold. First, it describes a rigorous framework for the study of animal locomotion in fluid. Our model differs from previous ones mostly in that the number of degrees of freedom related to the shape changes is infinite. The Euler-Lagrange equation is obtained by applying the least action principle to the system body fluid. The formalism of Analytic Mechanics provides a simple way to handle the strong coupling between the internal dynamics of the body causing the shape changes and the dynamics of the fluid. The Euler-Lagrange equation takes the form of a coupled system of ordinary differential equations (ODEs) and partial differential equations (PDEs). The existence and uniqueness of solutions for this system are rigorously proved. Second, we are interested in making clear the connection between shape changes and internal forces. Although classical, it can be quite surprising to select the shape changes to play the role of control because the internal forces they are due to seem to be a more natural and realistic choice. We prove that, when the number of degrees of freedom relating to the shape changes is finite, both choices are actually equivalent in the sense that there is a one-to-one relation between shape changes and internal forces. Third, we show how the control problem, consisting in associating with each shape change the resulting trajectory of the swimming body, can be analysed within the framework of geometric control theory. This allows us to take advantage of the

  19. Distinct Thalamo-Cortical Controls for Shoulder, Elbow, and Wrist during Locomotion

    PubMed Central

    Beloozerova, Irina N.; Stout, Erik E.; Sirota, Mikhail G.

    2013-01-01

    Recent data from this laboratory on differential controls for the shoulder, elbow, and wrist exerted by the thalamo-cortical network during locomotion is presented, based on experiments involving chronically instrumented cats walking on a flat surface and along a horizontal ladder. The activity of the following three groups of neurons is characterized: (1) neurons of the motor cortex that project to the pyramidal tract (PTNs), (2) neurons of the ventrolateral thalamus (VL), many identified as projecting to the motor cortex (thalamo-cortical neurons, TCs), and (3) neurons of the reticular nucleus of thalamus (RE), which inhibit TCs. Neurons were grouped according to their receptive field into shoulder-, elbow-, and wrist/paw-related categories. During simple locomotion, shoulder-related PTNs were most active in the late stance and early swing, and on the ladder, often increased activity and stride-related modulation while reducing discharge duration. Elbow-related PTNs were most active during late swing/early stance and typically remained similar on the ladder. Wrist-related PTNs were most active during swing, and on the ladder often decreased activity and increased modulation while reducing discharge duration. In the VL, shoulder-related neurons were more active during the transition from swing-to-stance. Elbow-related cells tended to be more active during the transition from stance-to-swing and on the ladder often decreased their activity and increased modulation. Wrist-related neurons were more active throughout the stance phase. In the RE, shoulder-related cells had low discharge rates and depths of modulation and long periods of activity distributed evenly across the cycle. In sharp contrast, wrist/paw-related cells discharged synchronously during the end of stance and swing with short periods of high activity, high modulation, and frequent sleep-type bursting. We conclude that thalamo-cortical network processes information related to different segments of the

  20. Unified Phase Variables of Relative Degree Two for Human Locomotion.

    PubMed

    Villarreal, Dario J; Gregg, Robert D

    2016-08-01

    A starting point to achieve stable locomotion is synchronizing the leg joint kinematics during the gait cycle. Some biped robots parameterize a nonlinear controller (e.g., input-output feedback linearization) whose main objective is to track specific kinematic trajectories as a function of a single mechanical variable (i.e., a phase variable) in order to allow the robot to walk. A phase variable capable of parameterizing the entire gait cycle, the hip phase angle, has been used to control wearable robots and was recently shown to provide a robust representation of the phase of human gait. However, this unified phase variable relies on hip velocity, which is difficult to measure in real-time and prevents the use of derivative corrections in phase-based controllers for wearable robots. One derivative of this phase variable yields accelerations (i.e., the equations of motion), so the system is said to be relative degree-one. This means that there are states of the system that cannot be controlled. The goal of this paper is to offer relative degree-two alternatives to the hip phase angle and examine their robustness for parameterizing human gait.

  1. Experimental Validation of Motor Primitive-Based Control for Leg Exoskeletons during Continuous Multi-Locomotion Tasks

    PubMed Central

    Ruiz Garate, Virginia; Parri, Andrea; Yan, Tingfang; Munih, Marko; Molino Lova, Raffaele; Vitiello, Nicola; Ronsse, Renaud

    2017-01-01

    An emerging approach to design locomotion assistive devices deals with reproducing desirable biological principles of human locomotion. In this paper, we present a bio-inspired controller for locomotion assistive devices based on the concept of motor primitives. The weighted combination of artificial primitives results in a set of virtual muscle stimulations. These stimulations then activate a virtual musculoskeletal model producing reference assistive torque profiles for different locomotion tasks (i.e., walking, ascending stairs, and descending stairs). The paper reports the validation of the controller through a set of experiments conducted with healthy participants. The proposed controller was tested for the first time with a unilateral leg exoskeleton assisting hip, knee, and ankle joints by delivering a fraction of the computed reference torques. Importantly, subjects performed a track involving ground-level walking, ascending stairs, and descending stairs and several transitions between these tasks. These experiments highlighted the capability of the controller to provide relevant assistive torques and to effectively handle transitions between the tasks. Subjects displayed a natural interaction with the device. Moreover, they significantly decreased the time needed to complete the track when the assistance was provided, as compared to wearing the device with no assistance. PMID:28367121

  2. The Role of Visual and Nonvisual Information in the Control of Locomotion

    ERIC Educational Resources Information Center

    Wilkie, Richard M.; Wann, John P.

    2005-01-01

    During locomotion, retinal flow, gaze angle, and vestibular information can contribute to one's perception of self-motion. Their respective roles were investigated during active steering: Retinal flow and gaze angle were biased by altering the visual information during computer-simulated locomotion, and vestibular information was controlled…

  3. Dynamical analysis and performance evaluation of a biped robot under multi-source random disturbances

    NASA Astrophysics Data System (ADS)

    Gan, Chun-Biao; Ding, Chang-Tao; Yang, Shi-Xi

    2014-12-01

    During bipedal walking, it is critical to detect and adjust the robot postures by feedback control to maintain its normal state amidst multi-source random disturbances arising from some unavoidable uncertain factors. The radical basis function (RBF) neural network model of a five-link biped robot is established, and two certain disturbances and a randomly uncertain disturbance are then mixed with the optimal torques in the network model to study the performance of the biped robot by several evaluation indices and a specific Poincaré map. In contrast with the simulations, the response varies as desired under optimal inputting while the output is fluctuating in the situation of disturbance driving. Simulation results from noise inputting also show that the dynamics of the robot is less sensitive to the disturbance of knee joint input of the swing leg than those of the other three joints, the response errors of the biped will be increasing with higher disturbance levels, and especially there are larger output fluctuations in the knee and hip joints of the swing leg.

  4. Spatiotemporal gait patterns during over ground locomotion in major depression compared with healthy controls.

    PubMed

    Lemke, M R; Wendorff, T; Mieth, B; Buhl, K; Linnemann, M

    2000-01-01

    Alterations of locomotion are frequent, observable features of patients suffering from depression and have been investigated in these patients by actigraphy, cinematography and ground reaction forces. However, spatiotemporal parameters and neurophysiological mechanisms of gait have not yet been studied in depth in depression. The relationship between spatial and temporal parameters may yield insight into the pathophysiology of altered movements in depression. Therefore, gait patterns were quantitatively assessed and analysed in depressed subjects (n=16) and compared to matched healthy controls. Spatiotemporal gait parameters were measured during over ground walking at self-selected walking speed on a walkway previously validated in healthy subjects and used for orthopaedic and neurological patients. Compared to controls, depressed patients showed significantly lower gait velocity (p<0.001), reduced stride length (p<0.005), double limb support (p<0.005) and cycle duration (p<0.005). There was a significant correlation between cadence and gait velocity in depressed patients (r=0.51, p<0.05), but not in healthy controls (r=0.11, p>0.05). In patients with major depression, reduced gait velocity was associated with stride hypometria and increased cycle duration. Velocity was associated with cadence in depressed patients but not in healthy controls. The results may indicate possible deficiencies in the motor control system in depression. These first results about alterations of spatiotemporal gait patterns in depression warrant further longitudinal and experimental studies.

  5. Mechatronic design and locomotion control of a robotic thunniform swimmer for fast cruising.

    PubMed

    Hu, Yonghui; Liang, Jianhong; Wang, Tianmiao

    2015-03-30

    This paper presents mechatronic design and locomotion control of a biomimetic robotic fish that swims using thunniform kinematics for fast cruising. Propulsion of the robotic fish is realized with a parallel four-bar propulsive mechanism that delivers combined translational and rotational motion to a lunate caudal fin. A central pattern generator controller, composed of two unidirectionally coupled Hopf oscillators, is employed to generate robust, smooth and coordinated oscillatory control signals for the tail joints. In order to maintain correct phase relation between joints during fast tail beating, a novel phase adjusting mechanism is proposed and incorporated into the controller. The attitude of the robotic fish in fast swimming is stabilized using an attitude and heading reference system unit and a pair of pitching pectoral fins. The maximum speed of the robotic fish can reach 2.0 m s(-1), which is the fastest speed that robotic fishes have achieved. Its outstanding swimming performance presents possibilities for deployment to real-world exploration, probe and survey missions.

  6. Feed forward and feedback control for over-ground locomotion in anaesthetized cats.

    PubMed

    Mazurek, K A; Holinski, B J; Everaert, D G; Stein, R B; Etienne-Cummings, R; Mushahwar, V K

    2012-04-01

    The biological central pattern generator (CPG) integrates open and closed loop control to produce over-ground walking. The goal of this study was to develop a physiologically based algorithm capable of mimicking the biological system to control multiple joints in the lower extremities for producing over-ground walking. The algorithm used state-based models of the step cycle each of which produced different stimulation patterns. Two configurations were implemented to restore over-ground walking in five adult anaesthetized cats using intramuscular stimulation (IMS) of the main hip, knee and ankle flexor and extensor muscles in the hind limbs. An open loop controller relied only on intrinsic timing while a hybrid-CPG controller added sensory feedback from force plates (representing limb loading), and accelerometers and gyroscopes (representing limb position). Stimulation applied to hind limb muscles caused extension or flexion in the hips, knees and ankles. A total of 113 walking trials were obtained across all experiments. Of these, 74 were successful in which the cats traversed 75% of the 3.5 m over-ground walkway. In these trials, the average peak step length decreased from 24.9 ± 8.4 to 21.8 ± 7.5 (normalized units) and the median number of steps per trial increased from 7 (Q1 = 6, Q3 = 9) to 9 (8, 11) with the hybrid-CPG controller. Moreover, within these trials, the hybrid-CPG controller produced more successful steps (step length ≤ 20 cm; ground reaction force ≥ 12.5% body weight) than the open loop controller: 372 of 544 steps (68%) versus 65 of 134 steps (49%), respectively. This supports our previous preliminary findings, and affirms that physiologically based hybrid-CPG approaches produce more successful stepping than open loop controllers. The algorithm provides the foundation for a neural prosthetic controller and a framework to implement more detailed control of locomotion in the future.

  7. Feed forward and feedback control for over-ground locomotion in anaesthetized cats

    NASA Astrophysics Data System (ADS)

    Mazurek, K. A.; Holinski, B. J.; Everaert, D. G.; Stein, R. B.; Etienne-Cummings, R.; Mushahwar, V. K.

    2012-04-01

    The biological central pattern generator (CPG) integrates open and closed loop control to produce over-ground walking. The goal of this study was to develop a physiologically based algorithm capable of mimicking the biological system to control multiple joints in the lower extremities for producing over-ground walking. The algorithm used state-based models of the step cycle each of which produced different stimulation patterns. Two configurations were implemented to restore over-ground walking in five adult anaesthetized cats using intramuscular stimulation (IMS) of the main hip, knee and ankle flexor and extensor muscles in the hind limbs. An open loop controller relied only on intrinsic timing while a hybrid-CPG controller added sensory feedback from force plates (representing limb loading), and accelerometers and gyroscopes (representing limb position). Stimulation applied to hind limb muscles caused extension or flexion in the hips, knees and ankles. A total of 113 walking trials were obtained across all experiments. Of these, 74 were successful in which the cats traversed 75% of the 3.5 m over-ground walkway. In these trials, the average peak step length decreased from 24.9 ± 8.4 to 21.8 ± 7.5 (normalized units) and the median number of steps per trial increased from 7 (Q1 = 6, Q3 = 9) to 9 (8, 11) with the hybrid-CPG controller. Moreover, within these trials, the hybrid-CPG controller produced more successful steps (step length ≤ 20 cm ground reaction force ≥ 12.5% body weight) than the open loop controller: 372 of 544 steps (68%) versus 65 of 134 steps (49%), respectively. This supports our previous preliminary findings, and affirms that physiologically based hybrid-CPG approaches produce more successful stepping than open loop controllers. The algorithm provides the foundation for a neural prosthetic controller and a framework to implement more detailed control of locomotion in the future.

  8. A Feedback-Controlled Interface for Treadmill Locomotion in Virtual Environments

    PubMed Central

    LICHTENSTEIN, LEE; BARABAS, JAMES; WOODS, RUSSELL L.; PELI, ELI

    2007-01-01

    Virtual environments (VEs) allow safe, repeatable, and controlled evaluations of obstacle avoidance and navigation performance of people with visual impairments using visual aids. Proper simulation of mobility in a VE requires an interface, which allows subjects to set their walking pace. Using conventional treadmills, the subject can change their walking speed by pushing the tread with their feet, while leveraging handrails or ropes (self-propelled mode). We developed a feedback-controlled locomotion interface that allows the VE workstation to control the speed of the treadmill, based on the position of the user. The position and speed information is also used to implement automated safety measures, so that the treadmill can be halted in case of erratic behavior. We compared the feedback-controlled mode to the self-propelled mode by using speed-matching tasks (follow a moving object or match the speed of an independently moving scene) to measure the efficacy of each mode in maintaining constant subject position, subject control of the treadmill, and subject pulse rates. Additionally, we measured the perception of speed in the VE on each mode. The feedback-controlled mode required less physical exertion than self-propelled. The average position of subjects on the feedback-controlled treadmill was always within a centimeter of the desired position. There was a smaller standard deviation in subject position when using the self-propelled mode than when using the feedback-controlled mode, but the difference averaged less than six centimeters across all subjects walking at a constant speed. Although all subjects underestimated the speed of an independently moving scene at higher speeds, their estimates were more accurate when using the feedback-controlled treadmill than the self-propelled. PMID:18167515

  9. Decentralized control scheme for myriapod robot inspired by adaptive and resilient centipede locomotion.

    PubMed

    Yasui, Kotaro; Sakai, Kazuhiko; Kano, Takeshi; Owaki, Dai; Ishiguro, Akio

    2017-01-01

    Recently, myriapods have attracted the attention of engineers because mobile robots that mimic them potentially have the capability of producing highly stable, adaptive, and resilient behaviors. The major challenge here is to develop a control scheme that can coordinate their numerous legs in real time, and an autonomous decentralized control could be the key to solve this problem. Therefore, we focus on real centipedes and aim to design a decentralized control scheme for myriapod robots by drawing inspiration from behavioral experiments on centipede locomotion under unusual conditions. In the behavioral experiments, we observed the response to the removal of a part of the terrain and to amputation of several legs. Further, we determined that the ground reaction force is significant for generating rhythmic leg movements; the motion of each leg is likely affected by a sensory input from its neighboring legs. Thus, we constructed a two-dimensional model wherein a simple local reflexive mechanism was implemented in each leg. We performed simulations by using this model and demonstrated that the myriapod robot could move adaptively to changes in the environment and body properties. Our findings will shed new light on designing adaptive and resilient myriapod robots that can function under various circumstances.

  10. PDGF controls contact inhibition of locomotion by regulating N-cadherin during neural crest migration

    PubMed Central

    Bahm, Isabel; Barriga, Elias H.; Frolov, Antonina; Theveneau, Eric; Frankel, Paul

    2017-01-01

    A fundamental property of neural crest (NC) migration is contact inhibition of locomotion (CIL), a process by which cells change their direction of migration upon cell contact. CIL has been proven to be essential for NC migration in amphibians and zebrafish by controlling cell polarity in a cell contact-dependent manner. Cell contact during CIL requires the participation of the cell adhesion molecule N-cadherin, which starts to be expressed by NC cells as a consequence of the switch between E- and N-cadherins during epithelial-to-mesenchymal transition (EMT). However, the mechanism that controls the upregulation of N-cadherin remains unknown. Here, we show that platelet-derived growth factor receptor alpha (PDGFRα) and its ligand platelet-derived growth factor A (PDGF-A) are co-expressed in migrating cranial NC. Inhibition of PDGF-A/PDGFRα blocks NC migration by inhibiting N-cadherin and, consequently, impairing CIL. Moreover, we identify phosphatidylinositol-3-kinase (PI3K)/AKT as a downstream effector of the PDGFRα cellular response during CIL. Our results lead us to propose PDGF-A/PDGFRα signalling as a tissue-autonomous regulator of CIL by controlling N-cadherin upregulation during EMT. Finally, we show that once NC cells have undergone EMT, the same PDGF-A/PDGFRα works as an NC chemoattractant, guiding their directional migration. PMID:28526750

  11. Specialized brain regions and sensory inputs that control locomotion in leeches

    PubMed Central

    Mullins, Olivia J.; Brodfuehrer, Peter D.; Jusufović, Saša; Hackett, John T.; Friesen, W. Otto

    2011-01-01

    Locomotor systems are often controlled by specialized cephalic neurons and undergo modulation by sensory inputs. In many species, dedicated brain regions initiate and maintain behavior and set the duration and frequency of the locomotor episode. In the leech, removing the entire head brain enhances swimming, but the individual roles of its components, the supra- and subesophageal ganglia, in the control of locomotion are unknown. Here we describe the influence of these two structures and that of the tail brain on rhythmic swimming in isolated nerve cord preparations and in nearly-intact leeches suspended in an aqueous, “swim-enhancing” environment. We found that, in isolated preparations, swim episode duration and swim burst frequency are greatly increased when the supraesophageal ganglion is removed, but the subesophageal ganglion is intact. The prolonged swim durations observed with the anterior-most ganglion removed were abolished by removal of the tail ganglion. Experiments on the nearly intact leeches show that, in these preparations, the subesophageal ganglion acts to decrease cycle period but, unexpectedly, also decreases swim duration. These results suggest that the supraesophageal ganglion is the primary structure that constrains leech swimming; however, the control of swim duration in the leech is complex, especially in the intact animal. PMID:22037913

  12. Decentralized control scheme for myriapod robot inspired by adaptive and resilient centipede locomotion

    PubMed Central

    Yasui, Kotaro; Sakai, Kazuhiko; Kano, Takeshi; Owaki, Dai; Ishiguro, Akio

    2017-01-01

    Recently, myriapods have attracted the attention of engineers because mobile robots that mimic them potentially have the capability of producing highly stable, adaptive, and resilient behaviors. The major challenge here is to develop a control scheme that can coordinate their numerous legs in real time, and an autonomous decentralized control could be the key to solve this problem. Therefore, we focus on real centipedes and aim to design a decentralized control scheme for myriapod robots by drawing inspiration from behavioral experiments on centipede locomotion under unusual conditions. In the behavioral experiments, we observed the response to the removal of a part of the terrain and to amputation of several legs. Further, we determined that the ground reaction force is significant for generating rhythmic leg movements; the motion of each leg is likely affected by a sensory input from its neighboring legs. Thus, we constructed a two-dimensional model wherein a simple local reflexive mechanism was implemented in each leg. We performed simulations by using this model and demonstrated that the myriapod robot could move adaptively to changes in the environment and body properties. Our findings will shed new light on designing adaptive and resilient myriapod robots that can function under various circumstances. PMID:28152103

  13. Locomotive Syndrome: Definition and Management.

    PubMed

    Nakamura, Kozo; Ogata, Toru

    Locomotive syndrome is a condition of reduced mobility due to impairment of locomotive organs. Since upright bipedal walking involves minutely controlled movement patterns, impairment of any aspect of the locomotive organs has the potential to adversely affect it. In addition to trauma, chronic diseases of the locomotive organs, which progress with repeated bouts of acute exacerbations, are common causes of the locomotive syndrome. In Japan's super-aging society, many people are likely to experience locomotive syndrome in the later part of their lives. Exercise intervention is effective in improving motor function, but because the subjects are elderly people with significant degenerative diseases of the locomotor organs, caution should be taken in choosing the type and intensity of exercise. The present review discusses the definition, current burden, diagnosis and interventions pertaining to the locomotive syndrome. The concept and measures are spreading throughout Japan as one of the national health policy targets.

  14. Contributions of the motor cortex to the control of the hindlimbs during locomotion in the cat.

    PubMed

    Drew, Trevor; Jiang, Wan; Widajewicz, Witold

    2002-10-01

    Although the corticospinal tract is not essential for the production of the basic locomotor rhythm in cats, it does contribute to the regulation of locomotion, particularly in situations in which there is a requirement for precise control over paw placement or limb trajectory. Lesions of the dorsolateral funiculi at the low thoracic level (T(13)) that completely interrupted both the cortico- and rubrospinal pathways produced long-term deficits in locomotion on a level surface. These deficits included a paw-drag that was probably caused both by a loss of cortico- and rubrospinal input to motoneurones controlling distal muscles as well as by a change in the relative timing of muscles acting around the hip and knee. Smaller lesions produced similar deficits from which the cats recovered relatively quickly. Cats with the largest lesions of the dorsolateral funiculi were unable to modify their gait sufficiently to step over obstacles attached to the treadmill belt even 3-5 months postlesion. These results imply that the medial pathways, the reticulo- and vestibulospinal pathways, are unable to fully compensate for damage to the lateral pathways. Single unit recordings from identified pyramidal tract neurones (PTNs) within the hindlimb representation of the primary motor cortex (area 4) showed that a substantial proportion of neurones (67%) significantly increased their discharge frequency when the cats modified their gait to step over obstacles attached to the treadmill belt. Of those PTNs that showed increased activity during the swing phase, populations of neurones were activated at different times. A large proportion of PTNS discharged early in swing, in phase with knee flexors such as the semitendinosus. Others discharged slightly later, in phase with the activity of ankle flexors, such as tibialis anterior, while still others discharged at the end of swing, in phase with digit dorsiflexors, such as the extensor digitorum brevis. We suggest that different

  15. Control of locomotion in expert gymnasts in the absence of vision.

    PubMed

    Danion, F; Boyadjian, A; Marin, L

    2000-10-01

    The main aim of this study was to determine how gymnasts are affected by the removal of vision when executing simple moves. A secondary aim was to establish whether crucial sensory cues exist for blindfolded gymnasts. Eight expert gymnasts were asked to maintain a straight displacement during three types of blindfolded locomotion: walking, steering a wheelchair and verbally ordering a second person pushing their wheelchair. In the first two conditions, active displacement made proprioceptive cues available to update the body trajectory. In the last condition, however, proprioceptive cues were greatly reduced, since the gymnasts displaced passively. The performance of the gymnasts was compared to that of eight experts in other non-gymnastic sports (control group). The results showed that the participants veered in all conditions. However, except in the verbal condition, the gymnasts departed less from linearity than the controls. We conclude that: (1) even for a simple motor task, gymnasts' performance is altered by eliminating vision; (2) compared with other sportsmen and women, gymnasts are better able to deal with the absence of vision when proprioceptive cues are available. These findings suggest two possible explanations: (1) gymnasts are more able to 'pick up' crucial information and (2) a gymnast's proprioceptive system is more sensitive.

  16. Contact Inhibition of Locomotion in vivo controls neural crest directional migration

    PubMed Central

    Carmona-Fontaine, Carlos; Matthews, Helen K.; Kuriyama, Sei; Moreno, Mauricio; Dunn, Graham A.; Parsons, Maddy; Stern, Claudio D.; Mayor, Roberto

    2008-01-01

    Contact Inhibition of Locomotion was discovered by Abercrombie more than 50 years ago to describe the behaviour of fibroblast cells confronting each other in vitro, where they retract their protrusions and change direction upon contact1,2. Its failure was suggested to contribute to malignant invasion3-6. However, the molecular basis of Contact Inhibition of Locomotion and whether it also occurs in vivo are still unknown. Here we show that neural crest cells, a highly migratory and multipotent embryonic cell population, whose behaviour has been likened to malignant invasion6-8, exhibit Contact Inhibition of Locomotion both in vivo and in vitro, and that this accounts for their directional migration. When two migrating neural crest cells meet, they stop, collapse their protrusions and change direction. In contrast, when a neural crest cell meets another cell type, it fails to display Contact Inhibition of Locomotion; instead, it invades the other tissue, like metastatic cancer cells3,5,9. We show that inhibition of non-canonical Wnt signalling abolishes both Contact Inhibition of Locomotion and the directionality of neural crest migration. Wnt signalling members localise at the site of cell contact, leading to activation of RhoA in this region. These results provide the first example of Contact Inhibition of Locomotion in vivo, present an explanation for coherent directional migration of group of cells and establish a novel role for non-canonical Wnt signalling. PMID:19078960

  17. Contact inhibition of locomotion in vivo controls neural crest directional migration.

    PubMed

    Carmona-Fontaine, Carlos; Matthews, Helen K; Kuriyama, Sei; Moreno, Mauricio; Dunn, Graham A; Parsons, Maddy; Stern, Claudio D; Mayor, Roberto

    2008-12-18

    Contact inhibition of locomotion was discovered by Abercrombie more than 50 years ago and describes the behaviour of fibroblast cells confronting each other in vitro, where they retract their protrusions and change direction on contact. Its failure was suggested to contribute to malignant invasion. However, the molecular basis of contact inhibition of locomotion and whether it also occurs in vivo are still unknown. Here we show that neural crest cells, a highly migratory and multipotent embryonic cell population, whose behaviour has been likened to malignant invasion, demonstrate contact inhibition of locomotion both in vivo and in vitro, and that this accounts for their directional migration. When two migrating neural crest cells meet, they stop, collapse their protrusions and change direction. In contrast, when a neural crest cell meets another cell type, it fails to display contact inhibition of locomotion; instead, it invades the other tissue, in the same manner as metastatic cancer cells. We show that inhibition of non-canonical Wnt signalling abolishes both contact inhibition of locomotion and the directionality of neural crest migration. Wnt-signalling members localize at the site of cell contact, leading to activation of RhoA in this region. These results provide the first example of contact inhibition of locomotion in vivo, provide an explanation for coherent directional migration of groups of cells and establish a previously unknown role for non-canonical Wnt signalling.

  18. Threat assessment and locomotion: clinical applications of an integrated model of anxiety and postural control.

    PubMed

    Staab, Jeffrey P; Balaban, Carey D; Furman, Joseph M

    2013-07-01

    Interactions between anxiety and vestibular symptoms have been described since the late 1800s. Typically, they have been conceptualized as bidirectional effects of one condition on the other (i.e., anxiety disorders as a cause of vestibular symptoms and vestibular disorders as a cause of anxiety symptoms). Over the past 30 years, however, a steady progression of neurophysiological investigations of gait and stance under conditions of postural threat, neuroanatomical studies of connections between threat assessment and vestibular pathways in the brain, and clinical research on anxiety-related vestibular conditions has offered the building blocks of a more integrated model. In this newer concept, threat assessment is an integral component of spatial perception, postural control, and locomotion in health and disease. It is not imposed on the vestibular system from the outside or simply reactive to vestibular dysfunction, but an inherently necessary part of every aspect of mobility. In this article, the authors review evidence that supports this model and then use it to examine common neurotologic conditions in which anxiety-related processes play important roles-fear of falling, primary and secondary anxiety disorders in patients with vestibular symptoms, and chronic subjective dizziness. Thieme Medical Publishers 333 Seventh Avenue, New York, NY 10001, USA.

  19. Future path and tangent point models in the visual control of locomotion in curve driving.

    PubMed

    Lappi, Otto

    2014-10-21

    Studying human behavior in the natural context of everyday visual tasks--including locomotor tasks such as driving--can reveal visual strategies or even suggest underlying visual mechanisms. This paper reviews empirical and theoretical work in the past 20 years (1994-2014) on the visual control of steering a vehicle along a winding path-one of the most comprehensively studied forms of visually guided locomotion in humans. The focus is on on-road studies of visual behavior and what they can reveal about the visual strategies in curve driving. Theoretical models and results from simulator studies are discussed where they have direct relevance to the interpretation of on-road data. For the past 20 years, the point of departure in studies of curve driving has been tangent point orientation, and tangent point models (models based on tracking the tangent point) have become established as the default account of how vision is used in curve negotiation. More recent studies have questioned the generality of the tangent point hypothesis, however, arguing that in addition to (or instead of) the tangent point, drivers target visual reference points on their future path. Ecological validity of real-world studies often comes at the cost of methodological challenges that make the data difficult to interpret in terms of underlying mechanisms, and the limitations of existing data and the complementary roles of real-world and laboratory studies are discussed.

  20. Stochastic analysis of the motion of DNA nanomechanical bipeds.

    PubMed

    Ben-Ari, Iddo; Boushaba, Khalid; Matzavinos, Anastasios; Roitershtein, Alexander

    2011-08-01

    In this paper, we formulate and analyze a Markov process modeling the motion of DNA nanomechanical walking devices.We consider a molecular biped restricted to a well-defined one-dimensional track and study its asymptotic behavior.Our analysis allows for the biped legs to be of different molecular composition, and thus to contribute differently to the dynamics. Our main result is a functional central limit theorem for the biped with an explicit formula for the effective diffusivity coefficient in terms of the parameters of the model. A law of large numbers, a recurrence/transience characterization and large deviations estimates are also obtained.Our approach is applicable to a variety of other biological motors such as myosin and motor proteins on polymer filaments.

  1. How do treadmill speed and terrain visibility influence neuromuscular control of guinea fowl locomotion?

    PubMed Central

    Gordon, Joanne C.; Rankin, Jeffery W.; Daley, Monica A.

    2015-01-01

    ABSTRACT Locomotor control mechanisms must flexibly adapt to both anticipated and unexpected terrain changes to maintain movement and avoid a fall. Recent studies revealed that ground birds alter movement in advance of overground obstacles, but not treadmill obstacles, suggesting context-dependent shifts in the use of anticipatory control. We hypothesized that differences between overground and treadmill obstacle negotiation relate to differences in visual sensory information, which influence the ability to execute anticipatory manoeuvres. We explored two possible explanations: (1) previous treadmill obstacles may have been visually imperceptible, as they were low contrast to the tread, and (2) treadmill obstacles are visible for a shorter time compared with runway obstacles, limiting time available for visuomotor adjustments. To investigate these factors, we measured electromyographic activity in eight hindlimb muscles of the guinea fowl (Numida meleagris, N=6) during treadmill locomotion at two speeds (0.7 and 1.3 m s−1) and three terrain conditions at each speed: (i) level, (ii) repeated 5 cm low-contrast obstacles (<10% contrast, black/black), and (iii) repeated 5 cm high-contrast obstacles (>90% contrast, black/white). We hypothesized that anticipatory changes in muscle activity would be higher for (1) high-contrast obstacles and (2) the slower treadmill speed, when obstacle viewing time is longer. We found that treadmill speed significantly influenced obstacle negotiation strategy, but obstacle contrast did not. At the slower speed, we observed earlier and larger anticipatory increases in muscle activity and shifts in kinematic timing. We discuss possible visuomotor explanations for the observed context-dependent use of anticipatory strategies. PMID:26254324

  2. Forebrain dopamine neurons project down to a brainstem region controlling locomotion

    PubMed Central

    Ryczko, Dimitri; Grätsch, Swantje; Auclair, François; Dubé, Catherine; Bergeron, Saskia; Alpert, Michael H.; Cone, Jackson J.; Roitman, Mitchell F.; Alford, Simon; Dubuc, Réjean

    2013-01-01

    The contribution of dopamine (DA) to locomotor control is traditionally attributed to ascending dopaminergic projections from the substantia nigra pars compacta and the ventral tegmental area to the basal ganglia, which in turn project down to the mesencephalic locomotor region (MLR), a brainstem region controlling locomotion in vertebrates. However, a dopaminergic innervation of the pedunculopontine nucleus, considered part of the MLR, was recently identified in the monkey. The origin and role of this dopaminergic input are unknown. We addressed these questions in a basal vertebrate, the lamprey. Here we report a functional descending dopaminergic pathway from the posterior tuberculum (PT; homologous to the substantia nigra pars compacta and/or ventral tegmental area of mammals) to the MLR. By using triple labeling, we found that dopaminergic cells from the PT not only project an ascending pathway to the striatum, but send a descending projection to the MLR. In an isolated brain preparation, PT stimulation elicited excitatory synaptic inputs into patch-clamped MLR cells, accompanied by activity in reticulospinal cells. By using voltammetry coupled with electrophysiological recordings, we demonstrate that PT stimulation evoked DA release in the MLR, together with the activation of reticulospinal cells. In a semi-intact preparation, stimulation of the PT elicited reticulospinal activity together with locomotor movements. Microinjections of a D1 antagonist in the MLR decreased the locomotor output elicited by PT stimulation, whereas injection of DA had an opposite effect. It appears that this descending dopaminergic pathway has a modulatory role on MLR cells that are known to receive glutamatergic projections and promotes locomotor output. PMID:23918379

  3. Numerical Simulations of Level-Ground Walking Based on Passive Walk for Planar Biped Robots with Torso by Hip Actuators

    NASA Astrophysics Data System (ADS)

    Narukawa, Terumasa; Takahashi, Masaki; Yoshida, Kazuo

    This study aims at a design technique of energy-efficient biped walking robots on level ground with simple mechanisms. To do this, we focus on the passive dynamic walkers which can walk stably down a shallow slope without actuators and controllers. On level ground, active walking should be studied because the mechanical energy is mainly lost through the swing-leg impacts with the ground. In this paper, numerical simulations show that planar biped robots with torso can walk efficiently on level ground over a wide range of speed by only using hip actuators. The hip actuators are used for a torso and swing-leg control based on passive-dynamic walking. The torso is used to generate active power replacing gravity used in the case of the passive walk. The swing-leg control is introduced to walk stably over a wide range of speed.

  4. Foot Placement Modification for a Biped Humanoid Robot with Narrow Feet

    PubMed Central

    Hattori, Kentaro; Otani, Takuya; Lim, Hun-Ok; Takanishi, Atsuo

    2014-01-01

    This paper describes a walking stabilization control for a biped humanoid robot with narrow feet. Most humanoid robots have larger feet than human beings to maintain their stability during walking. If robot's feet are as narrow as humans, it is difficult to realize a stable walk by using conventional stabilization controls. The proposed control modifies a foot placement according to the robot's attitude angle. If a robot tends to fall down, a foot angle is modified about the roll axis so that a swing foot contacts the ground horizontally. And a foot-landing point is also changed laterally to inhibit the robot from falling to the outside. To reduce a foot-landing impact, a virtual compliance control is applied to the vertical axis and the roll and pitch axes of the foot. Verification of the proposed method is conducted through experiments with a biped humanoid robot WABIAN-2R. WABIAN-2R realized a knee-bended walking with 30 mm breadth feet. Moreover, WABIAN-2R mounted on a human-like foot mechanism mimicking a human's foot arch structure realized a stable walking with the knee-stretched, heel-contact, and toe-off motion. PMID:24592154

  5. Foot placement modification for a biped humanoid robot with narrow feet.

    PubMed

    Hashimoto, Kenji; Hattori, Kentaro; Otani, Takuya; Lim, Hun-Ok; Takanishi, Atsuo

    2014-01-01

    This paper describes a walking stabilization control for a biped humanoid robot with narrow feet. Most humanoid robots have larger feet than human beings to maintain their stability during walking. If robot's feet are as narrow as humans, it is difficult to realize a stable walk by using conventional stabilization controls. The proposed control modifies a foot placement according to the robot's attitude angle. If a robot tends to fall down, a foot angle is modified about the roll axis so that a swing foot contacts the ground horizontally. And a foot-landing point is also changed laterally to inhibit the robot from falling to the outside. To reduce a foot-landing impact, a virtual compliance control is applied to the vertical axis and the roll and pitch axes of the foot. Verification of the proposed method is conducted through experiments with a biped humanoid robot WABIAN-2R. WABIAN-2R realized a knee-bended walking with 30 mm breadth feet. Moreover, WABIAN-2R mounted on a human-like foot mechanism mimicking a human's foot arch structure realized a stable walking with the knee-stretched, heel-contact, and toe-off motion.

  6. Context-dependent changes in motor control and kinematics during locomotion: modulation and decoupling

    PubMed Central

    Foster, Kathleen L.; Higham, Timothy E.

    2014-01-01

    Successful locomotion through complex, heterogeneous environments requires the muscles that power locomotion to function effectively under a wide variety of conditions. Although considerable data exist on how animals modulate both kinematics and motor pattern when confronted with orientation (i.e. incline) demands, little is known about the modulation of muscle function in response to changes in structural demands like substrate diameter, compliance and texture. Here, we used high-speed videography and electromyography to examine how substrate incline and perch diameter affected the kinematics and muscle function of both the forelimb and hindlimb in the green anole (Anolis carolinensis). Surprisingly, we found a decoupling of the modulation of kinematics and motor activity, with kinematics being more affected by perch diameter than by incline, and muscle function being more affected by incline than by perch diameter. Also, muscle activity was most stereotyped on the broad, vertical condition, suggesting that, despite being classified as a trunk-crown ecomorph, this species may prefer trunks. These data emphasize the complex interactions between the processes that underlie animal movement and the importance of examining muscle function when considering both the evolution of locomotion and the impacts of ecology on function. PMID:24621949

  7. Compensations during Unsteady Locomotion.

    PubMed

    Qiao, Mu; Jindrich, Devin L

    2014-12-01

    Locomotion in a complex environment is often not steady, but the mechanisms used by animals to power and control unsteady locomotion (stability and maneuverability) are not well understood. We use behavioral, morphological, and impulsive perturbations to determine the compensations used during unsteady locomotion. At the level both of the whole-body and of joints, quasi-stiffness models are useful for describing adjustments to the functioning of legs and joints during maneuvers. However, alterations to the mechanics of legs and joints often are distinct for different phases of the step cycle or for specific joints. For example, negotiating steps involves independent changes of leg stiffness during compression and thrust phases of stance. Unsteady locomotion also involves parameters that are not part of the simplest reduced-parameter models of locomotion (e.g., the spring-loaded inverted pendulum) such as moments of the hip joint. Extensive coupling among translational and rotational parameters must be taken into account to stabilize locomotion or maneuver. For example, maneuvers with morphological perturbations (increased rotational inertial turns) involve changes to several aspects of movement, including the initial conditions of rotation and ground-reaction forces. Coupled changes to several parameters may be employed to control maneuvers on a trial-by-trial basis. Compensating for increased rotational inertia of the body during turns is facilitated by the opposing effects of several mechanical and behavioral parameters. However, the specific rules used by animals to control translation and rotation of the body to maintain stability or maneuver have not been fully characterized. We initiated direct-perturbation experiments to investigate the strategies used by humans to maintain stability following center-of-mass (COM) perturbations. When walking, humans showed more resistance to medio-lateral perturbations (lower COM displacement). However, when running, humans

  8. Torsional locomotion

    PubMed Central

    Bigoni, D.; Dal Corso, F.; Misseroni, D.; Bosi, F.

    2014-01-01

    One edge of an elastic rod is inserted into a friction-less and fitting socket head, whereas the other edge is subjected to a torque, generating a uniform twisting moment. It is theoretically shown and experimentally proved that, although perfectly smooth, the constraint realizes an expulsive axial force on the elastic rod, which amount is independent of the shape of the socket head. The axial force explains why screwdrivers at high torque have the tendency to disengage from screw heads and demonstrates torsional locomotion along a perfectly smooth channel. This new type of locomotion finds direct evidence in the realization of a ‘torsional gun’, capable of transforming torque into propulsive force. PMID:25383038

  9. Chronological requirements of TDP-43 function in synaptic organization and locomotive control.

    PubMed

    Romano, Giulia; Klima, Raffaella; Buratti, Emanuele; Verstreken, Patrik; Baralle, Francisco E; Feiguin, Fabian

    2014-11-01

    Alterations in TDP-43 are commonly found in patients suffering from amyotrophic lateral sclerosis (ALS) and the genetic suppression of the conserved homologue in Drosophila (TBPH) provokes alterations in the functional organization of motoneuron synaptic terminals, resulting in locomotive defects and reduced life span. To gain more insight into this pathological process, it is of fundamental importance to establish when during the fly life cycle the lack of TBPH affects motoneuron activity and whether this is a reversible phenomenon. To achieve this, we conditionally expressed the endogenous protein in TBPH minus Drosophila neurons and found that TBPH is a short lived protein permanently required for Drosophila motility and synaptic assembly through the direct modulation of vesicular proteins, such as Syntaxin 1A, indicating that synaptic transmission defects are early pathological consequences of TBPH dysfunction in vivo. Importantly, TBPH late induction is able to recover synaptogenesis and locomotion in adult flies revealing an unexpected late-stage functional and structural neuronal plasticity. These observations suggest that late therapeutic approaches based on TDP-43 functionality may also be successful for the human pathology.

  10. Autonomic control network active in Aplysia during locomotion includes neurons that express splice variants of R15-neuropeptides.

    PubMed

    Romanova, Elena V; McKay, Natasha; Weiss, Klaudiusz R; Sweedler, Jonathan V; Koester, John

    2007-01-01

    Splice-variant products of the R15 neuropeptide gene are differentially expressed within the CNS of Aplysia. The goal of this study was to test whether the neurons in the abdominal ganglion that express the peptides encoded by this gene are part of a common circuit. Expression of R15 peptides had been demonstrated previously in neuron R15. Using a combination of immunocytochemical and analytical methods, this study demonstrated that R15 peptides are also expressed in heart exciter neuron RB(HE), the two L9(G) gill motoneurons, and L40--a newly identified interneuron. Mass spectrometric profiling of individual neurons that exhibit R15 peptide-like immunoreactivity confirmed the mutually exclusive expression of two splice-variant forms of R15 peptides in different neurons. The L9(G) cells were found to co-express pedal peptide in addition to the R15 peptides. The R15 peptide-expressing neurons examined here were shown to be part of an autonomic control circuit that is active during fictive locomotion. Activity in this circuit contributes to implementing a central command that may help to coordinate autonomic activity with escape locomotion. Chronic extracellular nerve recording was used to determine the activity patterns of a subset of neurons of this circuit in vivo. These results demonstrate the potential utility of using shared patterns of neuropeptide expression as a guide for neural circuit identification.

  11. Simultaneous control of two rhythmical behaviors. I. Locomotion with paw-shake response in normal cat.

    PubMed

    Carter, M C; Smith, J L

    1986-07-01

    We investigated the ability of normal cats, trained to maintain a constant position while walking on a treadmill, to combine the paw-shake response with quadrupedal locomotion. Hindlimb paw-shake responses were elicited during walking after the right hindpaw was wrapped with tape. To assess intralimb and interlimb coordination of the combined behaviors, electromyographic (EMG) recordings from forelimb extensor muscles and from selected flexor and extensor muscles at the three major hindlimb joints were correlated with joint motion by using high-speed, cinefilm analysis. When paw shaking was combined with walking, the response occurred during the swing phase of the taped hindlimb. To accommodate the paw-shake response, swing duration of the shaking hindlimb and of the homolateral forelimb increased and was followed by a brief recovery step. Concurrently, to compensate for the response, stance durations of the contralateral forelimb and hindlimb increased. The magnitude of these adjustments in interlimb coordination was influenced by the number of paw-shake cycles, which ranged from one to four oscillations. Transitions between the muscle synergies for the paw-shake response and swing were smooth in the shaking limb. Early in the swing phase, when the flexor muscles were still active (F phase), the paw shake was initiated by an early onset of knee extensor activity, which preceded extensor activity at the hip and ankle. This action provided a transition from the general reciprocal synergy between flexor and extensor muscles of locomotion to the mixed synergy that is typical of the paw shake (30). Following the last paw-shake cycle, an extensor synergy initiated the E-1 phase of swing, and the resultant joint motion was in-phase extension of the hip, knee, and ankle to lower the paw for stance. Average cycle period and burst duration for muscles participating in the paw-shake response were similar to those reported for normal cats assuming a standing posture (28, 30

  12. 40 CFR 92.214 - Production locomotives and engines.

    Code of Federal Regulations, 2013 CFR

    2013-07-01

    ... 40 Protection of Environment 21 2013-07-01 2013-07-01 false Production locomotives and engines. 92... (CONTINUED) CONTROL OF AIR POLLUTION FROM LOCOMOTIVES AND LOCOMOTIVE ENGINES Certification Provisions § 92.214 Production locomotives and engines. Any manufacturer or remanufacturer obtaining certification...

  13. 40 CFR 92.214 - Production locomotives and engines.

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    ... 40 Protection of Environment 20 2014-07-01 2013-07-01 true Production locomotives and engines. 92... (CONTINUED) CONTROL OF AIR POLLUTION FROM LOCOMOTIVES AND LOCOMOTIVE ENGINES Certification Provisions § 92.214 Production locomotives and engines. Any manufacturer or remanufacturer obtaining...

  14. 40 CFR 92.214 - Production locomotives and engines.

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    ... 40 Protection of Environment 21 2012-07-01 2012-07-01 false Production locomotives and engines. 92... (CONTINUED) CONTROL OF AIR POLLUTION FROM LOCOMOTIVES AND LOCOMOTIVE ENGINES Certification Provisions § 92.214 Production locomotives and engines. Any manufacturer or remanufacturer obtaining...

  15. 40 CFR 92.214 - Production locomotives and engines.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... 40 Protection of Environment 20 2010-07-01 2010-07-01 false Production locomotives and engines. 92... (CONTINUED) CONTROL OF AIR POLLUTION FROM LOCOMOTIVES AND LOCOMOTIVE ENGINES Certification Provisions § 92.214 Production locomotives and engines. Any manufacturer or remanufacturer obtaining...

  16. Input torque sensitivity to uncertain parameters in biped robot

    NASA Astrophysics Data System (ADS)

    Ding, Chang-Tao; Yang, Shi-Xi; Gan, Chun-Biao

    2013-06-01

    Input torque is themain power to maintain bipedal walking of robot, and can be calculated from trajectory planning and dynamic modeling on biped robot. During bipedal walking, the input torque is usually required to be adjusted due to some uncertain parameters arising from objective or subjective factors in the dynamical model to maintain the pre-planned stable trajectory. Here, a planar 5-link biped robot is used as an illustrating example to investigate the effects of uncertain parameters on the input torques. Kinematic equations of the biped robot are firstly established by the third-order spline curves based on the trajectory planning method, and the dynamic modeling is accomplished by taking both the certain and uncertain parameters into account. Next, several evaluation indices on input torques are introduced to perform sensitivity analysis of the input torque with respect to the uncertain parameters. Finally, based on the Monte Carlo simulation, the values of evaluation indices on input torques are presented, from which all the robot parameters are classified into three categories, i.e., strongly sensitive, sensitive and almost insensitive parameters.

  17. Pygmy locomotion.

    PubMed

    Minetti, A E; Saibene, F; Ardigò, L P; Atchou, G; Schena, F; Ferretti, G

    1994-01-01

    The hypothesis that Pygmies may differ from Caucasians in some aspects of the mechanics of locomotion was tested. A total of 13 Pygmies and 7 Caucasians were asked to walk and run on a treadmill at 4-12 km.h-1. Simultaneous metabolic measurements and three-dimensional motion analysis were performed allowing the energy expenditure and the mechanical external and internal work to be calculated. In Pygmies the metabolic energy cost was higher during walking at all speeds (P < 0.05), but tended to be lower during running (NS). The stride frequency and the internal mechanical work were higher for Pygmies at all walking (P < 0.05) and running (NS) speeds although the external mechanical work was similar. The total mechanical work for Pygmies was higher during walking (P < 0.05), but not during running and the efficiency of locomotion was similar in all subjects and speeds. The higher cost of walking in Pygmies is consistent with the allometric prediction for smaller subjects. The major determinants of the higher cost of walking was the difference in stride frequency (+9.45, SD 0.44% for Pygmies), which affected the mechanical internal work. This explains the observed higher total mechanical work of walking in Pygmies, even when the external component was the same. Most of the differences between Pygmies and Caucasians, observed during walking, tended to disappear when the speed was normalized as the Froude number. However, this was not the case for running. Thus, whereas the tested hypothesis must be rejected for walking, the data from running, do indeed suggest that Pygmies may differ in some aspects of the mechanics of locomotion.

  18. Spine Pruning Drives Antipsychotic-sensitive Locomotion via Circuit Control of Striatal Dopamine

    PubMed Central

    Kim, Il Hwan; Rossi, Mark A.; Aryal, Dipendra K.; Racz, Bence; Kim, Namsoo; Uezu, Akiyoshi; Wang, Fan; Wetsel, William C.; Weinberg, Richard J.; Yin, Henry; Soderling, Scott H.

    2015-01-01

    Psychiatric and neurodevelopmental disorders may arise from anomalies in long-range neuronal connectivity downstream of pathologies in dendritic spines. However, the mechanisms that may link spine pathology to circuit abnormalities relevant to atypical behavior remain unknown. Using a mouse model to conditionally disrupt a critical regulator of the dendritic spine cytoskeleton, Arp2/3, we report here a molecular mechanism that unexpectedly reveals the interrelationship of progressive spine pruning, elevated frontal cortical excitation of pyramidal neurons, and striatal hyperdopaminergia within a cortical-to-midbrain circuit abnormality. The main symptomatic manifestations of this circuit abnormality are psychomotor agitation and stereotypical behaviors, which are relieved by antipsychotics. Moreover, antipsychotic-responsive locomotion can be directly mimicked in wildtype mice by optogenetic activation of this circuit. Collectively these results reveal molecular and neural-circuit mechanisms, illustrating how diverse pathologies may converge to drive behaviors relevant to psychiatric disorders. PMID:25938885

  19. Spine pruning drives antipsychotic-sensitive locomotion via circuit control of striatal dopamine.

    PubMed

    Kim, Il Hwan; Rossi, Mark A; Aryal, Dipendra K; Racz, Bence; Kim, Namsoo; Uezu, Akiyoshi; Wang, Fan; Wetsel, William C; Weinberg, Richard J; Yin, Henry; Soderling, Scott H

    2015-06-01

    Psychiatric and neurodevelopmental disorders may arise from anomalies in long-range neuronal connectivity downstream of pathologies in dendritic spines. However, the mechanisms that may link spine pathology to circuit abnormalities relevant to atypical behavior remain unknown. Using a mouse model to conditionally disrupt a critical regulator of the dendritic spine cytoskeleton, the actin-related protein 2/3 complex (Arp2/3), we report here a molecular mechanism that unexpectedly reveals the inter-relationship of progressive spine pruning, elevated frontal cortical excitation of pyramidal neurons and striatal hyperdopaminergia in a cortical-to-midbrain circuit abnormality. The main symptomatic manifestations of this circuit abnormality are psychomotor agitation and stereotypical behaviors, which are relieved by antipsychotics. Moreover, this antipsychotic-responsive locomotion can be mimicked in wild-type mice by optogenetic activation of this circuit. Collectively these results reveal molecular and neural-circuit mechanisms, illustrating how diverse pathologies may converge to drive behaviors relevant to psychiatric disorders.

  20. Separate microcircuit modules of distinct v2a interneurons and motoneurons control the speed of locomotion.

    PubMed

    Ampatzis, Konstantinos; Song, Jianren; Ausborn, Jessica; El Manira, Abdeljabbar

    2014-08-20

    Spinal circuits generate locomotion with variable speed as circumstances demand. These circuits have been assumed to convey equal and uniform excitation to all motoneurons whose input resistance dictates their activation sequence. However, the precise connectivity pattern between excitatory premotor circuits and the different motoneuron types has remained unclear. Here, we generate a connectivity map in adult zebrafish between the V2a excitatory interneurons and slow, intermediate, and fast motoneurons. We show that the locomotor network does not consist of a uniform circuit as previously assumed. Instead, it can be deconstructed into three separate microcircuit modules with distinct V2a interneuron subclasses driving slow, intermediate, or fast motoneurons. This modular design enables the increase of locomotor speed by sequentially adding microcircuit layers from slow to intermediate and fast. Thus, this principle of organization of vertebrate spinal circuits represents an intrinsic mechanism to increase the locomotor speed by incrementally engaging different motor units. Copyright © 2014 Elsevier Inc. All rights reserved.

  1. Locomotion- and mechanics-mediated tactile sensing: antenna reconfiguration simplifies control during high-speed navigation in cockroaches.

    PubMed

    Mongeau, Jean-Michel; Demir, Alican; Lee, Jusuk; Cowan, Noah J; Full, Robert J

    2013-12-15

    Animals can expend energy to acquire sensory information by emitting signals and/or moving sensory structures. We propose that the energy from locomotion itself could permit control of a sensor, whereby animals use the energy from movement to reconfigure a passive sensor. We investigated high-speed, antenna-mediated tactile navigation in the cockroach Periplaneta americana. We discovered that the passive antennal flagellum can assume two principal mechanical states, such that the tip is either projecting backward or forward. Using a combination of behavioral and robotic experiments, we demonstrate that a switch in the antenna's state is mediated via the passive interactions between the sensor and its environment, and this switch strongly influences wall-tracking control. When the tip of the antenna is projected backward, the animals maintain greater body-to-wall distance with fewer body collisions and less leg-wall contact than when the tip is projecting forward. We hypothesized that distally pointing mechanosensory hairs at the tip of the antenna mediate the switch in state by interlocking with asperities in the wall surface. To test this hypothesis, we performed laser ablation of chemo-mechanosensory hairs and added artificial hairs to a robotic antenna. In both the natural and artificial systems, the presence of hairs categorically increased an antenna's probability of switching state. Antennal hairs, once thought to only play a role in sensing, are sufficient for mechanically reconfiguring the state of the entire antenna when coupled with forward motion. We show that the synergy between antennal mechanics, locomotion and the environment simplifies tactile sensing.

  2. Differential Activity-Dependent Development of Corticospinal Control of Movement and Final Limb Position During Visually Guided Locomotion

    PubMed Central

    Friel, K. M.; Drew, T.; Martin, J. H.

    2009-01-01

    Although we understand that activity- and use-dependent processes are important in determining corticospinal axon terminal development in the spinal cord, little is known about the role of these processes in development of skilled control of limb movements. In the present study we determined the effects of unilateral motor cortex activity blockade produced by muscimol infusion during the corticospinal axon terminal refinement period, between postnatal weeks 5–7, on visually guided locomotion. We examined stepping and forepaw placement on the rungs of a horizontal ladder and gait modifications as animals stepped over obstacles during treadmill walking. When cats traversed the horizontal ladder, the limb contralateral to inactivation was placed significantly farther forward on the rungs than the ipsilateral limb, indicating defective endpoint control. Similarly, when animals stepped over obstacles on a treadmill, the contralateral limb was placed farther in front of the obstacle, but only when it was the first (i.e., leading) limb to step over the obstacle, not when it was the second (i.e., trailing) limb. This is also indicative of an endpoint control deficit. In contrast, neither during ladder walking, nor when stepping over obstacles on the treadmill, was there any consistent evidence for a major impairment in limb trajectory. These results point to distinct and possibility independent corticospinal mechanisms for movement trajectory control and endpoint control. Although corticospinal activity during early postnatal development is needed to refine circuits for accurate endpoint control, this activity-dependent refinement is not needed for movement trajectory control. PMID:17376849

  3. Using step width to compare locomotor biomechanics between extinct, non-avian theropod dinosaurs and modern obligate bipeds.

    PubMed

    Bishop, P J; Clemente, C J; Weems, R E; Graham, D F; Lamas, L P; Hutchinson, J R; Rubenson, J; Wilson, R S; Hocknull, S A; Barrett, R S; Lloyd, D G

    2017-07-01

    How extinct, non-avian theropod dinosaurs locomoted is a subject of considerable interest, as is the manner in which it evolved on the line leading to birds. Fossil footprints provide the most direct evidence for answering these questions. In this study, step width-the mediolateral (transverse) distance between successive footfalls-was investigated with respect to speed (stride length) in non-avian theropod trackways of Late Triassic age. Comparable kinematic data were also collected for humans and 11 species of ground-dwelling birds. Permutation tests of the slope on a plot of step width against stride length showed that step width decreased continuously with increasing speed in the extinct theropods (p < 0.001), as well as the five tallest bird species studied (p < 0.01). Humans, by contrast, showed an abrupt decrease in step width at the walk-run transition. In the modern bipeds, these patterns reflect the use of either a discontinuous locomotor repertoire, characterized by distinct gaits (humans), or a continuous locomotor repertoire, where walking smoothly transitions into running (birds). The non-avian theropods are consequently inferred to have had a continuous locomotor repertoire, possibly including grounded running. Thus, features that characterize avian terrestrial locomotion had begun to evolve early in theropod history. © 2017 The Author(s).

  4. Par3 controls neural crest migration by promoting microtubule catastrophe during contact inhibition of locomotion

    PubMed Central

    Moore, Rachel; Theveneau, Eric; Pozzi, Sara; Alexandre, Paula; Richardson, Joanna; Merks, Anne; Parsons, Maddy; Kashef, Jubin; Linker, Claudia; Mayor, Roberto

    2013-01-01

    There is growing evidence that contact inhibition of locomotion (CIL) is essential for morphogenesis and its failure is thought to be responsible for cancer invasion; however, the molecular bases of this phenomenon are poorly understood. Here we investigate the role of the polarity protein Par3 in CIL during migration of the neural crest, a highly migratory mesenchymal cell type. In epithelial cells, Par3 is localised to the cell-cell adhesion complex and is important in the definition of apicobasal polarity, but the localisation and function of Par3 in mesenchymal cells are not well characterised. We show in Xenopus and zebrafish that Par3 is localised to the cell-cell contact in neural crest cells and is essential for CIL. We demonstrate that the dynamics of microtubules are different in different parts of the cell, with an increase in microtubule catastrophe at the collision site during CIL. Par3 loss-of-function affects neural crest migration by reducing microtubule catastrophe at the site of cell-cell contact and abrogating CIL. Furthermore, Par3 promotes microtubule catastrophe by inhibiting the Rac-GEF Trio, as double inhibition of Par3 and Trio restores microtubule catastrophe at the cell contact and rescues CIL and neural crest migration. Our results demonstrate a novel role of Par3 during neural crest migration, which is likely to be conserved in other processes that involve CIL such as cancer invasion or cell dispersion. PMID:24173803

  5. Par3 controls neural crest migration by promoting microtubule catastrophe during contact inhibition of locomotion.

    PubMed

    Moore, Rachel; Theveneau, Eric; Pozzi, Sara; Alexandre, Paula; Richardson, Joanna; Merks, Anne; Parsons, Maddy; Kashef, Jubin; Linker, Claudia; Mayor, Roberto

    2013-12-01

    There is growing evidence that contact inhibition of locomotion (CIL) is essential for morphogenesis and its failure is thought to be responsible for cancer invasion; however, the molecular bases of this phenomenon are poorly understood. Here we investigate the role of the polarity protein Par3 in CIL during migration of the neural crest, a highly migratory mesenchymal cell type. In epithelial cells, Par3 is localised to the cell-cell adhesion complex and is important in the definition of apicobasal polarity, but the localisation and function of Par3 in mesenchymal cells are not well characterised. We show in Xenopus and zebrafish that Par3 is localised to the cell-cell contact in neural crest cells and is essential for CIL. We demonstrate that the dynamics of microtubules are different in different parts of the cell, with an increase in microtubule catastrophe at the collision site during CIL. Par3 loss-of-function affects neural crest migration by reducing microtubule catastrophe at the site of cell-cell contact and abrogating CIL. Furthermore, Par3 promotes microtubule catastrophe by inhibiting the Rac-GEF Trio, as double inhibition of Par3 and Trio restores microtubule catastrophe at the cell contact and rescues CIL and neural crest migration. Our results demonstrate a novel role of Par3 during neural crest migration, which is likely to be conserved in other processes that involve CIL such as cancer invasion or cell dispersion.

  6. A perimotor framework reveals functional segmentation in the motoneuronal network controlling locomotion in Caenorhabditis elegans.

    PubMed

    Haspel, Gal; O'Donovan, Michael J

    2011-10-12

    The neuronal connectivity dataset of the nematode Caenorhabditis elegans attracts wide attention from computational neuroscientists and experimentalists. However, the dataset is incomplete. The ventral and dorsal nerve cords of a single nematode were reconstructed halfway along the body and the posterior data are missing, leaving 21 of 75 motoneurons of the locomotor network with partial or no connectivity data. Using a new framework for network analysis, the perimotor space, we identified rules of connectivity that allowed us to approximate the missing data by extrapolation. Motoneurons were mapped into perimotor space in which each motoneuron is located according to the muscle cells it innervates. In this framework, a pattern of iterative connections emerges which includes most (0.90) of the connections. We identified a repeating unit consisting of 12 motoneurons and 12 muscle cells. The cell bodies of the motoneurons of such a unit are not necessarily anatomical neighbors and there is no obvious anatomical segmentation. A connectivity model, composed of six repeating units, is a description of the network that is both simplified (modular and without noniterative connections) and more complete (includes the posterior part) than the original dataset. The perimotor framework of observed connectivity and the segmented connectivity model give insights and advance the study of the neuronal infrastructure underlying locomotion in C. elegans. Furthermore, we suggest that the tools used herein may be useful to interpret, simplify, and represent connectivity data of other motor systems.

  7. Brain-wide mapping of neural activity controlling zebrafish exploratory locomotion

    PubMed Central

    Dunn, Timothy W; Mu, Yu; Narayan, Sujatha; Randlett, Owen; Naumann, Eva A; Yang, Chao-Tsung; Schier, Alexander F

    2016-01-01

    In the absence of salient sensory cues to guide behavior, animals must still execute sequences of motor actions in order to forage and explore. How such successive motor actions are coordinated to form global locomotion trajectories is unknown. We mapped the structure of larval zebrafish swim trajectories in homogeneous environments and found that trajectories were characterized by alternating sequences of repeated turns to the left and to the right. Using whole-brain light-sheet imaging, we identified activity relating to the behavior in specific neural populations that we termed the anterior rhombencephalic turning region (ARTR). ARTR perturbations biased swim direction and reduced the dependence of turn direction on turn history, indicating that the ARTR is part of a network generating the temporal correlations in turn direction. We also find suggestive evidence for ARTR mutual inhibition and ARTR projections to premotor neurons. Finally, simulations suggest the observed turn sequences may underlie efficient exploration of local environments. DOI: http://dx.doi.org/10.7554/eLife.12741.001 PMID:27003593

  8. Compliant Synergies in Locomotion

    NASA Astrophysics Data System (ADS)

    Travers, Matthew; Choset, Howie; Goldman @ Georgia Tech. Physics Department Collaboration

    Biological systems appear to have natural mechanisms that allow them to readily compensate for unexpected environmental variations when compared to their mechanical (i.e., robotic) counterparts. We hypothesize that the basis for this discrepancy is almost innate: what biology appears to be born with, built-in mechanisms for coordinating their many degrees of freedom, we struggle to ``program.'' We therefore look toward biology for inspiration. In particular, we are interested in kinematic synergies, low-dimensional representations that explicitly encode the underlying structure of how systems coordinate their internal degrees of freedom to achieve high-level tasks. In this work, we derive parametric representations of kinematic synergies and present a new compliant locomotion control framework that enables the parameters to be directly controlled in response to external disturbances. We present results of this framework implemented on two separate platforms, a snake-like and hexapod robot. Our results show that, using synergies, the locomotion control of these very different systems can be reduced to simple, extremely capable, and common forms, thus offering new insights into both robotic as well as biological locomotion in complex terrains.

  9. Perception of gait patterns that deviate from normal and symmetric biped locomotion

    PubMed Central

    Handžić, Ismet; Reed, Kyle B.

    2015-01-01

    This study examines the range of gait patterns that are perceived as healthy and human-like with the goal of understanding how much asymmetry is allowable in a gait pattern before other people start to notice a gait impairment. Specifically, this study explores if certain abnormal walking patterns can be dismissed as unimpaired or not uncanny. Altering gait biomechanics is generally done in the fields of prosthetics and rehabilitation, however the perception of gait is often neglected. Although a certain gait can be functional, it may not be considered as normal by observers. On the other hand, an abnormally perceived gait may be more practical or necessary in some situations, such as limping after an injury or stroke and when wearing a prosthesis. This research will help to find the balance between the form and function of gait. Gait patterns are synthetically created using a passive dynamic walker (PDW) model that allows gait patterns to be systematically changed without the confounding influence from human sensorimotor feedback during walking. This standardized method allows the perception of specific changes in gait to be studied. The PDW model was used to produce walking patterns that showed a degree of abnormality in gait cadence, knee height, step length, and swing time created by changing the foot roll-over-shape, knee damping, knee location, and leg masses. The gait patterns were shown to participants who rated them according to separate scales of impairment and uncanniness. The results indicate that some pathological and asymmetric gait patterns are perceived as unimpaired and normal. Step time and step length asymmetries less than 5%, small knee location differences, and gait cadence changes of 25% do not result in a change in perception. The results also show that the parameters of a pathologically or uncanny perceived gait can be beneficially altered by increasing other independent parameters, in some sense masking the initial pathology. PMID:25774144

  10. Perception of gait patterns that deviate from normal and symmetric biped locomotion.

    PubMed

    Handžić, Ismet; Reed, Kyle B

    2015-01-01

    This study examines the range of gait patterns that are perceived as healthy and human-like with the goal of understanding how much asymmetry is allowable in a gait pattern before other people start to notice a gait impairment. Specifically, this study explores if certain abnormal walking patterns can be dismissed as unimpaired or not uncanny. Altering gait biomechanics is generally done in the fields of prosthetics and rehabilitation, however the perception of gait is often neglected. Although a certain gait can be functional, it may not be considered as normal by observers. On the other hand, an abnormally perceived gait may be more practical or necessary in some situations, such as limping after an injury or stroke and when wearing a prosthesis. This research will help to find the balance between the form and function of gait. Gait patterns are synthetically created using a passive dynamic walker (PDW) model that allows gait patterns to be systematically changed without the confounding influence from human sensorimotor feedback during walking. This standardized method allows the perception of specific changes in gait to be studied. The PDW model was used to produce walking patterns that showed a degree of abnormality in gait cadence, knee height, step length, and swing time created by changing the foot roll-over-shape, knee damping, knee location, and leg masses. The gait patterns were shown to participants who rated them according to separate scales of impairment and uncanniness. The results indicate that some pathological and asymmetric gait patterns are perceived as unimpaired and normal. Step time and step length asymmetries less than 5%, small knee location differences, and gait cadence changes of 25% do not result in a change in perception. The results also show that the parameters of a pathologically or uncanny perceived gait can be beneficially altered by increasing other independent parameters, in some sense masking the initial pathology.

  11. Coal-fired steam locomotive

    SciTech Connect

    Porta, L. D.; Berkowitz, D. A.; Hamilton, C. C.; Withuhn, W. L.

    1984-01-17

    A coal-fired steam locomotive powered by reciprocating steam engines. The locomotive is a two-unit drawbar-coupled locomotive. The units, which are designated as a power unit and a support unit, are arranged back-to-back, with each having a cab-in-front. Operation of the locomotive is equally effective in both directions. The power unit basically contains a furnace and combustion system, an ash storage system, a gas cleanup and exhaust system, a boiler and steam generator, steam engines, a jet condenser, and a control cab. The support unit, on two 6-wheel trucks, contains a modular coal storage area, a stoker motor, a water storage area, heat transfer assemblies and fans for air-cooling circulating.

  12. Steam locomotive ergonomics.

    PubMed

    Coombs, L F

    1973-03-01

    A retrospective study of some of the ergonomic factors of the man/machine interface of the steam locomotive of the 19th century. Reference is made to the dominance of mechanical requirements over human engineering factors, to the perceptual task of drivers, and to the specialised form of the machine and its control position. Examples are given of the application of some ergonomics to control position design in the 20th century, and the present day 'non-steam' control positions are described so as to form comparisons with the 19th century control position practices.

  13. The role of serotonin in the control of locomotor movements and strategies for restoring locomotion after spinal cord injury.

    PubMed

    Sławińska, Urszula; Miazga, Krzysztof; Jordan, Larry M

    2014-01-01

    In this review we will discuss different ways for re-establishing serotonergic activity that can enhance recovery of coordinated plantar stepping after spinal cord injury in adult rats. It is well known that serotoninergic neurons located in the medulla are able to initiate locomotor activity. This effect is exerted by actions on motoneurons and on neurons of the locomotor CPG (Central Pattern Generator). Motoneuron and interneuron excitability is increased, and putative CPG interneurons display oscillatory behaviour in response to serotonin receptor activation. The medullary serotonergic nuclei play multiple roles in the control of locomotion, and they terminate on specific target neurons with different types of serotonergic receptors in the spinal cord. Activation of these serotonergic receptors can restore locomotor movements after spinal cord injury. Specifically, using defined serotonergic agonists the 5-HT2 receptors can be stimulated to control CPG activation as well as motoneuron output, while 5-HT7 receptors to control activity of the locomotor CPG. These results are consistent with the roles for these receptors during locomotion in intact rodents and in rodent brainstem-spinal cord in vitro preparations. The other possibility to encourage the remaining spinal cord circuitry below the total transection to control recovery of plantar hindlimb stepping is restoration of serotonergic innervation by intraspinal grafting of embryonic 5-HT neurons. Our data show that grafting of different populations of 5-HT neurons dissected from embryonic brainstem provides differential control over multiple components of the spinal locomotor circuitry through specific serotonin receptors. Moreover, we demonstrated that the best effect of motor recovery is obtained after grafting of neurons destined to form the B1, B2 and B3 descending 5-HT systems. Using only one of the subpopulations for intraspinal grafting, for example, B3 or the lateral group of 5-HT neurons, induces only

  14. Advanced robot locomotion.

    SciTech Connect

    Neely, Jason C.; Sturgis, Beverly Rainwater; Byrne, Raymond Harry; Feddema, John Todd; Spletzer, Barry Louis; Rose, Scott E.; Novick, David Keith; Wilson, David Gerald; Buerger, Stephen P.

    2007-01-01

    This report contains the results of a research effort on advanced robot locomotion. The majority of this work focuses on walking robots. Walking robot applications include delivery of special payloads to unique locations that require human locomotion to exo-skeleton human assistance applications. A walking robot could step over obstacles and move through narrow openings that a wheeled or tracked vehicle could not overcome. It could pick up and manipulate objects in ways that a standard robot gripper could not. Most importantly, a walking robot would be able to rapidly perform these tasks through an intuitive user interface that mimics natural human motion. The largest obstacle arises in emulating stability and balance control naturally present in humans but needed for bipedal locomotion in a robot. A tracked robot is bulky and limited, but a wide wheel base assures passive stability. Human bipedal motion is so common that it is taken for granted, but bipedal motion requires active balance and stability control for which the analysis is non-trivial. This report contains an extensive literature study on the state-of-the-art of legged robotics, and it additionally provides the analysis, simulation, and hardware verification of two variants of a proto-type leg design.

  15. An asymptotic solution to a passive biped walker model

    NASA Astrophysics Data System (ADS)

    Yudaev, Sergey A.; Rachinskii, Dmitrii; Sobolev, Vladimir A.

    2017-02-01

    We consider a simple model of a passive dynamic biped robot walker with point feet and legs without knee. The model is a switched system, which includes an inverted double pendulum. Robot’s gait and its stability depend on parameters such as the slope of the ramp, the length of robot’s legs, and the mass distribution along the legs. We present an asymptotic solution of the model. The first correction to the zero order approximation is shown to agree with the numerical solution for a limited parameter range.

  16. Biped walking robot based on a 2-UPU+2-UU parallel mechanism

    NASA Astrophysics Data System (ADS)

    Miao, Zhihuai; Yao, Yan'an; Kong, Xianwen

    2014-03-01

    Existing biped robots mainly fall into two categories: robots with left and right feet and robots with upper and lower feet. The load carrying capability of a biped robot is quite limited since the two feet of a walking robot supports the robot alternatively during walking. To improve the load carrying capability, a novel biped walking robot is proposed based on a 2-UPU+2-UU parallel mechanism. The biped walking robot is composed of two identical platforms(feet) and four limbs, including two UPU(universal-prismatic-universal serial chain) limbs and two UU limbs. To enhance its terrain adaptability like articulated vehicles, the two feet of the biped walking robot are designed as two vehicles in detail. The conditions that the geometric parameters of the feet must satisfy are discussed. The degrees-of-freedom of the mechanism is analyzed by using screw theory. Gait analysis, kinematic analysis and stability analysis of the mechanism are carried out to verify the structural design parameters. The simulation results validate the feasibility of walking on rugged terrain. Experiments with a physical prototype show that the novel biped walking robot can walk stably on smooth terrain. Due to its unique feet design and high stiffness, the biped walking robot may adapt to rugged terrain and is suitable for load-carrying.

  17. 40 CFR 92.907 - Non-locomotive-specific engine exemption.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... PROGRAMS (CONTINUED) CONTROL OF AIR POLLUTION FROM LOCOMOTIVES AND LOCOMOTIVE ENGINES Exclusion and... because of adverse environmental or economic impacts. (3) When denying an exemption, the Administrator...

  18. Motion synthesis and force distribution analysis for a biped robot.

    PubMed

    Trojnacki, Maciej T; Zielińska, Teresa

    2011-01-01

    In this paper, the method of generating biped robot motion using recorded human gait is presented. The recorded data were modified taking into account the velocity available for robot drives. Data includes only selected joint angles, therefore the missing values were obtained considering the dynamic postural stability of the robot, which means obtaining an adequate motion trajectory of the so-called Zero Moment Point (ZMT). Also, the method of determining the ground reaction forces' distribution during the biped robot's dynamic stable walk is described. The method was developed by the authors. Following the description of equations characterizing the dynamics of robot's motion, the values of the components of ground reaction forces were symbolically determined as well as the coordinates of the points of robot's feet contact with the ground. The theoretical considerations have been supported by computer simulation and animation of the robot's motion. This was done using Matlab/Simulink package and Simulink 3D Animation Toolbox, and it has proved the proposed method.

  19. 40 CFR 1033.515 - Discrete-mode steady-state emission tests of locomotives and locomotive engines.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... 40 Protection of Environment 32 2010-07-01 2010-07-01 false Discrete-mode steady-state emission tests of locomotives and locomotive engines. 1033.515 Section 1033.515 Protection of Environment ENVIRONMENTAL PROTECTION AGENCY (CONTINUED) AIR POLLUTION CONTROLS CONTROL OF EMISSIONS FROM LOCOMOTIVES...

  20. Electrokinetic Locomotion

    NASA Astrophysics Data System (ADS)

    Moran, Jeffrey Lawrence

    occurring in the interfacial layer near the particle/solution interface, which play a key role in the locomotion. The model enables one to understand how the rods' motion depends on the properties of their environment, such as hydrogen peroxide concentration, solution electrical conductivity, and solution viscosity. The numerical simulations are complemented with a scaling analysis based on the governing equations, which makes definite, verifiable predictions of these dependences. One of the most important trends that has been observed experimentally is the significant decrease in speed induced by adding sub-millimolar concentrations of inert electrolyte. It is important to understand the physical reasons for the electrolyte-induced speed decrease, in order to know whether it is fundamental to this propulsion mechanism, or if there is some feasible means to circumvent it. Successful completion of this research will result in an improved understanding of the capabilities, as well as the risks and limits of applicability, of the bimetallic nanomotors for applications in nanotechnology and nanomedicine. Potential applications of the rods include the targeted delivery of drugs in the human body, sensing of chemical impurities in drinking water, and as engines to drive fabrication of microscale structures.

  1. Finite State Control of a Variable Impedance Hybrid Neuroprosthesis for Locomotion after Paralysis

    PubMed Central

    Bulea, Thomas C.; Kobetic, R.; Audu, M.L.; Schnellenberger, J.; Triolo, R.J.

    2013-01-01

    We have previously reported on a novel variable impedance knee mechanism (VIKM). The VIKM was designed as a component of a hybrid neuroprosthesis to regulate knee flexion. The hybrid neuroprosthesis is a device that uses a controllable brace to support the body against collapse while stimulation provides power for movement. The hybrid neuroprosthesis requires a control system to coordinate the actions of the VIKM with the stimulation system; the development and evaluation of such a controller is presented. Brace mounted sensors and a baseline open loop stimulation pattern are utilized as control signals to activate the VIKM during stance phase while simultaneously modulating muscle stimulation in an on-off fashion. The objective is twofold: reduce the amount of stimulation necessary for walking while simultaneously restoring more biologically correct knee motion during stance using the VIKM. Custom designed hardware and software components were developed for controller implementation. The VIKM hybrid neuroprosthesis (VIKM-HNP) was evaluated during walking in one participant with thoracic level spinal cord injury. In comparison to walking with functional neuromuscular stimulation (FNS) alone, the VIKM-HNP restored near normal stance phase knee flexion during loading response and pre-swing phases while decreasing knee extensor stimulation by up to 40%. PMID:23193320

  2. Finite state control of a variable impedance hybrid neuroprosthesis for locomotion after paralysis.

    PubMed

    Bulea, Thomas C; Kobetic, Rudi; Audu, Musa L; Schnellenberger, John R; Triolo, Ronald J

    2013-01-01

    We have previously reported on a novel variable impedance knee mechanism (VIKM). The VIKM was designed as a component of a hybrid neuroprosthesis to regulate knee flexion. The hybrid neuroprosthesis is a device that uses a controllable brace to support the body against collapse while stimulation provides power for movement. The hybrid neuroprosthesis requires a control system to coordinate the actions of the VIKM with the stimulation system; the development and evaluation of such a controller is presented. Brace mounted sensors and a baseline open loop stimulation pattern are utilized as control signals to activate the VIKM during stance phase while simultaneously modulating muscle stimulation in an on-off fashion. The objective is twofold: reduce the amount of stimulation necessary for walking while simultaneously restoring more biologically correct knee motion during stance using the VIKM. Custom designed hardware and software components were developed for controller implementation. The VIKM hybrid neuroprosthesis (VIKM-HNP) was evaluated during walking in one participant with thoracic level spinal cord injury. In comparison to walking with functional neuromuscular stimulation alone, the VIKM-HNP restored near normal stance phase knee flexion during loading response and pre-swing phases while decreasing knee extensor stimulation by up to 40%.

  3. A feasibility study on the design and walking operation of a biped locomotor via dynamic simulation

    NASA Astrophysics Data System (ADS)

    Wang, Mingfeng; Ceccarelli, Marco; Carbone, Giuseppe

    2016-06-01

    A feasibility study on the mechanical design and walking operation of a Cassino biped locomotor is presented in this paper. The biped locomotor consists of two identical 3 degrees-of-freedom tripod leg mechanisms with a parallel manipulator architecture. Planning of the biped walking gait is performed by coordinating the motions of the two leg mechanisms and waist. A threedimensional model is elaborated in SolidWorks® environment in order to characterize a feasible mechanical design. Dynamic simulation is carried out in MSC.ADAMS® environment with the aims of characterizing and evaluating the dynamic walking performance of the proposed design. Simulation results show that the proposed biped locomotor with proper input motions of linear actuators performs practical and feasible walking on flat surfaces with limited actuation and reaction forces between its feet and the ground. A preliminary prototype of the biped locomotor is built for the purpose of evaluating the operation performance of the biped walking gait of the proposed locomotor.

  4. Circalunidian clocks control tidal rhythms of locomotion in the American horseshoe crab, Limulus polyphemus

    PubMed Central

    Chabot, Christopher C.; Ramberg-Pihl, Nicole C.; Watson, Winsor H.

    2016-01-01

    While many intertidal animals exhibit circatidal rhythms, the nature of the underlying endogenous clocks that control these rhythms has been controversial. In this study American horseshoe crabs, Limulus polyphemus, were used to test the circalunidian hypothesis by exposing them to four different tidal regimes. Overall, the results obtained support the circalunidian hypothesis: each of the twice-daily rhythms of activity appears to be controlled by a separate clock, each with an endogenous period of approximately 24.8h. First, spontaneous “skipping” of one of the daily bouts was observed under several different conditions. Second, the presence of two bouts of activity/day, with different periods, was observed. Lastly, we were able to separately synchronize bouts of activity to two artificial tidal regimes with different periods. These results, taken together, argue in favor of two separate circalunidian clocks in Limulus, each of which controls one of the two bouts of their daily tidal activity rhythms. PMID:27559270

  5. Circalunidian clocks control tidal rhythms of locomotion in the American horseshoe crab, Limulus polyphemus.

    PubMed

    Chabot, Christopher C; Ramberg-Pihl, Nicole C; Watson, Winsor H

    While many intertidal animals exhibit circatidal rhythms, the nature of the underlying endogenous clocks that control these rhythms has been controversial. In this study American horseshoe crabs, Limulus polyphemus, were used to test the circalunidian hypothesis by exposing them to four different tidal regimes. Overall, the results obtained support the circalunidian hypothesis: each of the twice-daily rhythms of activity appears to be controlled by a separate clock, each with an endogenous period of approximately 24.8h. First, spontaneous "skipping" of one of the daily bouts was observed under several different conditions. Second, the presence of two bouts of activity/day, with different periods, was observed. Lastly, we were able to separately synchronize bouts of activity to two artificial tidal regimes with different periods. These results, taken together, argue in favor of two separate circalunidian clocks in Limulus, each of which controls one of the two bouts of their daily tidal activity rhythms.

  6. Neural Computation Scheme of Compound Control: Tacit Learning for Bipedal Locomotion

    NASA Astrophysics Data System (ADS)

    Shimoda, Shingo; Kimura, Hidenori

    The growing need for controlling complex behaviors of versatile robots working in unpredictable environment has revealed the fundamental limitation of model-based control strategy that requires precise models of robots and environments before their operations. This difficulty is fundamental and has the same root with the well-known frame problem in artificial intelligence. It has been a central long standing issue in advanced robotics, as well as machine intelligence, to find a prospective clue to attack this fundamental difficulty. The general consensus shared by many leading researchers in the related field is that the body plays an important role in acquiring intelligence that can conquer unknowns. In particular, purposeful behaviors emerge during body-environment interactions with the help of an appropriately organized neural computational scheme that can exploit what the environment can afford. Along this line, we propose a new scheme of neural computation based on compound control which represents a typical feature of biological controls. This scheme is based on classical neuron models with local rules that can create macroscopic purposeful behaviors. This scheme is applied to a bipedal robot and generates the rhythm of walking without any model of robot dynamics and environments.

  7. Sensory control and organization of neural networks mediating coordination of multisegmental organs for locomotion.

    PubMed

    Büschges, Ansgar

    2005-03-01

    It is well established that locomotor patterns result from the interaction between central pattern generating networks in the nervous system, local feedback from sensory neurons about movements and forces generated in the locomotor organs, and coordinating signals from neighboring segments or appendages. This review addresses the issue of how the movements of multi-segmented locomotor organs are coordinated and provides an overview of recent advances in understanding sensory control and the internal organization of central pattern generating networks that operate multi-segmented locomotor organs, such as a walking leg. Findings from the stick insect and the cat are compared and discussed in relation to new findings on the lamprey swimming network. These findings support the notion that common schemes of sensory feedback are used for generating walking and that central neural networks controlling multi-segmented locomotor organs generally encompass multiple central pattern generating networks that correspond with the segmental structure of the locomotor organ.

  8. Hydraulic control of tuna fins: A role for the lymphatic system in vertebrate locomotion.

    PubMed

    Pavlov, Vadim; Rosental, Benyamin; Hansen, Nathaniel F; Beers, Jody M; Parish, George; Rowbotham, Ian; Block, Barbara A

    2017-07-21

    The lymphatic system in teleost fish has genetic and developmental origins similar to those of the mammalian lymphatic system, which is involved in immune response and fluid homeostasis. Here, we show that the lymphatic system of tunas functions in swimming hydrodynamics. Specifically, a musculo-vascular complex, consisting of fin muscles, bones, and lymphatic vessels, is involved in the hydraulic control of median fins. This specialization of the lymphatic system is associated with fish in the family Scombridae and may have evolved in response to the demand for swimming and maneuvering control in these high-performance species. Copyright © 2017 The Authors, some rights reserved; exclusive licensee American Association for the Advancement of Science. No claim to original U.S. Government Works.

  9. Anticipatory control and spatial cognition in locomotion and navigation through typical development and in cerebral palsy.

    PubMed

    Belmonti, Vittorio; Cioni, Giovanni; Berthoz, Alain

    2016-03-01

    Behavioural evidence, summarized in this narrative review, supports a developmental model of locomotor control based on increasing neural integration of spatial reference frames. Two consistent adult locomotor behaviours are head stabilization and head anticipation: the head is stabilized to gravity and leads walking direction. This cephalocaudal orienting organization aligns gaze and vestibula with a reference frame centred on the upcoming walking direction, allowing anticipatory control on body kinematics, but is not fully developed until adolescence. Walking trajectories and those of hand movements share many aspects, including power laws coupling velocity to curvature, and minimized spatial variability. In fact, the adult brain can code trajectory geometry in an allocentric reference frame, irrespective of the end effector, regulating body kinematics thereafter. Locomotor trajectory formation, like head anticipation, matures in early adolescence, indicating common neurocomputational substrates. These late-developing control mechanisms can be distinguished from biomechanical problems in children with cerebral palsy (CP). Children's performance on a novel navigation test, the Magic Carpet, indicates that typical navigation development consists of the increasing integration of egocentric and allocentric reference frames. In CP, right-brain impairment seems to reduce navigation performance due to a maladaptive left-brain sequential egocentric strategy. Spatial integration should be considered more in rehabilitation. © 2016 The Authors. Developmental Medicine & Child Neurology © 2016 Mac Keith Press.

  10. EMG synchrony to assess impaired corticomotor control of locomotion after stroke.

    PubMed

    Lodha, Neha; Chen, Yen-Ting; McGuirk, Theresa E; Fox, Emily J; Kautz, Steven A; Christou, Evangelos A; Clark, David J

    2017-09-01

    Adapting one's gait pattern requires a contribution from cortical motor commands. Evidence suggests that frequency-based analysis of electromyography (EMG) can be used to detect this cortical contribution. Specifically, increased EMG synchrony between synergistic muscles in the Piper frequency band has been linked to heightened corticomotor contribution to EMG. Stroke-related damage to cerebral motor pathways would be expected to diminish EMG Piper synchrony. The objective of this study is therefore to test the hypothesis that EMG Piper synchrony is diminished in the paretic leg relative to nonparetic and control legs, particularly during a long-step task of walking adaptability. Twenty adults with post-stroke hemiparesis and seventeen healthy controls participated in this study. EMG Piper synchrony increased more for the control legs compare to the paretic legs when taking a non-paretic long step (5.02±3.22% versus 0.86±2.62%), p<0.01) and when taking a paretic long step (2.04±1.98% versus 0.70±2.34%, p<0.05). A similar but non-significant trend was evident when comparing non-paretic and paretic legs. No statistically significant differences in EMG Piper synchrony were found between legs for typical walking. EMG Piper synchrony was positively associated with walking speed and step length within the stroke group. These findings support the assertion that EMG Piper synchrony indicates corticomotor contribution to walking. Published by Elsevier Ltd.

  11. Analysis of a micro-scale pump which uses controlled acoustic streaming for fluid locomotion

    SciTech Connect

    Dohner, J.L.

    1998-01-01

    In this report the analysis of a micro-scale pump is described. This micro-pump uses active control to produce a distributed body force in a fluid micro-channel. The desired effect of this body force is to drive fluid through the channel. Limitations, assumptions, and design parameters are discussed. The mathematical analysis of pump dynamics is explained in detail. A perturbation analysis is used on the equations of mass, momentum and state to produce equations of motion for first and second order effects. The first order effects are described by linear wave motion in the fluid and are found by using integral equation methods. The second order effects are driven by body forces resulting from first order effects. Thus, by controlling the production of wave motion in the channel, second order excitation can also be controlled. This report is all theory and therefore needs experimental validation. Although many of the assumptions used in this report have been used elsewhere in the literature and have been found to be sufficient, there are many aspects of the problem which have been left unresolved. In particular, flow separation in the fluid channel is a critical problem. If the fluid does not separate, pumping will occur through the channel, however, if internal or external forces are not sufficient to stop separation, this type of pump will not function.

  12. Anxiety and locomotion in Genetic Absence Epilepsy Rats from Strasbourg (GAERS): inclusion of Wistar rats as a second control.

    PubMed

    Marques-Carneiro, José Eduardo; Faure, Jean-Baptiste; Cosquer, Brigitte; Koning, Estelle; Ferrandon, Arielle; de Vasconcelos, Anne Pereira; Cassel, Jean-Christophe; Nehlig, Astrid

    2014-09-01

    The Genetic Absence Epilepsy Rats from Strasbourg (GAERS) is a genetic model, derived from Wistar rats by selective breeding. In all previous studies, GAERS were compared to their paired selected strain not expressing spike-and-wave discharges (SWDs), namely nonepileptic controls (NECs). Because the occurrence/absence of SWDs is of polygenic origin, some other traits could have been selected along with occurrence/absence of SWDs. Therefore, we explored the importance of using a second control group consisting in Wistar rats, the strain of origin of GAERS, in addition to NECs, on locomotion and anxiety in GAERS. A test battery encompassing home-cage, open-field, beam-walking and elevated plus-maze evaluations was used. In addition, stereologic analyses were performed to assess the volume of thalamus, amygdala, and hippocampus. The occurrence/absence of SWDs was determined in all three strains by electroencephalography (EEG) recording. When compared to NECs and Wistars, GAERS displayed lower exploratory activity and fastened habituation to novelty. In the plus-maze, scores of GAERS and Wistars were similar, but NECs appeared significantly less anxious (possibly in association with increased amygdala volume); evidence for weaker anxiety in NECs was also found in the open-field evaluation. The volumetric study revealed increased thalamic volume in GAERS compared to both control groups. SWDs were present in all GAERS and in 80% of Wistars. Compared to the original Wistar strain as an additional control group, the selective breeding that generated the GAERS has no incidence on anxiety-related behavior, conversely to the selection of SWD suppression in NECs, in which anxiety is attenuated. These findings point to the importance of using a second control group composed of Wistar rats in studies characterizing the behavioral profile of GAERS. Thereby, possible confusions between occurrence/absence of SWDs and other features that come along with selection and/or differential

  13. 40 CFR 92.104 - Locomotive and engine testing; overview.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... restriction within 1 inch of water of the upper limit of a typical engine as installed with clean air filters... 40 Protection of Environment 20 2010-07-01 2010-07-01 false Locomotive and engine testing... PROGRAMS (CONTINUED) CONTROL OF AIR POLLUTION FROM LOCOMOTIVES AND LOCOMOTIVE ENGINES Test Procedures §...

  14. 40 CFR 92.104 - Locomotive and engine testing; overview.

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    ... restriction within 1 inch of water of the upper limit of a typical engine as installed with clean air filters... 40 Protection of Environment 20 2014-07-01 2013-07-01 true Locomotive and engine testing; overview... PROGRAMS (CONTINUED) CONTROL OF AIR POLLUTION FROM LOCOMOTIVES AND LOCOMOTIVE ENGINES Test Procedures §...

  15. 40 CFR 92.104 - Locomotive and engine testing; overview.

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    ... restriction within 1 inch of water of the upper limit of a typical engine as installed with clean air filters... 40 Protection of Environment 21 2012-07-01 2012-07-01 false Locomotive and engine testing... PROGRAMS (CONTINUED) CONTROL OF AIR POLLUTION FROM LOCOMOTIVES AND LOCOMOTIVE ENGINES Test Procedures §...

  16. REVIEWS OF TOPICAL PROBLEMS: Spatio-temporal problems of locomotion control

    NASA Astrophysics Data System (ADS)

    Smolyaninov, Vladimir V.

    2000-10-01

    The problem of the spatio-temporal construction of legged movements involves structural freedoms due to the multi-link structure of the extremities, kinematic freedoms of the stepping cycle, and interextremity coordination freedoms, whose purposive organization is established by means of appropriate synergies, i.e. additional functional links the brain's control system forms. The main focus of attention in this work is on the kinematic and coordination synergies of the legged movements of humans and animals. The comparative historical analysis of experimental data and modelling metaphors concentrates on obtaining a unified description, whereas the ultimate mathematical metaphor reduces to space-time geometry, with base step synergies as its invariants. Thus, the concept of a synergetic organization for biomechanical movement freedoms is transformed to the geochronometry concept, actually a modification of Minkowskian geometry. To determine the spectrum of possible geochronometries, the consequences of a generalized 'postulate of a constant speed of light' are studied and different models of wave chronometers compared.

  17. Testing the role of expansion in the prospective control of locomotion.

    PubMed

    Bastin, Julien; Jacobs, David M; Morice, Antoine H P; Craig, Cathy; Montagne, Gilles

    2008-11-01

    The constant bearing angle (CBA) strategy is a prospective strategy that permits the interception of moving objects. The purpose of the present study is to test this strategy. Participants were asked to walk through a virtual environment and to change, if necessary, their walking speed so as to intercept approaching targets. The targets followed either a rectilinear or a curvilinear trajectory and target size was manipulated both within trials (target size was gradually changed during the trial in order to bias expansion) and between trials (targets of different sizes were used). The curvature manipulation had a large effect on the kinematics of walking, which is in agreement with the CBA strategy. The target size manipulations also affected the kinematics of walking. Although these effects of target size are not predicted by the CBA strategy, quantitative comparisons of observed kinematics and the kinematics predicted by the CBA strategy showed good fits. Furthermore, predictions based on the CBA strategy were deemed superior to predictions based on a required velocity (V (REQ)) model. The role of target size and expansion in the prospective control of walking is discussed.

  18. A dynamical systems analysis of afferent control in a neuromechanical model of locomotion: II. Phase asymmetry

    NASA Astrophysics Data System (ADS)

    Spardy, Lucy E.; Markin, Sergey N.; Shevtsova, Natalia A.; Prilutsky, Boris I.; Rybak, Ilya A.; Rubin, Jonathan E.

    2011-10-01

    In this paper we analyze a closed loop neuromechanical model of locomotor rhythm generation. The model is composed of a spinal central pattern generator (CPG) and a single-joint limb, with CPG outputs projecting via motoneurons to muscles that control the limb and afferent signals from the muscles feeding back to the CPG. In a preceding companion paper (Spardy et al 2011 J. Neural Eng. 8 065003), we analyzed how the model generates oscillations in the presence or absence of feedback, identified curves in a phase plane associated with the limb that signify where feedback levels induce phase transitions within the CPG, and explained how increasing feedback strength restores oscillations in a model representation of spinal cord injury; from these steps, we derived insights about features of locomotor rhythms in several scenarios and made predictions about rhythm responses to various perturbations. In this paper, we exploit our analytical observations to construct a reduced model that retains important characteristics from the original system. We prove the existence of an oscillatory solution to the reduced model using a novel version of a Melnikov function, adapted for discontinuous systems, and also comment on the uniqueness and stability of this solution. Our analysis yields a deeper understanding of how the model must be tuned to generate oscillations and how the details of the limb dynamics shape overall model behavior. In particular, we explain how, due to the feedback signals in the model, changes in the strength of a tonic supra-spinal drive to the CPG yield asymmetric alterations in the durations of different locomotor phases, despite symmetry within the CPG itself.

  19. Investigating the potential role of TRPA1 in locomotion and cardiovascular control during hypertension

    PubMed Central

    Bodkin, Jennifer V; Thakore, Pratish; Aubdool, Aisah A; Liang, Lihuan; Fernandes, Elizabeth S; Nandi, Manasi; Spina, Domenico; Clark, James E; Aaronson, Philip I; Shattock, Michael J; Brain, Susan D

    2014-01-01

    Radiotelemetry was used to investigate the in vivo cardiovascular and activity phenotype of both TRPA1 (transient receptor potential ankyrin 1) wild-type (WT) and TRPA1 knockout (KO) mice. After baseline recording, experimental hypertension was induced using angiotensin II infusion (1.1 mg−1 kg−1 a day, for 14 days). TRPA1 WT and KO mice showed similar morphological and functional cardiovascular parameters, including similar basal blood pressure (BP), heart rate, size, and function. Similar hypertension was also displayed in response to angiotensin II (156 ± 7 and 165 ± 11 mmHg, systolic BP ± SEM, n = 5–6). TRPA1 KO mice showed increased hypertensive hypertrophy (heart weight:tibia length: 7.3 ± 1.6 mg mm−1 vs. 8.8 ± 1.7 mg mm−1) and presented with blunted interleukin 6 (IL-6) production compared with hypertensive WT mice (151 ± 24 vs. 89 ± 16 pg mL−1). TRPA1 expression in dorsal root ganglion (DRG) neurones was upregulated during hypertension (163% of baseline expression). Investigations utilizing the TRPA1 agonist cinnamaldehyde (CA) on mesenteric arterioles isolated from näive mice suggested a lack of TRPA1-dependent vasoreactivity in this vascular bed; a site with notable ability to alter total peripheral resistance. However, mesenteric arterioles isolated from TRPA1 KO hypertensive mice displayed significantly reduced ability to relax in response to nitric oxide (NO) (P < 0.05). Unexpectedly, naïve TRPA1 KO mice also displayed physical hyperactivity traits at baseline, which was exacerbated during hypertension. In conclusion, our study provides a novel cardiovascular characterization of TRPA1 KO mice in a model of hypertension. Results suggest that TRPA1 has a limited role in global cardiovascular control, but we demonstrate an unexpected capacity for TRPA1 to regulate physical activity. PMID:25505598

  20. Investigating the potential role of TRPA1 in locomotion and cardiovascular control during hypertension.

    PubMed

    Bodkin, Jennifer V; Thakore, Pratish; Aubdool, Aisah A; Liang, Lihuan; Fernandes, Elizabeth S; Nandi, Manasi; Spina, Domenico; Clark, James E; Aaronson, Philip I; Shattock, Michael J; Brain, Susan D

    2014-08-01

    Radiotelemetry was used to investigate the in vivo cardiovascular and activity phenotype of both TRPA1 (transient receptor potential ankyrin 1) wild-type (WT) and TRPA1 knockout (KO) mice. After baseline recording, experimental hypertension was induced using angiotensin II infusion (1.1 mg(-1) kg(-1) a day, for 14 days). TRPA1 WT and KO mice showed similar morphological and functional cardiovascular parameters, including similar basal blood pressure (BP), heart rate, size, and function. Similar hypertension was also displayed in response to angiotensin II (156 ± 7 and 165 ± 11 mmHg, systolic BP ± SEM, n = 5-6). TRPA1 KO mice showed increased hypertensive hypertrophy (heart weight:tibia length: 7.3 ± 1.6 mg mm(-1) vs. 8.8 ± 1.7 mg mm(-1)) and presented with blunted interleukin 6 (IL-6) production compared with hypertensive WT mice (151 ± 24 vs. 89 ± 16 pg mL(-1)). TRPA1 expression in dorsal root ganglion (DRG) neurones was upregulated during hypertension (163% of baseline expression). Investigations utilizing the TRPA1 agonist cinnamaldehyde (CA) on mesenteric arterioles isolated from näive mice suggested a lack of TRPA1-dependent vasoreactivity in this vascular bed; a site with notable ability to alter total peripheral resistance. However, mesenteric arterioles isolated from TRPA1 KO hypertensive mice displayed significantly reduced ability to relax in response to nitric oxide (NO) (P < 0.05). Unexpectedly, naïve TRPA1 KO mice also displayed physical hyperactivity traits at baseline, which was exacerbated during hypertension. In conclusion, our study provides a novel cardiovascular characterization of TRPA1 KO mice in a model of hypertension. Results suggest that TRPA1 has a limited role in global cardiovascular control, but we demonstrate an unexpected capacity for TRPA1 to regulate physical activity.

  1. A dynamical systems analysis of afferent control in a neuromechanical model of locomotion. II. Phase asymmetry

    PubMed Central

    Spardy, Lucy E.; Markin, Sergey N.; Shevtsova, Natalia A.; Prilutsky, Boris I.; Rybak, Ilya A.; Rubin, Jonathan E.

    2012-01-01

    We analyze a closed loop neuromechanical model of locomotor rhythm generation. The model is composed of a spinal central pattern generator (CPG) and a single-joint limb, with CPG outputs projecting via motoneurons to muscles that control the limb and afferent signals from the muscles feeding back to the CPG. In a preceding companion paper, we analyzed how the model generates oscillations in the presence or absence of feedback, identified curves in a phase plane associated with the limb that signify where feedback levels induce phase transitions within the CPG, and explained how increasing feedback strength restores oscillations in a model representation of spinal cord injury; from these steps, we derived insights about features of locomotor rhythms in several scenarios and made predictions about rhythm responses to various perturbations. In this paper, we exploit our analytical observations to construct a reduced model that retains important characteristics from the original system. We prove the existence of an oscillatory solution to the reduced model using a novel version of a Melnikov function, adapted for discontinuous systems and also comment on the uniqueness and stability of this solution. Our analysis yields a deeper understanding of how the model must be tuned to generate oscillations and how the details of the limb dynamics shape overall model behavior. In particular, we explain how, due to the feedback signals in the model, changes in the strength of a tonic supra-spinal drive to the CPG yield asymmetric alterations in the durations of different locomotor phases, despite symmetry within the CPG itself. PMID:22058275

  2. The intertarsal joint of the ostrich (Struthio camelus): Anatomical examination and function of passive structures in locomotion

    PubMed Central

    Schaller, Nina U; Herkner, Bernd; Villa, Rikk; Aerts, Peter

    2009-01-01

    The ostrich (Struthio camelus) is the largest extant biped. Being flightless, it exhibits advanced cursorial abilities primarily evident in its characteristic speed and endurance. In addition to the active musculoskeletal complex, its powerful pelvic limbs incorporate passive structures wherein ligaments interact with joint surfaces, cartilage and other connective tissue in their course of motion. This arrangement may enable energy conservation by providing joint stabilisation, optimised limb segment orientation and automated positioning of ground contact elements independently of direct muscle control. The intertarsal joint is of particular interest considering its position near the mid-point of the extended limb and its exposure to high load during stance with significant inertial forces during swing phase. Functional-anatomical analysis of the dissected isolated joint describes the interaction of ligaments with intertarsal joint contours through the full motion cycle. Manual manipulation identified a passive engage-disengage mechanism (EDM) that establishes joint extension, provides bi-directional resistance prior to a transition point located at 115° and contributes to rapid intertarsal flexion at toe off and full extension prior to touch down. This effect was subsequently quantified by measurement of intertarsal joint moments in prepared anatomical specimens in a neutral horizontal position and axially-loaded vertical position. Correlation with kinematic analyses of walking and running ostriches confirms the contribution of the EDM in vivo. We hypothesise that the passive EDM operates in tandem with a stringently coupled multi-jointed muscle-tendon system to conserve the metabolic cost of locomotion in the ostrich, suggesting that a complete understanding of terrestrial locomotion across extinct and extant taxa must include functional consideration of the ligamentous system. PMID:19538629

  3. Human Locomotion

    PubMed Central

    Inman, Verne T.

    1966-01-01

    The development of bipedal plantigrade progression is a purely human, and apparently learned, accomplishment. Experimental findings confirm the hypothesis that the human body will integrate the motion of various segments of the body and control the activity of muscles to minimize energy expenditure. Movements which are integrated for this purpose include vertical displacement of the body, horizontal rotation of the pelvis, mediolateral pelvic tilt, flexion of the knee, plantar flexion of the ankle and foot, lateral displacement of the torso and rotation of the shoulder girdle. Raising and lowering the body results in gains and losses of potential energy, and acceleration and deceleration result in gains and losses of kinetic energy. The motions are so co-ordinated that a transfer of energy back and forth from kinetic to potential occurs during walking, which tends to minimize total energy expenditure as well as muscle work. ImagesFig. 1 PMID:5942660

  4. Decentralized Feedback Controllers for Exponential Stabilization of Hybrid Periodic Orbits: Application to Robotic Walking*

    PubMed Central

    Hamed, Kaveh Akbari; Gregg, Robert D.

    2016-01-01

    This paper presents a systematic algorithm to design time-invariant decentralized feedback controllers to exponentially stabilize periodic orbits for a class of hybrid dynamical systems arising from bipedal walking. The algorithm assumes a class of parameterized and nonlinear decentralized feedback controllers which coordinate lower-dimensional hybrid subsystems based on a common phasing variable. The exponential stabilization problem is translated into an iterative sequence of optimization problems involving bilinear and linear matrix inequalities, which can be easily solved with available software packages. A set of sufficient conditions for the convergence of the iterative algorithm to a stabilizing decentralized feedback control solution is presented. The power of the algorithm is demonstrated by designing a set of local nonlinear controllers that cooperatively produce stable walking for a 3D autonomous biped with 9 degrees of freedom, 3 degrees of underactuation, and a decentralization scheme motivated by amputee locomotion with a transpelvic prosthetic leg. PMID:27990059

  5. Treadmill walking of the pneumatic biped Lucy: Walking at different speeds and step-lengths

    NASA Astrophysics Data System (ADS)

    Vanderborght, B.; Verrelst, B.; Van Ham, R.; Van Damme, M.; Versluys, R.; Lefeber, D.

    2008-07-01

    Actuators with adaptable compliance are gaining interest in the field of legged robotics due to their capability to store motion energy and to exploit the natural dynamics of the system to reduce energy consumption while walking and running. To perform research on compliant actuators we have built the planar biped Lucy. The robot has six actuated joints, the ankle, knee and hip of both legs with each joint powered by two pleated pneumatic artificial muscles in an antagonistic setup. This makes it possible to control both the torque and the stiffness of the joint. Such compliant actuators are used in passive walkers to overcome friction when walking over level ground and to improve stability. Typically, this kind of robots is only designed to walk with a constant walking speed and step-length, determined by the mechanical design of the mechanism and the properties of the ground. In this paper, we show that by an appropriate control, the robot Lucy is able to walk at different speeds and step-lengths and that adding and releasing weights does not affect the stability of the robot. To perform these experiments, an automated treadmill was built

  6. Muscle emulation with DC motor and neural networks for biped robots.

    PubMed

    Serhan, Hayssam; Nasr, Chaiban G; Henaff, Patrick

    2010-08-01

    This paper shows how to use a DC motor and its PID controller, to behave analogously to a muscle. A model of the muscle that has been learned by a NNARX (Neural Network Auto Regressive eXogenous) structure is used. The PID parameters are tuned by an MLP Network with a special indirect online learning algorithm. The calculation of the learning algorithm is performed based on a mathematical equation of the DC motor or with a Neural Network identification of the motor. For each of the two algorithms, the output of the muscle model is used as a reference for the DC motor control loop. The results show that we succeeded in forcing the physical system to behave in the same way as the muscle model with acceptable margin of error. An implementation in the knees of a simulated biped robot is realized. Simulation compares articular trajectories with and without the muscle emulator and shows that with muscle emulator, articular trajectories become closer to the human being ones and that total power consumption is reduced.

  7. Real-time physics-based 3D biped character animation using an inverted pendulum model.

    PubMed

    Tsai, Yao-Yang; Lin, Wen-Chieh; Cheng, Kuangyou B; Lee, Jehee; Lee, Tong-Yee

    2010-01-01

    We present a physics-based approach to generate 3D biped character animation that can react to dynamical environments in real time. Our approach utilizes an inverted pendulum model to online adjust the desired motion trajectory from the input motion capture data. This online adjustment produces a physically plausible motion trajectory adapted to dynamic environments, which is then used as the desired motion for the motion controllers to track in dynamics simulation. Rather than using Proportional-Derivative controllers whose parameters usually cannot be easily set, our motion tracking adopts a velocity-driven method which computes joint torques based on the desired joint angular velocities. Physically correct full-body motion of the 3D character is computed in dynamics simulation using the computed torques and dynamical model of the character. Our experiments demonstrate that tracking motion capture data with real-time response animation can be achieved easily. In addition, physically plausible motion style editing, automatic motion transition, and motion adaptation to different limb sizes can also be generated without difficulty.

  8. Neuromusculoskeletal models based on the muscle synergy hypothesis for the investigation of adaptive motor control in locomotion via sensory-motor coordination.

    PubMed

    Aoi, Shinya; Funato, Tetsuro

    2016-03-01

    Humans and animals walk adaptively in diverse situations by skillfully manipulating their complicated and redundant musculoskeletal systems. From an analysis of measured electromyographic (EMG) data, it appears that despite complicated spatiotemporal properties, muscle activation patterns can be explained by a low dimensional spatiotemporal structure. More specifically, they can be accounted for by the combination of a small number of basic activation patterns. The basic patterns and distribution weights indicate temporal and spatial structures, respectively, and the weights show the muscle sets that are activated synchronously. In addition, various locomotor behaviors have similar low dimensional structures and major differences appear in the basic patterns. These analysis results suggest that neural systems use muscle group combinations to solve motor control redundancy problems (muscle synergy hypothesis) and manipulate those basic patterns to create various locomotor functions. However, it remains unclear how the neural system controls such muscle groups and basic patterns through neuromechanical interactions in order to achieve adaptive locomotor behavior. This paper reviews simulation studies that explored adaptive motor control in locomotion via sensory-motor coordination using neuromusculoskeletal models based on the muscle synergy hypothesis. Herein, the neural mechanism in motor control related to the muscle synergy for adaptive locomotion and a potential muscle synergy analysis method including neuromusculoskeletal modeling for motor impairments and rehabilitation are discussed. Copyright © 2015 The Authors. Published by Elsevier Ireland Ltd.. All rights reserved.

  9. Biped 4R2C six-bar mechanism with inner and outer feet

    NASA Astrophysics Data System (ADS)

    Liu, Chao; Wang, Hao; Yao, Yan-an

    2016-01-01

    Most current biped robots are equipped with two feet arranged in the right and left which inspired by the human body system. Different from the existing configurations, a novel biped robot with inner and outer feet based on a spatial six-bar 4R2C(R and C denote revolute and cylindric joints, respectively) mechanism is proposed. It can move along a line or a curve by three walking modes that are dwell adjustment mode, limit position adjustment mode and any position adjustment mode. Kinematic, gait planning and stability analyses are performed respectively, and a prototype is developed. Lastly, a potential application is considered and two manipulating modes(sphere and cylinder manipulating modes) are carried out. This interesting mechanism feathering its single closed-chain structure and unique work performance is expected to motivate the configuration creation of biped robots.

  10. Dynamic stability and phase resetting during biped gait.

    PubMed

    Nomura, Taishin; Kawa, Kazuyoshi; Suzuki, Yasuyuki; Nakanishi, Masao; Yamasaki, Taiga

    2009-06-01

    Dynamic stability during periodic biped gait in humans and in a humanoid robot is considered. Here gait systems of human neuromusculoskeletal system and a humanoid are simply modeled while keeping their mechanical properties plausible. We prescribe periodic gait trajectories in terms of joint angles of the models as a function of time. The equations of motion of the models are then constrained by one of the prescribed gait trajectories to obtain types of periodically forced nonlinear dynamical systems. Simulated gait of the models may or may not fall down during gait, since the constraints are made only for joint angles of limbs but not for the motion of the body trunk. The equations of motion can exhibit a limit cycle solution (or an oscillatory solution that can be considered as a limit cycle practically) for each selected gait trajectory, if an initial condition is set appropriately. We analyze the stability of the limit cycle in terms of Poincaré maps and the basin of attraction of the limit cycle in order to examine how the stability depends on the prescribed trajectory. Moreover, the phase resetting of gait rhythm in response to external force perturbation is modeled. Since we always prescribe a gait trajectory in this study, reacting gait trajectories during the phase resetting are also prescribed. We show that an optimally prescribed reacting gait trajectory with an appropriate amount of the phase resetting can increase the gait stability. Neural mechanisms for generation and modulation of the gait trajectories are discussed.

  11. Spatiotemporal synchronization of biped walking patterns with multiple external inputs by style-phase adaptation.

    PubMed

    Matsubara, Takamitsu; Uchikata, Akimasa; Morimoto, Jun

    2015-12-01

    In this paper, we propose a framework for generating coordinated periodic movements of robotic systems with multiple external inputs. We developed an adaptive pattern generator model that is composed of a two-factor observation model with a style parameter and phase dynamics with a phase variable. The style parameter controls the spatial patterns of the generated trajectories, and the phase variable manages its temporal profiles. By exploiting the style-phase separation in the pattern generation, we can independently design adaptation schemes for the spatial and temporal profiles of the pattern generator to multiple external inputs. To validate the effectiveness of our proposed method, we applied it to a user-exoskeleton model to achieve user-adaptive walking assistance for which the exoskeleton robot's movements need to be coordinated with the user walking patterns and environment. As a result, the exoskeleton robot successfully performed stable biped walking behaviors for walking assistance even when the style of the observed walking pattern and the period were suddenly changed.

  12. Locomotive Truck Dynamics

    NASA Technical Reports Server (NTRS)

    Berry, R. L.; Barone, F. E.

    1984-01-01

    Commonly-used locomotive trucks tested to study and improve ride safety. Federal Railroad Administration and National Aeronautics and Space Administration jointly initiated program to study locomotive truck dynamics to improve operation safety. Final report summarizes program and truck and component tests.

  13. Electrical stimulation of the sural cutaneous afferent nerve controls the amplitude and onset of the swing phase of locomotion in the spinal cat

    PubMed Central

    Ollivier-Lanvin, Karen; Krupka, Alexander J.; AuYong, Nicholas; Miller, Kassi; Prilutsky, Boris I.

    2011-01-01

    Sensory feedback plays a crucial role in the control of locomotion and in the recovery of function after spinal cord injury. Investigations in reduced preparations have shown that the locomotor cycle can be modified through the activation of afferent feedback at various phases of the gait cycle. We investigated the effect of phase-dependent electrical stimulation of a cutaneous afferent nerve on the locomotor pattern of trained spinal cord-injured cats. Animals were first implanted with chronic nerve cuffs on the sural and sciatic nerves and electromyographic electrodes in different hindlimb muscles. Cats were then transected at T12 and trained daily to locomote on a treadmill. We found that electrical stimulation of the sural nerve can enhance the ongoing flexion phase, producing higher (+129%) and longer (+17.4%) swing phases of gait even at very low threshold of stimulation. Sural nerve stimulation can also terminate an ongoing extension and initiate a flexion phase. A higher prevalence of early switching to the flexion phase was observed at higher stimulation levels and if stimulation was applied in the late stance phase. All flexor muscles were activated by the stimulation. These results suggest that electrical stimulation of the sural nerve may be used to increase the magnitude of the swing phase and control the timing of its onset after spinal cord injury and locomotor training. PMID:21389308

  14. Electrical stimulation of the sural cutaneous afferent nerve controls the amplitude and onset of the swing phase of locomotion in the spinal cat.

    PubMed

    Ollivier-Lanvin, Karen; Krupka, Alexander J; AuYong, Nicholas; Miller, Kassi; Prilutsky, Boris I; Lemay, Michel A

    2011-05-01

    Sensory feedback plays a crucial role in the control of locomotion and in the recovery of function after spinal cord injury. Investigations in reduced preparations have shown that the locomotor cycle can be modified through the activation of afferent feedback at various phases of the gait cycle. We investigated the effect of phase-dependent electrical stimulation of a cutaneous afferent nerve on the locomotor pattern of trained spinal cord-injured cats. Animals were first implanted with chronic nerve cuffs on the sural and sciatic nerves and electromyographic electrodes in different hindlimb muscles. Cats were then transected at T12 and trained daily to locomote on a treadmill. We found that electrical stimulation of the sural nerve can enhance the ongoing flexion phase, producing higher (+129%) and longer (+17.4%) swing phases of gait even at very low threshold of stimulation. Sural nerve stimulation can also terminate an ongoing extension and initiate a flexion phase. A higher prevalence of early switching to the flexion phase was observed at higher stimulation levels and if stimulation was applied in the late stance phase. All flexor muscles were activated by the stimulation. These results suggest that electrical stimulation of the sural nerve may be used to increase the magnitude of the swing phase and control the timing of its onset after spinal cord injury and locomotor training.

  15. WDR79/TCAB1 plays a conserved role in the control of locomotion and ameliorates phenotypic defects in SMA models.

    PubMed

    Di Giorgio, Maria Laura; Esposito, Alessandro; Maccallini, Paolo; Micheli, Emanuela; Bavasso, Francesca; Gallotta, Ivan; Vernì, Fiammetta; Feiguin, Fabian; Cacchione, Stefano; McCabe, Brian D; Di Schiavi, Elia; Raffa, Grazia Daniela

    2017-09-01

    SMN (Survival Motor Neuron) deficiency is the predominant cause of spinal muscular atrophy (SMA), a severe neurodegenerative disorder that can lead to progressive paralysis and death. Although SMN is required in every cell for proper RNA metabolism, the reason why its loss is especially critical in the motor system is still unclear. SMA genetic models have been employed to identify several modifiers that can ameliorate the deficits induced by SMN depletion. Here we focus on WDR79/TCAB1, a protein important for the biogenesis of several RNA species that has been shown to physically interact with SMN in human cells. We show that WDR79 depletion results in locomotion defects in both Drosophila and Caenorhabditis elegans similar to those elicited by SMN depletion. Consistent with this observation, we find that SMN overexpression rescues the WDR79 loss-of-function phenotype in flies. Most importantly, we also found that WDR79 overexpression ameliorates the locomotion defects induced by SMN depletion in both flies and worms. Our results collectively suggest that WDR79 and SMN play evolutionarily conserved cooperative functions in the nervous system and suggest that WDR79/TCAB1 may have the potential to modify SMA pathogenesis. Copyright © 2017. Published by Elsevier Inc.

  16. Adaptation in Human Balance Control: Lessons for Biomimetic Robotic Bipeds

    PubMed Central

    Mahboobin, Arash; Loughlin, Patrick J.; Redfern, Mark S.; Anderson, Stuart O.; Atkeson, Christopher G.; Hodgins, Jessica K.

    2008-01-01

    This paper describes mechanisms used by humans to stand on moving platforms, such as a bus or ship, and to combine body orientation and motion information from multiple sensors including vision, vestibular, and proprioception. A simple mechanism, sensory re-weighting, has been proposed to explain how human subjects learn to reduce the effects of inconsistent sensors on balance. Our goal is to replicate this robust balance behavior in bipedal robots. We review results exploring sensory re-weighting in humans and describe implementations of sensory re-weighting in simulation and on a robot. PMID:18555957

  17. Interactions of Subjective and Objective Measures of Fatigue Defined in the Context of Brain Control of Locomotion.

    PubMed

    Holtzer, Roee; Yuan, Jennifer; Verghese, Joe; Mahoney, Jeannette R; Izzetoglu, Meltem; Wang, Cuiling

    2017-03-01

    Fatigue adversely impacts quality of life in old age. The relationship between subjective and objective measurements of fatigue, however, is poorly understood. We examined whether subjective fatigue moderated the expression of objective fatigue during locomotion. Associations between objective and subjective measures of fatigue were predicted to manifest only under dual-task conditions that maximized cognitive demands. Participants were 314 nondemented older adults (age = 76.8±6.7 years; % female = 56). Functional near-infrared spectroscopy was used to assess oxygenated hemoglobin (HbO2) levels during walking. A 4×14-foot Zeno electronic walkway was utilized to assess stride velocity (cm/s). Objective fatigue was operationalized as attenuation in HbO2 levels and decline in stride velocity (cm/s) during six continuous straight walks under single- (normal-walk) and dual-task (walk-while-talk) conditions. The Brief Fatigue Inventory assessed subjective fatigue. Worse subjective fatigue was associated with attenuated increase in HbO2 levels (estimate = 0.175; p < .05) but not with decline in stride velocity (estimate = 0.394; p > .05) from normal-walk to walk-while-talk conditions. Objective fatigue did not manifest and was not associated with subjective fatigue during the course of normal-walk. Worse subjective fatigue was associated with attenuated HbO2 levels in the fourth (estimate = -0.178; p < .05), fifth (estimate = -0.230; p < .01), and sixth (estimate = -0.231; p < .01) straight walks compared to the first during walk-while-talk. Dual-task walking paradigms provide a unique environment to simultaneously assess different facets of fatigue. The prefrontal cortex subserves both subjective and objective measurements of fatigue as defined in the context of attention-demanding locomotion.

  18. Single-step collision-free trajectory planning of biped climbing robots in spatial trusses.

    PubMed

    Zhu, Haifei; Guan, Yisheng; Chen, Shengjun; Su, Manjia; Zhang, Hong

    For a biped climbing robot with dual grippers to climb poles, trusses or trees, feasible collision-free climbing motion is inevitable and essential. In this paper, we utilize the sampling-based algorithm, Bi-RRT, to plan single-step collision-free motion for biped climbing robots in spatial trusses. To deal with the orientation limit of a 5-DoF biped climbing robot, a new state representation along with corresponding operations including sampling, metric calculation and interpolation is presented. A simple but effective model of a biped climbing robot in trusses is proposed, through which the motion planning of one climbing cycle is transformed to that of a manipulator. In addition, the pre- and post-processes are introduced to expedite the convergence of the Bi-RRT algorithm and to ensure the safe motion of the climbing robot near poles as well. The piecewise linear paths are smoothed by utilizing cubic B-spline curve fitting. The effectiveness and efficiency of the presented Bi-RRT algorithm for climbing motion planning are verified by simulations.

  19. Impact of locomotion training with a neurologic controlled hybrid assistive limb (HAL) exoskeleton on neuropathic pain and health related quality of life (HRQoL) in chronic SCI: a case study (.).

    PubMed

    Cruciger, Oliver; Schildhauer, Thomas A; Meindl, Renate C; Tegenthoff, Martin; Schwenkreis, Peter; Citak, Mustafa; Aach, Mirko

    2016-08-01

    Chronic neuropathic pain (CNP) is a common condition associated with spinal cord injury (SCI) and has been reported to be severe, disabling and often treatment-resistant and therefore remains a clinical challenge for the attending physicians. The treatment usually includes pharmacological and/or nonpharmacological approaches. Body weight supported treadmill training (BWSTT) and locomotion training with driven gait orthosis (DGO) have evolved over the last decades and are now considered to be an established part in the rehabilitation of SCI patients. Conventional locomotion training goes along with improvements of the patients' walking abilities in particular speed and gait pattern. The neurologic controlled hybrid assistive limb (HAL®, Cyberdyne Inc., Ibraki, Japan) exoskeleton, however, is a new tailored approach to support motor functions synchronously to the patient's voluntary drive. This report presents two cases of severe chronic and therapy resistant neuropathic pain due to chronic SCI and demonstrates the beneficial effects of neurologic controlled exoskeletal intervention on pain severity and health-related quality of life (HRQoL). Both of these patients were engaged in a 12 weeks period of daily HAL®-supported locomotion training. In addition to improvements in motor functions and walking abilities, both show significant reduction in pain severity and improvements in all HRQoL domains. Although various causal factors likely contribute to abatement of CNP, the reported results occurred due to a new approach in the rehabilitation of chronic spinal cord injury patients. These findings suggest not only the feasibility of this new approach but in conclusion, demonstrate the effectiveness of neurologic controlled locomotion training in the long-term management of refractory neuropathic pain. Implications for Rehabilitation CNP remains a challenge in the rehabilitation of chronic SCI patients. Locomotion training with the HAL exoskeleton seems to improve CNP

  20. A contribution about ferrofluid based flow manipulation and locomotion systems

    NASA Astrophysics Data System (ADS)

    Zimmermann, K.; Zeidis, I.; Bohm, V.; Popp, J.

    2009-02-01

    With the background of developing apedal bionic inspired locomotion systems for future application fields like autonomous (swarm) robots, medical engineering and inspection systems, this article presents a selection of locomotion systems with bifluidic flow control using ferrofluid. By controlling the change of shape, position and pressure of the ferrofluid in a secondary low viscous fluid by magnetic fields locomotion of objects or the ferrofluid itself can be realised. The locomotion of an object is caused in the first example by a ferrofluid generated flow of the secondary fluid and in the second and third case by the direct alteration of the ferrofluid position.

  1. Stability of underwater periodic locomotion

    NASA Astrophysics Data System (ADS)

    Jing, Fangxu; Kanso, Eva

    2013-07-01

    Most aquatic vertebrates swim by lateral flapping of their bodies and caudal fins. While much effort has been devoted to understanding the flapping kinematics and its influence on the swimming efficiency, little is known about the stability (or lack of) of periodic swimming. It is believed that stability limits maneuverability and body designs/flapping motions that are adapted for stable swimming are not suitable for high maneuverability and vice versa. In this paper, we consider a simplified model of a planar elliptic body undergoing prescribed periodic heaving and pitching in potential flow. We show that periodic locomotion can be achieved due to the resulting hydrodynamic forces, and its value depends on several parameters including the aspect ratio of the body, the amplitudes and phases of the prescribed flapping.We obtain closedform solutions for the locomotion and efficiency for small flapping amplitudes, and numerical results for finite flapping amplitudes. This efficiency analysis results in optimal parameter values that are in agreement with values reported for some carangiform fish. We then study the stability of the (finite amplitude flapping) periodic locomotion using Floquet theory. We find that stability depends nonlinearly on all parameters. Interesting trends of switching between stable and unstable motions emerge and evolve as we continuously vary the parameter values. This suggests that, for live organisms that control their flapping motion, maneuverability and stability need not be thought of as disjoint properties, rather the organism may manipulate its motion in favor of one or the other depending on the task at hand.

  2. Lateral oscillations of the center of mass of bipeds as they walk. Inverted pendulum model with two degrees of freedom

    NASA Astrophysics Data System (ADS)

    H Goldsztein, Guillermo

    2015-10-01

    The use of inverted pendulum models to study the bio-mechanics of biped walkers is a common practice. In its simplest form, the inverted pendulum consists of a point mass, which models the center of mass of the biped, attached to two straight mass-less legs. Most works using the simplest inverted pendulum model constrain the mass and the legs to the sagittal plane (the plane that contains the direction perpendicular to the ground and the direction toward the biped is walking). In this article, we remove this constrain and use this unconstrained inverted pendulum model to study the oscillations the mass experiences in the direction perpendicular to the sagittal plane as the biped walks. While small, these oscillations are unavoidable and of importance in the understanding of balance and stability of walkers, as well as walkers induced oscillations in pedestrian bridges.

  3. Control of material strength in a fluidized bed to discover principles of animal foot impact during locomotion

    NASA Astrophysics Data System (ADS)

    Goldman, D. I.; Korff, W. L.; Full, R. J.

    2004-11-01

    We study the impact of flat disks (≈ 1 cm diameter) into a deep (800 particle diameters) bed of 250 μ m glass spheres of fixed volume fraction φ, and use a vertical flow of air (a fluidized bed) to change the material properties of the medium. By applying a series of air pulses to the bed we can achieve 0.57<φ<0.64; increasing the number of pulses increases φ, strengthening the material. A constant flow Q below the onset of bed fluidization weakens the solid: at fixed φ the penetration depth of a disk increases with increasing Q. We use this discovery to address a long-standing issue in animal locomotion -- the interaction of feet with the ground. We measure the average speed, foot impact depth, and foot contact time as a function of material strength for the desert-dwelling lizard Callisaurus draconoides (length 16 cm, mass=20 g) during rapid running on sand. The animal maintains high speed (1.4 m/sec) even when foot penetration depth varies as we manipulate material strength.

  4. A peri-motor framework reveals functional segmentation in the motoneuronal network controlling locomotion in Caenorhabditis elegans

    PubMed Central

    Haspel, Gal; O'Donovan, Michael J

    2011-01-01

    The neuronal connectivity dataset of the nematode Caenorhabditis elegans attracts wide attention from computational neuroscientists and experimentalists. However, the dataset is incomplete. The ventral and dorsal nerve cords of a single nematode were reconstructed halfway along the body and the posterior data is missing, leaving 21 of 75 motoneurons of the locomotor network with partial or no connectivity data. Using a new framework for network analysis, the peri-motor space, we identified rules of connectivity that allowed us to approximate the missing data by extrapolation. Motoneurons were mapped into peri-motor space in which each motoneuron is located according to the muscle cells it innervates. In this framework, a pattern of iterative connections emerges which includes most (0.90) of the connections. We identified a repeating unit consisting of 12 motoneurons and 12 muscle cells. The cell bodies of the motoneurons of such a unit are not necessarily anatomical neighbors and there is no obvious anatomical segmentation. A connectivity model, comprised of six repeating units, is a description of the network that is both simplified (modular and without non-iterative connections) and more complete (includes the posterior part) than the original dataset. The peri-motor framework of observed connectivity and the segmented connectivity model give insights and advance the study of the neuronal infrastructure underlying locomotion in C. elegans. Furthermore, we suggest that the tools used herein may be useful to interpret, simplify and represent connectivity data of other motor systems. PMID:21994377

  5. A study of the passive gait of a compass-like biped robot: Symmetry and chaos

    SciTech Connect

    Goswami, A.; Espiau, B.; Thuilot, B.

    1998-12-01

    The focus of this work is a systematic study of the passive gait of a compass-like planar, biped robot on inclined slopes. The robot is kinematically equivalent to a double pendulum, possessing two kneeless legs with point masses and a third point mass at the hip joint. Three parameters, namely, the ground-slope angle and the normalized mass and length of the robot describe its gait. The authors show that in response to a continuous change in any one of its parameters, the symmetric and steady stable gait of the unpowered robot gradually evolves through a regime of bifurcations characterized by progressively complicated asymmetric gaits, eventually arriving at an apparently chaotic gait where not two steps are identical. The robot can maintain this gait indefinitely. A necessary (but not sufficient) condition for the stability of such gaits is the contraction of the phase-fluid volume. For this frictionless robot, the volume contraction, which the authors compute, is caused by the dissipative effects of the ground-impact model. In the chaotic regime, the fractal dimension of the robot`s strange attractor (2.07) compared to its state-space dimension (4) also reveals strong contraction. The authors present a novel graphical technique based on the first return map that compactly captures the entire evolution of the gait, from symmetry to chaos. Additional passive dissipative elements in the robot joint results in a significant improvement in the stability and the versatility of the gait, and provide a rich repertoire for simple controls laws.

  6. 40 CFR 1033.515 - Discrete-mode steady-state emission tests of locomotives and locomotive engines.

    Code of Federal Regulations, 2013 CFR

    2013-07-01

    ... ENVIRONMENTAL PROTECTION AGENCY (CONTINUED) AIR POLLUTION CONTROLS CONTROL OF EMISSIONS FROM LOCOMOTIVES Test... of the air entering the engine after any charge air cooling to within 5 °C of the typical intake manifold air temperature when the engine is operated in the locomotive under similar ambient conditions....

  7. 40 CFR 1033.515 - Discrete-mode steady-state emission tests of locomotives and locomotive engines.

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... ENVIRONMENTAL PROTECTION AGENCY (CONTINUED) AIR POLLUTION CONTROLS CONTROL OF EMISSIONS FROM LOCOMOTIVES Test... of the air entering the engine after any charge air cooling to within 5 °C of the typical intake manifold air temperature when the engine is operated in the locomotive under similar ambient conditions....

  8. 40 CFR 1033.515 - Discrete-mode steady-state emission tests of locomotives and locomotive engines.

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    ... ENVIRONMENTAL PROTECTION AGENCY (CONTINUED) AIR POLLUTION CONTROLS CONTROL OF EMISSIONS FROM LOCOMOTIVES Test... of the air entering the engine after any charge air cooling to within 5 °C of the typical intake manifold air temperature when the engine is operated in the locomotive under similar ambient conditions....

  9. 40 CFR 1033.515 - Discrete-mode steady-state emission tests of locomotives and locomotive engines.

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    ... ENVIRONMENTAL PROTECTION AGENCY (CONTINUED) AIR POLLUTION CONTROLS CONTROL OF EMISSIONS FROM LOCOMOTIVES Test... of the air entering the engine after any charge air cooling to within 5 °C of the typical intake manifold air temperature when the engine is operated in the locomotive under similar ambient conditions....

  10. The Human Central Pattern Generator for Locomotion.

    PubMed

    Minassian, Karen; Hofstoetter, Ursula S; Dzeladini, Florin; Guertin, Pierre A; Ijspeert, Auke

    2017-03-01

    The ability of dedicated spinal circuits, referred to as central pattern generators (CPGs), to produce the basic rhythm and neural activation patterns underlying locomotion can be demonstrated under specific experimental conditions in reduced animal preparations. The existence of CPGs in humans is a matter of debate. Equally elusive is the contribution of CPGs to normal bipedal locomotion. To address these points, we focus on human studies that utilized spinal cord stimulation or pharmacological neuromodulation to generate rhythmic activity in individuals with spinal cord injury, and on neuromechanical modeling of human locomotion. In the absence of volitional motor control and step-specific sensory feedback, the human lumbar spinal cord can produce rhythmic muscle activation patterns that closely resemble CPG-induced neural activity of the isolated animal spinal cord. In this sense, CPGs in humans can be defined by the activity they produce. During normal locomotion, CPGs could contribute to the activation patterns during specific phases of the step cycle and simplify supraspinal control of step cycle frequency as a feedforward component to achieve a targeted speed. Determining how the human CPGs operate will be essential to advance the theory of neural control of locomotion and develop new locomotor neurorehabilitation paradigms.

  11. Sensory feedback in cockroach locomotion: current knowledge and open questions.

    PubMed

    Ayali, A; Couzin-Fuchs, E; David, I; Gal, O; Holmes, P; Knebel, D

    2015-09-01

    The American cockroach, Periplaneta americana, provides a successful model for the study of legged locomotion. Sensory regulation and the relative importance of sensory feedback vs. central control in animal locomotion are key aspects in our understanding of locomotive behavior. Here we introduce the cockroach model and describe the basic characteristics of the neural generation and control of walking and running in this insect. We further provide a brief overview of some recent studies, including mathematical modeling, which have contributed to our knowledge of sensory control in cockroach locomotion. We focus on two sensory mechanisms and sense organs, those providing information related to loading and unloading of the body and the legs, and leg-movement-related sensory receptors, and present evidence for the instrumental role of these sensory signals in inter-leg locomotion control. We conclude by identifying important open questions and indicate future perspectives.

  12. The need for speed in rodent locomotion analyses.

    PubMed

    Batka, Richard J; Brown, Todd J; Mcmillan, Kathryn P; Meadows, Rena M; Jones, Kathryn J; Haulcomb, Melissa M

    2014-10-01

    Locomotion analysis is now widely used across many animal species to understand the motor defects in disease, functional recovery following neural injury, and the effectiveness of various treatments. More recently, rodent locomotion analysis has become an increasingly popular method in a diverse range of research. Speed is an inseparable aspect of locomotion that is still not fully understood, and its effects are often not properly incorporated while analyzing data. In this hybrid manuscript, we accomplish three things: (1) review the interaction between speed and locomotion variables in rodent studies, (2) comprehensively analyze the relationship between speed and 162 locomotion variables in a group of 16 wild-type mice using the CatWalk gait analysis system, and (3) develop and test a statistical method in which locomotion variables are analyzed and reported in the context of speed. Notable results include the following: (1) over 90% of variables, reported by CatWalk, were dependent on speed with an average R(2) value of 0.624, (2) most variables were related to speed in a nonlinear manner, (3) current methods of controlling for speed are insufficient, and (4) the linear mixed model is an appropriate and effective statistical method for locomotion analyses that is inclusive of speed-dependent relationships. Given the pervasive dependency of locomotion variables on speed, we maintain that valid conclusions from locomotion analyses cannot be made unless they are analyzed and reported within the context of speed. © 2014 Wiley Periodicals, Inc.

  13. 40 CFR 92.511 - Remanufactured locomotives: installation audit requirements.

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ...: installation audit requirements. 92.511 Section 92.511 Protection of Environment ENVIRONMENTAL PROTECTION AGENCY (CONTINUED) AIR PROGRAMS (CONTINUED) CONTROL OF AIR POLLUTION FROM LOCOMOTIVES AND LOCOMOTIVE ENGINES Manufacturer and Remanufacturer Production Line Testing and Audit Programs § 92.511 Remanufactured...

  14. 40 CFR 92.511 - Remanufactured locomotives: installation audit requirements.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ...: installation audit requirements. 92.511 Section 92.511 Protection of Environment ENVIRONMENTAL PROTECTION AGENCY (CONTINUED) AIR PROGRAMS (CONTINUED) CONTROL OF AIR POLLUTION FROM LOCOMOTIVES AND LOCOMOTIVE ENGINES Manufacturer and Remanufacturer Production Line Testing and Audit Programs § 92.511 Remanufactured...

  15. The relationship between transitional motor skills and locomotion.

    PubMed

    Looper, Julia; Talbot, Sara; Link, Allison; Chandler, Lynette

    2015-02-01

    This study explores whether transitional skills and sitting correlate with locomotion onset. The development of eight infants was followed. Most transitional skills correlated with locomotor skills. Sitting and rolling did not. Transitional skills may resemble the control needed for locomotion more closely than sitting.

  16. Suppression of dinoflagellate Peridinium bipes bloom in a reservoir by ultraviolet radiation

    SciTech Connect

    Iseri, Yasushi; Tano, Johichiro; Kawabata, Zen`ichiro

    1995-12-31

    The effect of ultraviolet (UV) radiation with a 253.7 nm wave length on the survival of Peridinium bipes was investigated in a laboratory culture system and in a mesocosm placed in a reservoir. According to the results obtained from those experiments, a boat with UV lamps was developed and optimum operating conditions were examined in situ. This boat could treat a maximum of about 700 m{sup 3} h{sup -1} of lake water and required 5 hours to treat 2.0 x 10{sup 4} m{sup 2} of surface are of lake water containing 1.0 x 10{sup 3} to 5.0 10{sup 4} P. bipes cells ml{sup -1}. The quantity of water treated per hour was 10 times as much as the long hair filtration method which is commonly used.

  17. Operation analysis of a Chebyshev-Pantograph leg mechanism for a single DOF biped robot

    NASA Astrophysics Data System (ADS)

    Liang, Conghui; Ceccarelli, Marco; Takeda, Yukio

    2012-12-01

    In this paper, operation analysis of a Chebyshev-Pantograph leg mechanism is presented for a single degree of freedom (DOF) biped robot. The proposed leg mechanism is composed of a Chebyshev four-bar linkage and a pantograph mechanism. In contrast to general fully actuated anthropomorphic leg mechanisms, the proposed leg mechanism has peculiar features like compactness, low-cost, and easy-operation. Kinematic equations of the proposed leg mechanism are formulated for a computer oriented simulation. Simulation results show the operation performance of the proposed leg mechanism with suitable characteristics. A parametric study has been carried out to evaluate the operation performance as function of design parameters. A prototype of a single DOF biped robot equipped with two proposed leg mechanisms has been built at LARM (Laboratory of Robotics and Mechatronics). Experimental test shows practical feasible walking ability of the prototype, as well as drawbacks are discussed for the mechanical design.

  18. 49 CFR 236.566 - Locomotive of each train operating in train stop, train control or cab signal territory; equipped.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... OF SIGNAL AND TRAIN CONTROL SYSTEMS, DEVICES, AND APPLIANCES Automatic Train Stop, Train Control and... controlled, of each train operating in automatic train stop, train control, or cab signal territory shall be..., train control or cab signal territory; equipped. 236.566 Section 236.566 Transportation Other...

  19. Fuelcell Prototype Locomotive

    SciTech Connect

    David L. Barnes

    2007-09-28

    An international industry-government consortium is developing a fuelcell hybrid switcher locomotive for commercial railway applications and power-to-grid generation applications. The current phase of this on-going project addresses the practicalities of on-board hydrogen storage, fuelcell technology, and hybridity, all with an emphasis on commercially available products. Through practical evaluation using designs from Vehicle Projects’ Fuelcell-Powered Underground Mine Loader Project, the configuration of the fuelcell switcher locomotive changed from using metal-hydride hydrogen storage and a pure fuelcell power plant to using compressed hydrogen storage, a fuelcell-battery hybrid power plant, and fuelcell stack modules from Ballard Power Systems that have been extensively used in the Citaro bus program in Europe. The new overall design will now use a RailPower battery hybrid Green Goat™ as the locomotive platform. Keeping the existing lead-acid batteries, we will replace the 205 kW diesel gen-set with 225 kW of net fuelcell power, remove the diesel fuel tank, and place 14 compressed hydrogen cylinders, capable of storing 70 kg of hydrogen at 350 bar, on the roof. A detailed design with associated CAD models will allow a complete build of the fuelcell-battery hybrid switcher locomotive in the next funded phase.

  20. Contributions of phase resetting and interlimb coordination to the adaptive control of hindlimb obstacle avoidance during locomotion in rats: a simulation study.

    PubMed

    Aoi, Shinya; Kondo, Takahiro; Hayashi, Naohiro; Yanagihara, Dai; Aoki, Sho; Yamaura, Hiroshi; Ogihara, Naomichi; Funato, Tetsuro; Tomita, Nozomi; Senda, Kei; Tsuchiya, Kazuo

    2013-04-01

    Obstacle avoidance during locomotion is essential for safe, smooth locomotion. Physiological studies regarding muscle synergy have shown that the combination of a small number of basic patterns produces the large part of muscle activities during locomotion and the addition of another pattern explains muscle activities for obstacle avoidance. Furthermore, central pattern generators in the spinal cord are thought to manage the timing to produce such basic patterns. In the present study, we investigated sensory-motor coordination for obstacle avoidance by the hindlimbs of the rat using a neuromusculoskeletal model. We constructed the musculoskeletal part of the model based on empirical anatomical data of the rat and the nervous system model based on the aforementioned physiological findings of central pattern generators and muscle synergy. To verify the dynamic simulation by the constructed model, we compared the simulation results with kinematic and electromyographic data measured during actual locomotion in rats. In addition, we incorporated sensory regulation models based on physiological evidence of phase resetting and interlimb coordination and examined their functional roles in stepping over an obstacle during locomotion. Our results show that the phase regulation based on interlimb coordination contributes to stepping over a higher obstacle and that based on phase resetting contributes to quick recovery after stepping over the obstacle. These results suggest the importance of sensory regulation in generating successful obstacle avoidance during locomotion.

  1. Novel locomotion via biological inspiration

    NASA Astrophysics Data System (ADS)

    Quinn, Roger D.; Boxerbaum, Alexander; Palmer, Luther; Chiel, Hillel; Diller, Eric; Hunt, Alexander; Bachmann, Richard

    2011-05-01

    Animal behavioral, physiological and neurobiological studies are providing a wealth of inspirational data for robot design and control. Several very different biologically inspired mobile robots will be reviewed. A robot called DIGbot is being developed that moves independent of the direction of gravity using Distributed Inward Gripping (DIG) as a rapid and robust attachment mechanism observed in climbing animals. DIGbot is an 18 degree of freedom hexapod with onboard power and control systems. Passive compliance in its feet, which is inspired by the flexible tarsus of the cockroach, increases the robustness of the adhesion strategy and enables DIGbot to execute large steps and stationary turns while walking on mesh screens. A Whegs™ robot, inspired by insect locomotion principles, is being developed that can be rapidly reconfigured between tracks and wheel-legs and carry GeoSystems Zipper Mast. The mechanisms that cause it to passively change its gait on irregular terrain have been integrated into its hubs for a compact and modular design. The robot is designed to move smoothly on moderately rugged terrain using its tracks and run on irregular terrain and stairs using its wheel-legs. We are also developing soft bodied robots that use peristalsis, the same method of locomotion earthworms use. We present a technique of using a braided mesh exterior to produce fluid waves of motion along the body of the robot that increase the robot's speed relative to previous designs. The concept is highly scalable, for endoscopes to water, oil or gas line inspection.

  2. Optimizing turning for locomotion

    NASA Astrophysics Data System (ADS)

    Burton, Lisa; Hatton, Ross; Choset, Howie; Hosoi, A. E.

    2012-02-01

    Speed and efficiency are common and often adequate metrics to compare locomoting systems. These metrics, however, fail to account for a system's ability to turn, a key component in a system's ability to move a confined environment and an important factor in optimal motion planning. To explore turning strokes for a locomoting system, we develop a kinematic model to relate a system's shape configuration to its external velocity. We exploit this model to visualize the dynamics of the system and determine optimal strokes for multiple systems, including low Reynolds number swimmers and biological systems dominated by inertia. Understanding how shape configurations are related to external velocities enables a better understanding of biological and man made systems. Using these tools, we can justify biological system motion and determine optimal shape configurations for robots to maneuver through difficult environments.

  3. Locomotive oil filter

    SciTech Connect

    Moser, D.

    1987-04-07

    This patent describes a locomotive lube oil filter comprised of means for filtering lube oil sufficient for locomotive engine use without filter swelling or plugging due to water in the lube oil. It includes a filter medium having a substantial portion of lignin-containing fiber pulp derived from the disc refining of wood chips having a ligning content of at least about 10 percent under steam pressures in the range of about 90 psig to about 120 psig, at temperatures in the range of from about 330/sup 0/F to about 350/sup 0/F, and using energy levels in the range of from about 8 to about 35 HPD/ADT.

  4. Initial Assessment of Human Performance Using the Gaiter Interaction Technique to Control Locomotion in Fully Immersive Virtual Environments

    DTIC Science & Technology

    2007-11-02

    and control the posture of the body should support the user’s inter- action with the virtual world. Skills and actions, such as aiming a rifle and...3 Our general approach to interaction technique design is based on principles derived from an under- standing of human perception and motor control...the stride length and cadence of virtual steps. Since Gaiter uses only the legs and pelvis , it does not interfere with actions performed by other

  5. Locomotion in the decerebrate stingray.

    PubMed

    Leonard, R B; Rudomín, P; Droge, M H; Grossman, A E; Willis, W D

    1979-10-01

    Stingrays swim with an active elevation-depression sequence of the pectoral fin resembling an extension-flexion sequence. During forward locomotion this sequence passes caudally along the pectoral fin. Immediately following high decerebration, stingrays are capable of locomotion, and the pattern of muscle activity closely resembles that of intact animals. Spontaneous and midbrain evoked rhythmic motoneuron discharges can be recorded in paralyzed decerebrated animals. In contrast to dogfish sharks, stringrays with high spinal transections do not locomote.

  6. Economic assessment of coal burning diesel locomotives: Topical report

    SciTech Connect

    Hapeman, M.J.; Savkar, S.D.

    1985-10-01

    The coal burning steam locomotive was displaced many years ago by the diesel electric locomotive due to its several well-known advantages. However, the recent escalation of diesel fuel oil prices and the relatively inexpensive and plentiful coal supply provides an incentive to relook at a coal burning diesel electric locomotive. The success of the diesel-electric locomotive is really the result of two major technological changes: (1) the diesel engine, and (2) the electric drive transmission. The smooth, controlled application of power to the rails via electric motors, reduced the locomotive tractive weight by nearly 30%, and also reduced track maintenance by eliminating reciprocating vertical forces. More horsepower is also applied at low speeds to improve train acceleration. The diesel engine has been developed to produce nearly as much horsepower as the largest steam locomotives but with much less maintenance, higher reliability and more availability. The current cost of diesel fuel is now high enough to encourage a return to less-expensive, domestically-available coal fuel. However, it would be a step backward to lose the advantages of the diesel-electric locomotive. General Electric embarked upon a study to determine the best way to design and manufacture a coal-fired locomotive considering various prime movers, but all with electric drive. For a coal-fired diesel locomotive (CFDL) to be commercially viable, it must pass all three of the following criteria: be technically feasible; meet railroads' financial expectations; and offer an attractive return to the Locomotive manufacturer. These three criteria are reviewed based on results to date of General Electric's CFDL studies. The analysis assumes constant 1985 dollars and no significant changes in relative costs of diesel fuel and coal. 23 figs., 16 tabs.

  7. Locomotion improvement using a hybrid assistive limb in recovery phase stroke patients: a randomized controlled pilot study.

    PubMed

    Watanabe, Hiroki; Tanaka, Naoki; Inuta, Tomonari; Saitou, Hideyuki; Yanagi, Hisako

    2014-11-01

    To compare the efficacy of gait training using a single-leg version of the Hybrid Assistive Limb (HAL) on the paretic side with conventional gait training in individuals with subacute stroke. Randomized open controlled pilot trial. Hospitalized care. Convenience sample of 44 patients who met the criteria; 12 patients refused. After randomization (N=32), 10 patients withdrew and a total of 22 poststroke participants (HAL group: n=11; conventional group: n=11) completed the randomized controlled trial. All participants received twelve 20-minute sessions in 4 weeks of either HAL (wearing the single-leg version of the HAL on their paretic side) or conventional (performed by skilled and experienced physical therapists) gait training. Outcome measures were evaluated prior to training and after 12 sessions. Functional Ambulation Category (FAC) was the primary outcome measure, whereas secondary outcome measures included maximum walking speed, timed Up and Go test, 6-minute walk distance, Short Physical Performance Battery, Fugl-Meyer Assessment of Lower Extremity, and isometric muscle strength (hip flexion and extension, knee flexion and extension). No participants withdrew because of adverse effects. Participants who received gait training with the HAL showed significantly more improvement in the FAC than those who received conventional gait training (95% confidence interval, .02-.88; P=.04). Secondary measures did not differ between the 2 groups. The results obtained in this randomized controlled trial suggest that a gait training program with the HAL could improve independent walking more efficiently than conventional gait training. Copyright © 2014 American Congress of Rehabilitation Medicine. Published by Elsevier Inc. All rights reserved.

  8. Treatment with Riluzole Restores Normal Control of Soleus and Extensor Digitorum Longus Muscles during Locomotion in Adult Rats after Sciatic Nerve Crush at Birth

    PubMed Central

    Cabaj, Anna M.; Sławińska, Urszula

    2017-01-01

    The effects of sciatic nerve crush (SNC) and treatment with Riluzole on muscle activity during unrestrained locomotion were identified in an animal model by analysis of the EMG activity recorded from soleus (Sol) and extensor digitorum longus (EDL) muscles of both hindlimbs; in intact rats (IN) and in groups of rats treated for 14 days with saline (S) or Riluzole (R) after right limb nerve crush at the 1st (1S and 1R) or 2nd (2S and 2R) day after birth. Changes in the locomotor pattern of EMG activity were correlated with the numbers of survived motor units (MUs) identified in investigated muscles. S rats with 2–8 and 10–28 MUs that survived in Sol and EDL muscles respectively showed increases in the duration and duty factor of muscle EMG activity and a loss of correlation between the duty factors of muscle activity, and abnormal flexor-extensor co-activation 3 months after SNC. R rats with 5, 6 (Sol) and 15–29 MUs (EDL) developed almost normal EMG activity of both Sol and control EDL muscles, whereas EDL muscles with SNC showed a lack of recovery. R rats with 8 (Sol) and 23–33 (EDL) MUs developed almost normal EMG activities of all four muscles. A subgroup of S rats with a lack of recovery and R rats with almost complete recovery that had similar number of MUs (8 and 24–28 vs 8 and 23–26), showed that the number of MUs was not the only determinant of treatment effectiveness. The results demonstrated that rats with SNC failed to develop normal muscle activity due to malfunction of neuronal circuits attenuating EDL muscle activity during the stance phase, whereas treatment with Riluzole enabled almost normal EMG activity of Sol and EDL muscles during locomotor movement. PMID:28095499

  9. A proposal for the definition of terms related to locomotion of leukocytes and other cells*

    PubMed Central

    1980-01-01

    There is currently much confusion of terms relating to locomotion of leukocytes and other cells. Standardized and precise use of terms is, however, indispensable for analysis of the basic mechanisms controlling such locomotion. The present proposal is intended to serve as a basis for a standardized system of reporting locomotor behaviour of leukocytes and other cells and their responses to environmental stimuli. Definitions of the terms random locomotion, directional locomotion, chemotaxis, chemokinesis, and intrinsic locomotor capacity are proposed. Examples are given to demonstrate the application of the terms in the experimental and clinical analysis of cell locomotion. PMID:6968255

  10. Locomotion: Dealing with friction

    PubMed Central

    Radhakrishnan, V.

    1998-01-01

    To move on land, in water, or in the air, even at constant speed and at the same level, always requires an expenditure of energy. The resistance to motion that has to be overcome is of many different kinds depending on size, speed, and the characteristics of the medium, and is a fascinating subject in itself. Even more interesting are nature’s stratagems and solutions toward minimizing the effort involved in the locomotion of different types of living creatures, and humans’ imitations and inventions in an attempt to do at least as well. PMID:9576902

  11. Passive control of cell locomotion using micropatterns: the effect of micropattern geometry on the migratory behavior of adherent cells.

    PubMed

    Yoon, Sang-Hee; Kim, Young Kyun; Han, Eui Don; Seo, Young-Ho; Kim, Byeong Hee; Mofrad, Mohammad R K

    2012-07-07

    Directed cell migration is critical to a variety of biological and physiological processes. Although simple topographical patterns such as parallel grooves and three-dimensional post arrays have been studied to guide cell migration, the effect of the dimensions and shape of micropatterns, which respectively represent the amount and gradient of physical spatial cues, on cell migration has not yet been fully explored. This motivates a quantitative characterization of cell migration in response to micropatterns having different widths and divergence angles. The changes in the migratory (and even locational) behavior of adherent cells, when the cells are exposed to physical spatial cues imposed by the micropatterns, are explored here using a microfabricated biological platform, nicknamed the "Rome platform". The Rome platform, made of a biocompatible, ultraviolet (UV) curable polymer (ORMOCOMP), consists of 3 μm thick micropatterns with different widths of 3 to 75 μm and different divergence angles of 0.5 to 5.0°. The migration paths through which NIH 3T3 fibroblasts move on the micropatterns are analyzed with a persistent random walk model, thus quantifying the effect of the divergence angle of micropatterns on cell migratory characteristics such as cell migration speed, directional persistence time, and random motility coefficient. The effect of the width of micropatterns on cell migratory characteristics is also extensively investigated. Cell migration direction is manipulated by creating the gradient of physical spatial cues (that is, divergence angle of micropatterns), while cell migration speed is controlled by modulating the amount of them (namely, width of micropatterns). In short, the amount and gradient of physical spatial cues imposed by changing the width and divergence angle of micropatterns make it possible to control the rate and direction of cell migration in a passive way. These results offer a potential for reducing the healing time of open wounds

  12. Interactions between locomotion and ventilation in tetrapods.

    PubMed

    Boggs, Dona F

    2002-10-01

    Interactions between locomotion and ventilation have now been studied in several species of reptiles, birds and mammals, from a variety of perspectives. Among these perspectives are neural interactions of separate but linked central controllers; mechanical impacts of locomotion upon ventilatory pressures and flows; and the extent to which the latter may affect gas exchange and the energetics of exercise. A synchrony, i.e. 1:1 pattern of coordination, is observed in many running mammals once they achieve galloping speeds, as well as in flying bats, some flying birds and hopping marsupials. Other, non-1:1, patterns of coordination are seen in trotting and walking quadrupeds, as well as running bipedal humans and running and flying birds. There is evidence for an energetic advantage to coordination of locomotor and respiratory cycles for flying birds and running mammals. There is evidence for a mechanical constraint upon ventilation by locomotion for some reptiles (e.g. iguana), but not for others (e.g. varanids and crocodilians). In diving birds the impact of wing flapping or foot paddling on differential air sac pressures enhances gas exchange during the breath hold by improving diffusive and convective movement of air sac oxygen to parabronchi. This paper will review the current state of our knowledge of such influences of locomotion upon respiratory system function.

  13. Passive mechanics in jellyfish-like locomotion

    NASA Astrophysics Data System (ADS)

    Wilson, Megan; Eldredge, Jeff

    2008-11-01

    The aim of this work is to identify possible benefits of passive flexibility in biologically-inspired locomotion. Substantial energy savings are likely achieved in natural locomotion by allowing a mix of actively controlled and passively responsive deformation. The jellyfish is a useful target of study, due to its relatively simple structure and the availability of recent kinematics and flow-field measurements. In this investigation, the jellyfish consists of a two-dimensional articulated system of rigid bodies linked by hinges. The kinematics -- expressed via the hinge angles -- are adapted from experimentally measured motion. The free swimming system is explored via high-fidelity numerical simulation with a viscous vortex particle method with coupled body dynamics. The computational tool allows the arbitrary designation of individual hinges as ``active'' or ``passive,'' to introduce a mix of flexibility into the system. In some cases, replacing an active hinge with a passive spring can enhance the mean swimming speed, thus reducing the power requirements of the system. Varying the stiffness and damping coefficients of the spring yield different locomotive results. The numerical solution is used to compute the finite-time Lyapunov exponents (FTLE) throughout the field. The FTLE fields reveal manifolds in the flow that act as transport barriers, uncovering otherwise unseen geometric characteristics of the flow field that add new insight into the locomotion mechanics.

  14. Method for Adapting to Rough Terrain Based on Environmental Modes for Biped Robots

    NASA Astrophysics Data System (ADS)

    Ohashi, Eijiro; Sato, Tomoya; Ohnishi, Kouhei

    This paper describes a method for adapting to rough terrain for biped robots. The robots obtain information of reaction force from the ground by sensors located at each corner of rectangular soles. From the sensor information, environmental modes are extracted. The environmental modes consist of four modes: heaving, rolling, pitching, and twisting, which represent contact states between the ground and the soles. On the basis of the twisting mode, the robot detects the unevenness of the ground, makes contact with the uneven ground stably with three corners of the sole, and modifies the trajectory to continue stable walking. The validity of the proposed method is confirmed by experimental results.

  15. Morphological self stabilization of locomotion gaits: illustration on a few examples from bio-inspired locomotion.

    PubMed

    Chevallereau, Christine; Boyer, Frédéric; Porez, Mathieu; Mauny, Johan; Aoustin, Yannick

    2017-06-20

    To a large extent, robotics locomotion can be viewed as cyclic motions, named gaits. Due to the high complexity of the locomotion dynamics, to find the control laws that ensure an expected gait and its stability with respect to external perturbations, is a challenging issue for feedback control. To address this issue, a promising way is to take inspiration from animals that intensively exploit the interactions of the passive degrees of freedom of their body with their physical surroundings, to outsource the high-level exteroceptive feedback control to low-level proprioceptive ones. In this case, passive interactions can ensure most of the expected control goals. In this article, we propose a methodological framework to study the role of morphology in the design of locomotion gaits and their stability. This framework ranges from modelling to control aspects, and is illustrated through three examples from bio-inspired locomotion: a three-dimensional micro air vehicle in hovering flight, a pendular planar climber and a bipedal planar walker. In these three cases, we will see how simple considerations based on the morphology of the body can ensure the existence of passive stable gaits without requiring any high-level control.

  16. Legless locomotion in lattices

    NASA Astrophysics Data System (ADS)

    Schiebel, Perrin; Dai, Jin; Gong, Chaohui; Serrano, Miguel M.; Mendelson, Joseph R., III; Choset, Howie; Goldman, Daniel I.

    2015-03-01

    By propagating waves from head to tail, limbless organisms like snakes can traverse terrain composed of rocks, foliage, soil and sand. Previous research elucidated how rigid obstacles influence snake locomotion by studying a model terrain-symmetric lattices of pegs placed in hard ground. We want to understand how different substrate-body interaction modes affect performance in desert-adapted snakes during transit of substrates composed of both rigid obstacles and granular media (GM). We tested Chionactis occipitalis, the Mojave shovel-nosed snake, in two laboratory treatments: lattices of 0 . 64 cm diameter obstacles arrayed on both a hard, slick substrate and in a GM of ~ 0 . 3 mm diameter glass particles. For all lattice spacings, d, speed through the hard ground lattices was less than that in GM lattices. However, maximal undulation efficiencies ηu (number of body lengths advanced per undulation cycle) in both treatments were comparable when d was intermediate. For other d, ηu was lower than this maximum in hard ground lattices, while on GM, ηu was insensitive to d. To systematically explore such locomotion, we tested a physical robot model of the snake; performance depended sensitively on base substrate, d and body wave parameters.

  17. Locomotion in caterpillars.

    PubMed

    van Griethuijsen, L I; Trimmer, B A

    2014-08-01

    Most species of caterpillar move around by inching or crawling. Their ability to navigate in branching three-dimensional structures makes them particularly interesting biomechanical subjects. The mechanism of inching has not been investigated in detail, but crawling is now well understood from studies on caterpillar neural activity, dynamics and structural mechanics. Early papers describe caterpillar crawling as legged peristalsis, but recent work suggests that caterpillars use a tension-based mechanism that helps them to exploit arboreal niches. Caterpillars are not obligate hydrostats but instead use their strong grip to the substrate to transmit forces, in effect using their environment as a skeleton. In addition, the gut which accounts for a substantial part of the caterpillar's weight, moves independently of the body wall during locomotion and may contribute to crawling dynamics. Work-loop analysis of caterpillar muscles shows that they are likely to act both as actuators and energy dissipaters during crawling. Because caterpillar tissues are pseudo-elastic, and locomotion involves large body deformations, moving is energetically inefficient. Possession of a soft body benefits caterpillars by allowing them to grow quickly and to access remote food sources safely.

  18. Forcing contact inhibition of locomotion.

    PubMed

    Roycroft, Alice; Mayor, Roberto

    2015-07-01

    Contact inhibition of locomotion drives a variety of biological phenomenon, from cell dispersion to collective cell migration and cancer invasion. New imaging techniques have allowed contact inhibition of locomotion to be visualised in vivo for the first time, helping to elucidate some of the molecules and forces involved in this phenomenon. Copyright © 2015 The Authors. Published by Elsevier Ltd.. All rights reserved.

  19. Central pattern generators for bipedal locomotion.

    PubMed

    Pinto, Carla M A; Golubitsky, Martin

    2006-09-01

    Golubitsky, Stewart, Buono and Collins proposed two models for the achitecture of central pattern generators (CPGs): one for bipeds (which we call leg) and one for quadrupeds (which we call quad). In this paper we use symmetry techniques to classify the possible spatiotemporal symmetries of periodic solutions that can exist in leg (there are 10 nontrivial types) and we explore the possibility that coordinated arm/leg rhythms can be understood, on the CPG level, by a small breaking of the symmetry in quad, which leads to a third CPG architecture arm. Rhythms produced by leg correspond to the bipedal gaits of walk, run, two-legged hop, two-legged jump, skip, gallop, asymmetric hop, and one-legged hop. We show that breaking the symmetry between fore and hind limbs in quad, which yields the CPG arm, leads to periodic solution types whose associated leg rhythms correspond to seven of the eight leg gaits found in leg; the missing biped gait is the asymmetric hop. However, when arm/leg coordination rhythms are considered, we find the correct rhythms only for the biped gaits of two-legged hop, run, and gallop. In particular, the biped gait walk, along with its arm rhythms, cannot be obtained by a small breaking of symmetry of any quadruped gait supported by quad.

  20. A Locomotion Intent Prediction System Based on Multi-Sensor Fusion

    PubMed Central

    Chen, Baojun; Zheng, Enhao; Wang, Qining

    2014-01-01

    Locomotion intent prediction is essential for the control of powered lower-limb prostheses to realize smooth locomotion transitions. In this research, we develop a multi-sensor fusion based locomotion intent prediction system, which can recognize current locomotion mode and detect locomotion transitions in advance. Seven able-bodied subjects were recruited for this research. Signals from two foot pressure insoles and three inertial measurement units (one on the thigh, one on the shank and the other on the foot) are measured. A two-level recognition strategy is used for the recognition with linear discriminate classifier. Six kinds of locomotion modes and ten kinds of locomotion transitions are tested in this study. Recognition accuracy during steady locomotion periods (i.e., no locomotion transitions) is 99.71% ± 0.05% for seven able-bodied subjects. During locomotion transition periods, all the transitions are correctly detected and most of them can be detected before transiting to new locomotion modes. No significant deterioration in recognition performance is observed in the following five hours after the system is trained, and small number of experiment trials are required to train reliable classifiers. PMID:25014097

  1. Scaling macroscopic aquatic locomotion

    NASA Astrophysics Data System (ADS)

    Gazzola, Mattia; Argentina, Mederic; Mahadevan, Lakshminarayanan

    2014-11-01

    Inertial aquatic swimmers that use undulatory gaits range in length L from a few millimeters to 30 meters, across a wide array of biological taxa. Using elementary hydrodynamic arguments, we uncover a unifying mechanistic principle characterizing their locomotion by deriving a scaling relation that links swimming speed U to body kinematics (tail beat amplitude A and frequency ω) and fluid properties (kinematic viscosity ν). This principle can be simply couched as the power law Re ~ Swα , where Re = UL / ν >> 1 and Sw = ωAL / ν , with α = 4 / 3 for laminar flows, and α = 1 for turbulent flows. Existing data from over 1000 measurements on fish, amphibians, larvae, reptiles, mammals and birds, as well as direct numerical simulations are consistent with our scaling. We interpret our results as the consequence of the convergence of aquatic gaits to the performance limits imposed by hydrodynamics.

  2. Scaling macroscopic aquatic locomotion

    NASA Astrophysics Data System (ADS)

    Gazzola, Mattia; Argentina, Médéric; Mahadevan, L.

    2014-10-01

    Inertial aquatic swimmers that use undulatory gaits range in length L from a few millimetres to 30 metres, across a wide array of biological taxa. Using elementary hydrodynamic arguments, we uncover a unifying mechanistic principle characterizing their locomotion by deriving a scaling relation that links swimming speed U to body kinematics (tail beat amplitude A and frequency ω) and fluid properties (kinematic viscosity ν). This principle can be simply couched as the power law Re ~ Swα, where Re = UL/ν >> 1 and Sw = ωAL/ν, with α = 4/3 for laminar flows, and α = 1 for turbulent flows. Existing data from over 1,000 measurements on fish, amphibians, larvae, reptiles, mammals and birds, as well as direct numerical simulations are consistent with our scaling. We interpret our results as the consequence of the convergence of aquatic gaits to the performance limits imposed by hydrodynamics.

  3. Stretch reflex improves rolling stability during hopping of a decerebrate biped system.

    PubMed

    Rosendo, Andre; Liu, Xiangxiao; Shimizu, Masahiro; Hosoda, Koh

    2015-01-19

    When humans hop, attitude recovery can be observed in both the sagittal and frontal planes. While it is agreed that the brain plays an important role in leg placement, the role of low-level feedback (the stretch reflex) on frontal plane stabilization remains unclear. Seeking to better understand the contribution of the soleus stretch reflex to rolling stability, we performed experiments on a biomimetic humanoid hopping robot. Various reflex responses to touching the floor, ranging from no response to long muscle activations, were examined, and the effect of a delay upon touching the floor was also examined. We found that the stretch reflex brought the system closer to stable, straight hopping. The presence of a delay did not affect the results; both the cases with and without a delay outperformed the case without a reflex response. The results of this study highlight the importance of low-level control in locomotion for which body stabilization does not require higher-level signals.

  4. Mechanics of peristaltic locomotion and role of anchoring

    PubMed Central

    Tanaka, Yoshimi; Ito, Kentaro; Nakagaki, Toshiyuki; Kobayashi, Ryo

    2012-01-01

    Limbless crawling is a fundamental form of biological locomotion adopted by a wide variety of species, including the amoeba, earthworm and snake. An interesting question from a biomechanics perspective is how limbless crawlers control their flexible bodies in order to realize directional migration. In this paper, we discuss the simple but instructive problem of peristalsis-like locomotion driven by elongation–contraction waves that propagate along the body axis, a process frequently observed in slender species such as the earthworm. We show that the basic equation describing this type of locomotion is a linear, one-dimensional diffusion equation with a time–space-dependent diffusion coefficient and a source term, both of which express the biological action that drives the locomotion. A perturbation analysis of the equation reveals that adequate control of friction with the substrate on which locomotion occurs is indispensable in order to translate the internal motion (propagation of the elongation–contraction wave) into directional migration. Both the locomotion speed and its direction (relative to the wave propagation) can be changed by the control of friction. The biological relevance of this mechanism is discussed. PMID:21831891

  5. Fundamentals of soft robot locomotion

    PubMed Central

    2017-01-01

    Soft robotics and its related technologies enable robot abilities in several robotics domains including, but not exclusively related to, manipulation, manufacturing, human–robot interaction and locomotion. Although field applications have emerged for soft manipulation and human–robot interaction, mobile soft robots appear to remain in the research stage, involving the somehow conflictual goals of having a deformable body and exerting forces on the environment to achieve locomotion. This paper aims to provide a reference guide for researchers approaching mobile soft robotics, to describe the underlying principles of soft robot locomotion with its pros and cons, and to envisage applications and further developments for mobile soft robotics. PMID:28539483

  6. Locomotion speeds of various dinosaurs

    NASA Astrophysics Data System (ADS)

    Dougherty, Mary; Lee, Scott

    2009-03-01

    Most students have a passing curiosity about dinosaurs. Piquing this interest is an excellent tool to engage students. A methodology for estimating the locomotion speed of an animal based upon their footprint tracks is developed. Using this technique, an analysis of the locomotion speeds of various dinosaurs is performed. The tracks studied include 28 theropods (meat-eating dinosaurs), 23 sauropods (the ``long-necked'' herbivores), 28 non-armored, non-sauropod herbivores and 10 armored, non-sauropod herbivores. The theropods show the fastest locomotion speed as well as the greatest variety of speeds while the armored dinosaurs are the slowest.

  7. Locomotion Speeds of Various Dinosaurs

    NASA Astrophysics Data System (ADS)

    Dougherty, M. T.; Lee, S. A.

    2009-04-01

    A methodology for estimating the locomotion speed of an animal based upon their footprint tracks is developed. Using this technique, an analysis of the locomotion speeds of various dinosaurs is performed. The tracks studied include 28 theropods (meat-eating dinosaurs), 23 sauropods (the ``long-necked'' herbivores), 28 non-armored, non-sauropod herbivores and 10 armored, non-sauropod herbivores. The theropods show the fastest locomotion speed as well as the greatest variety of speeds while the armored dinosaurs are the slowest.

  8. 76 FR 2199 - Locomotive Safety Standards

    Federal Register 2010, 2011, 2012, 2013, 2014

    2011-01-12

    ...FRA proposes to revise the existing regulations containing Railroad Locomotive Safety Standards. The proposed revisions would update, consolidate, and clarify the existing regulations. The proposal incorporates existing industry and engineering best practices related to locomotives and locomotive electronics. This includes the development of a safety analysis for new locomotive electronic......

  9. Disparity and convergence in bipedal archosaur locomotion

    PubMed Central

    Bates, K. T.; Schachner, E. R.

    2012-01-01

    This study aims to investigate functional disparity in the locomotor apparatus of bipedal archosaurs. We use reconstructions of hindlimb myology of extant and extinct archosaurs to generate musculoskeletal biomechanical models to test hypothesized convergence between bipedal crocodile-line archosaurs and dinosaurs. Quantitative comparison of muscle leverage supports the inference that bipedal crocodile-line archosaurs and non-avian theropods had highly convergent hindlimb myology, suggesting similar muscular mechanics and neuromuscular control of locomotion. While these groups independently evolved similar musculoskeletal solutions to the challenges of parasagittally erect bipedalism, differences also clearly exist, particularly the distinct hip and crurotarsal ankle morphology characteristic of many pseudosuchian archosaurs. Furthermore, comparative analyses of muscle design in extant archosaurs reveal that muscular parameters such as size and architecture are more highly adapted or optimized for habitual locomotion than moment arms. The importance of these aspects of muscle design, which are not directly retrievable from fossils, warns against over-extrapolating the functional significance of anatomical convergences. Nevertheless, links identified between posture, muscle moments and neural control in archosaur locomotion suggest that functional interpretations of osteological changes in limb anatomy traditionally linked to postural evolution in Late Triassic archosaurs could be constrained through musculoskeletal modelling. PMID:22112652

  10. Kinematic determinants of human locomotion.

    PubMed Central

    Borghese, N A; Bianchi, L; Lacquaniti, F

    1996-01-01

    1. The aim of this study was to find kinematic patterns that are invariant across the normal range of locomotion speeds. Subjects walked at different, freely chosen speeds ranging from 0.9 to 2.1 m s-1, while motion and ground reaction forces on the right side of the body were recorded in three-dimensional space. 2. The time course of the anatomical angles of flexion-extension at the hip and ankle was variable not only across subjects, but even from trial to trial in the same subject. By contrast, the time course of the changes in the angles of elevation of each limb segment (pelvis, thigh, shank and foot) relative to the vertical was stereotyped across subjects. 3. To compare the waveforms across speeds, data were scaled in time relative to gait cycle duration. The pattern of ground reaction forces was highly speed dependent. Several distinct families of curves could be recognized in the flexion-extension angles at the hip and ankle. Instead, the waveforms of global length and elevation of the limb, elevation angles of all limb segments and flexion-extension at the knee were invariant with speed. 4. When gait trajectories at all speeds are plotted in the position space defined by the elevation angles of the limb segments, they describe regular loops on a plane. The statistical characteristics of these angular covariations were quantified by means of principal component analysis. The first two principal components accounted together for > 99% of the total experimental variance, and were quantitatively comparable in all subjects. 5. This constraint of planar covariation of the elevation angles is closely reminiscent of that previously described for the control of posture. The existence of laws of intersegmental co-ordination, common to the control of posture and locomotion, presumably assures the maintenance of dynamic equilibrium during forward progression, and the anticipatory adaptation to potentially destabilizing factors by means of co-ordinated kinematic

  11. Piezoelectric vibration-driven locomotion systems - Exploiting resonance and bistable dynamics

    NASA Astrophysics Data System (ADS)

    Fang, Hongbin; Wang, K. W.

    2017-03-01

    While a piezoelectric-based vibration-driven system is an excellent candidate for actuating small-size crawling-type locomotion robots, it has the major drawback of limited stroke output that would severely constraint the system's locomotion performance. In this paper, to advance the state of the art, we propose two novel designs of piezoelectric vibration-driven locomotion systems. The first utilizes the resonant amplification concept, and the second explores the design of a bistable device. While these two ideas have been explored for piezoelectric actuation amplification in general, they have never been exploited for crawling-type robotic locomotion. Numerical analyses on both systems reveal that resonance and bistability can substantially increase the systems' average locomotion speed. Moreover, this research shows that with bistability, the system is able to output high average locomotion speed in a wider frequency band, possess multiple locomotion modes, and achieve fast switches among them. Through proof-of-concept prototypes, the predicted locomotion performance improvements brought by resonance and bistability are verified. Finally, the basin stability is evaluated to systematically describe the occurring probability of certain locomotion behavior of the bistable system, which would provide useful guideline to the design and control of bistable vibration-driven locomotion systems.

  12. The Bipolar Interactive Psychoeducation (BIPED) study: trial design and protocol.

    PubMed

    Simpson, Sharon; Barnes, Emma; Griffiths, Emily; Hood, Kerry; Cohen, David; Craddock, Nick; Jones, Ian; Smith, Daniel J

    2009-08-12

    Bipolar disorders affect between 3-5% of the population and are associated with considerable lifelong impairment. Since much of the morbidity associated with bipolar disorder is caused by recurrent depressive symptoms, which are often only poorly responsive to antidepressants, there is a need to develop alternative, non-pharmacological interventions. Psychoeducational interventions have emerged as promising long-term therapeutic options for bipolar disorder. The study is an exploratory, individually randomised controlled trial. The intervention known as 'Beating Bipolar' is a psychoeducational programme which is delivered via a novel web-based system. We will recruit 100 patients with a diagnosis of DSM-IV bipolar disorder (including type I and type II) currently in clinical remission. The primary outcome is quality of life. This will be compared for those patients who have participated in the psychoeducational programme with those who received treatment as usual. Quality of life will be assessed immediately following the intervention as well as 10 months after randomisation. Secondary outcomes include current depressive and manic symptoms, number of episodes of depression and mania/hypomania experienced during the follow-up period, global functioning, functional impairment and insight. An assessment of costs and a process evaluation will also be conducted which will explore the feasibility and acceptability of the intervention as well as potential barriers to effectiveness. Bipolar disorder is common, under-recognised and often poorly managed. It is a chronic, life-long, relapsing condition which has an enormous impact on the individual and the economy. This trial will be the first to explore the effectiveness of a novel web-based psychoeducational intervention for patients with bipolar disorder which has potential to be easily rolled out to patients. Current Controlled Trials ISRCTN81375447.

  13. The coupling of vision with locomotion in cortical blindness.

    PubMed

    Pelah, Adar; Barbur, John; Thurrell, Adrian; Hock, Howard S

    2015-05-01

    Maintaining or modifying the speed and direction of locomotion requires the coupling of the locomotion with the retinal optic flow that it generates. It is shown that this essential behavioral capability, which requires on-line neural control, is preserved in the cortically blind hemifield of a hemianope. In experiments, optic flow stimuli were presented to either the normal or blind hemifield while the patient was walking on a treadmill. Little difference was found between the hemifields with respect to the coupling (i.e. co-dependency) of optic flow detection with locomotion. Even in the cortically blind hemifield, faster walking resulted in the perceptual slowing of detected optic flow, and self-selected locomotion speeds demonstrated behavioral discrimination between different optic flow speeds. The results indicate that the processing of optic flow, and thereby on-line visuo-locomotor coupling, can take place along neural pathways that function without processing in Area V1, and thus in the absence of conscious intervention. These and earlier findings suggest that optic flow and object motion are processed in parallel along with correlated non-visual locomotion signals. Extrastriate interactions may be responsible for discounting the optical effects of locomotion on the perceived direction of object motion, and maintaining visually guided self-motion. Copyright © 2014 Elsevier B.V. All rights reserved.

  14. Spatio-temporal features for tracking and quadruped/biped discrimination

    NASA Astrophysics Data System (ADS)

    Rickman, Rick; Copsey, Keith; Bamber, David C.; Page, Scott F.

    2012-05-01

    Techniques such as SIFT and SURF facilitate efficient and robust image processing operations through the use of sparse and compact spatial feature descriptors and show much potential for defence and security applications. This paper considers the extension of such techniques to include information from the temporal domain, to improve utility in applications involving moving imagery within video data. In particular, the paper demonstrates how spatio-temporal descriptors can be used very effectively as the basis of a target tracking system and as target discriminators which can distinguish between bipeds and quadrupeds. Results using sequences of video imagery of walking humans and dogs are presented, and the relative merits of the approach are discussed.

  15. Walking Planning Based on Artificial Vector Field with Prediction Simulation for Biped Robot

    NASA Astrophysics Data System (ADS)

    Yamaguchi, Takashi; Shibata, Masaaki

    This paper proposes a way of gait trajectory generation with artificial vector field for stable walking of a biped robot. The tip of the robot on walking can often deviate from the desired trajectory by the disturbances forced by unexpected outside factors. In our approach, though no prepared trajectory is specified a priori, the tip follows the artificial vectors designed in the workspace. Moreover, the prediction simulation is performed on-line. The simulator judges the stability under comparison with the present state and the prediction results, and then the gait parameters are adaptively improved in feedforward for the stable walk. The numerical and physical experimental results show the validity of the proposed method in the continuous walk.

  16. A spiral attractor network drives rhythmic locomotion

    PubMed Central

    Bruno, Angela M; Frost, William N; Humphries, Mark D

    2017-01-01

    The joint activity of neural populations is high dimensional and complex. One strategy for reaching a tractable understanding of circuit function is to seek the simplest dynamical system that can account for the population activity. By imaging Aplysia’s pedal ganglion during fictive locomotion, here we show that its population-wide activity arises from a low-dimensional spiral attractor. Evoking locomotion moved the population into a low-dimensional, periodic, decaying orbit - a spiral - in which it behaved as a true attractor, converging to the same orbit when evoked, and returning to that orbit after transient perturbation. We found the same attractor in every preparation, and could predict motor output directly from its orbit, yet individual neurons’ participation changed across consecutive locomotion bouts. From these results, we propose that only the low-dimensional dynamics for movement control, and not the high-dimensional population activity, are consistent within and between nervous systems. DOI: http://dx.doi.org/10.7554/eLife.27342.001 PMID:28780929

  17. Bipedal locomotion in granular media

    NASA Astrophysics Data System (ADS)

    Kingsbury, Mark; Zhang, Tingnan; Goldman, Daniel

    Bipedal walking, locomotion characterized by alternating swing and double support phase, is well studied on ground where feet do not penetrate the substrate. On granular media like sand however, intrusion and extrusion phases also occur. In these phases, relative motion of the two feet requires that one or both feet slip through the material, degrading performance. To study walking in these phases, we designed and studied a planarized bipedal robot (1.6 kg, 42 cm) that walked in a fluidized bed of poppy seeds. We also simulated the robot in a multibody software environment (Chrono) using granular resistive force theory (RFT) to calculate foot forces. In experiment and simulation, the robot experienced slip during the intrusion phase, with the experiment presenting additional slip due to motor control error during the double support phase. This exaggerated slip gave insight (through analysis of ground reaction forces in simulation) into how slip occurs when relative motion exists between the two feet in the granular media, where the foot with higher relative drag forces (from its instantaneous orientation, rotation, relative direction of motion, and depth) remains stationary. With this relationship, we generated walking gaits for the robot to walk with minimal slip.

  18. Passive locomotion in unsteady flows

    NASA Astrophysics Data System (ADS)

    Ghaemi Oskouei, Babak; Kanso, Eva

    2010-11-01

    The passive locomotion of a submerged body in unsteady flow is studied. This work is motivated by recent experimental evidence that live and dead trout exploit vortices in the wake of an oscillating cylinder to swim upstream. We consider a simple model of a rigid body interacting dynamically with idealized wake models. The wake models consist of point vortices periodically introduced into the fluid domain to emulate shedding of vortices from an external un-modeled fixed or moving obstacle producing a "drag" or "thrust" wake, respectively. Both symmetric and staggered vortex configurations are considered. The submerged body is free to move in the plane, that is to say, it is not pinned at a given point. We do not prescribe a background flow, we rather consider the two-way coupled dynamics between the body's motion and the advection of ambient vortices. We show that both circular and elliptical bodies could "swim" passively against the flow by extracting energy from the ambient vortices. We obtain periodic trajectories for the body-vortex system and analyze their linear stability. We propose active feedback control strategies to overcome the instabilities.

  19. Interaction of ARF-1.1 and neuronal calcium sensor-1 in the control of the temperature-dependency of locomotion in Caenorhabditis elegans

    PubMed Central

    Todd, Paul A. C.; McCue, Hannah V.; Haynes, Lee P.; Barclay, Jeff W.; Burgoyne, Robert D.

    2016-01-01

    Neuronal calcium sensor-1 (NCS-1) mediates changes in cellular function by regulating various target proteins. Many potential targets have been identified but the physiological significance of only a few has been established. Upon temperature elevation, Caenorhabditis elegans exhibits reversible paralysis. In the absence of NCS-1, worms show delayed onset and a shorter duration of paralysis. This phenotype can be rescued by re-expression of ncs-1 in AIY neurons. Mutants with defects in four potential NCS-1 targets (arf-1.1, pifk-1, trp-1 and trp-2) showed qualitatively similar phenotypes to ncs-1 null worms, although the effect of pifk-1 mutation on time to paralysis was considerably delayed. Inhibition of pifk-1 also resulted in a locomotion phenotype. Analysis of double mutants showed no additive effects between mutations in ncs-1 and trp-1 or trp-2. In contrast, double mutants of arf-1.1 and ncs-1 had an intermediate phenotype, consistent with NCS-1 and ARF-1.1 acting in the same pathway. Over-expression of arf-1.1 in the AIY neurons was sufficient to rescue partially the phenotype of both the arf-1.1 and the ncs-1 null worms. These findings suggest that ARF-1.1 interacts with NCS-1 in AIY neurons and potentially pifk-1 in the Ca2+ signaling pathway that leads to inhibited locomotion at an elevated temperature. PMID:27435667

  20. 40 CFR 1033.15 - Other regulation parts that apply for locomotives.

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... 40 Protection of Environment 33 2011-07-01 2011-07-01 false Other regulation parts that apply for locomotives. 1033.15 Section 1033.15 Protection of Environment ENVIRONMENTAL PROTECTION AGENCY (CONTINUED) AIR POLLUTION CONTROLS CONTROL OF EMISSIONS FROM LOCOMOTIVES Overview and Applicability § 1033.15 Other...

  1. 49 CFR 236.1047 - Training specific to locomotive engineers and other operating personnel.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... INSTRUCTIONS GOVERNING THE INSTALLATION, INSPECTION, MAINTENANCE, AND REPAIR OF SIGNAL AND TRAIN CONTROL SYSTEMS, DEVICES, AND APPLIANCES Positive Train Control Systems § 236.1047 Training specific to locomotive... any locomotive engineer or other person who participates in the operation of a train in train...

  2. 49 CFR 236.512 - Cab signal indication when locomotive enters block where restrictive conditions obtain.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... TRAIN CONTROL SYSTEMS, DEVICES, AND APPLIANCES Automatic Train Stop, Train Control and Cab Signal Systems Standards § 236.512 Cab signal indication when locomotive enters block where restrictive conditions obtain. The automatic cab signal system shall be arranged so that when a locomotive enters or is...

  3. Advanced locomotive heat engines

    SciTech Connect

    Daley, J.G.; Kirsch, L.W.

    1982-01-01

    Continued high cost and potential future limitations on the supply of diesel fuel are leading to reexaminations of the two established options to diesel power: coal-burning steam engines and electrification. Electrification would provide a long-term solution but requires a massive commitment of capital and the resolution of many political and legal problems. The alternative of using heat engines that utilize less-expensive fuels (especially coal) would not entail a huge initial investment but creates many operational problems in supplying, handling, storing and using another type of fuel; compatibility of new locomotives with existing units; and maintaining the new units with acceptable reliability. Fuel efficiency is considered to be important since it directly affects cost, fuel-storage requirements and, in the case of coal, ash-disposal requirements. The class of heat engines that possess the greatest degree of fuel flexibility and could be used in railroad service with either a wide spectrum of liquid fuels or with solid coal are known as external-combustion engines. The reciprocating steam engine and steam turbines are the most-familiar engines in this class which also includes external combustion Brayton cycle engines (gas turbines) and Stirling engines. This paper examines the economic, technical, and operational issues involved with use of external-combustion engines in modern railroad service. Development of suitable combustor and heat-exchange equipment is a critical problem area and, while a modern version of the reciprocating steam engine could be made available erliest, advanced engines such as a closed-cycle version of the external-combustion Brayton appear to have the best long-term promise but require a significant development effort.

  4. Locomotion in ornithischian dinosaurs: an assessment using three-dimensional computational modelling.

    PubMed

    Maidment, Susannah C R; Bates, Karl T; Falkingham, Peter L; VanBuren, Collin; Arbour, Victoria; Barrett, Paul M

    2014-08-01

    Ornithischian dinosaurs were primitively bipedal with forelimbs modified for grasping, but quadrupedalism evolved in the clade on at least three occasions independently. Outside of Ornithischia, quadrupedality from bipedal ancestors has only evolved on two other occasions, making this one of the rarest locomotory transitions in tetrapod evolutionary history. The osteological and myological changes associated with these transitions have only recently been documented, and the biomechanical consequences of these changes remain to be examined. Here, we review previous approaches to understanding locomotion in extinct animals, which can be broadly split into form-function approaches using analogy based on extant animals, limb-bone scaling, and computational approaches. We then carry out the first systematic attempt to quantify changes in locomotor muscle function in bipedal and quadrupedal ornithischian dinosaurs. Using three-dimensional computational modelling of the major pelvic locomotor muscle moment arms, we examine similarities and differences among individual taxa, between quadrupedal and bipedal taxa, and among taxa representing the three major ornithischian lineages (Thyreophora, Ornithopoda, Marginocephalia). Our results suggest that the ceratopsid Chasmosaurus and the ornithopod Hypsilophodon have relatively low moment arms for most muscles and most functions, perhaps suggesting poor locomotor performance in these taxa. Quadrupeds have higher abductor moment arms than bipeds, which we suggest is due to the overall wider bodies of the quadrupeds modelled. A peak in extensor moment arms at more extended hip angles and lower medial rotator moment arms in quadrupeds than in bipeds may be due to a more columnar hindlimb and loss of medial rotation as a form of lateral limb support in quadrupeds. We are not able to identify trends in moment arm evolution across Ornithischia as a whole, suggesting that the bipedal ancestry of ornithischians did not constrain the

  5. 49 CFR 236.509 - Two or more locomotives coupled.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ..., INSPECTION, MAINTENANCE, AND REPAIR OF SIGNAL AND TRAIN CONTROL SYSTEMS, DEVICES, AND APPLIANCES Automatic Train Stop, Train Control and Cab Signal Systems Standards § 236.509 Two or more locomotives coupled. The automatic train stop, train control or cab signal apparatus shall be arranged so that when two or...

  6. Hamiltonian mechanics and planar fishlike locomotion

    NASA Astrophysics Data System (ADS)

    Kelly, Scott; Xiong, Hailong; Burgoyne, Will

    2007-11-01

    A free deformable body interacting with a system of point vortices in the plane constitutes a Hamiltonian system. A free Joukowski foil with variable camber shedding point vortices in an ideal fluid according to a periodically applied Kutta condition provides a model for fishlike locomotion which bridges the gap between inviscid analytical models that sacrifice realism for tractability and viscous computational models inaccessible to tools from nonlinear control theory. We frame such a model in the context of Hamiltonian mechanics and describe its relevance both to the study of hydrodynamic interactions within schools of fish and to the realization of model-based control laws for biomimetic autonomous robotic vehicles.

  7. Optimal Trajectory Planning Method Using Inequality State Constraint for a Biped Walking Robot with Upper Body Mass

    NASA Astrophysics Data System (ADS)

    Huang, Qingjiu; Hase, Takamasa; Ono, Kyosuke

    For studies of biped walking robots, energy-efficiency is an important issue. We have proposed an optimal-trajectory planning method based on a function approximation method, and applied it to a 2D biped walking model. With this method, we obtained the solution of minimal square integration value of the input torque. Previously in the literature, this method included only an equality state constraint. However, in this paper, we include an inequality state constraint to restrict the joint-angle range. In addition, walking experiments were performed to verify the effectiveness of this method. Results showed that stable walking of a 0.6 s period and 0.3 m/s speed was realized. Finally, we evaluated the robot's energy-efficiency using Specific Cost analysis.

  8. Fundamentals of soft robot locomotion.

    PubMed

    Calisti, M; Picardi, G; Laschi, C

    2017-05-01

    Soft robotics and its related technologies enable robot abilities in several robotics domains including, but not exclusively related to, manipulation, manufacturing, human-robot interaction and locomotion. Although field applications have emerged for soft manipulation and human-robot interaction, mobile soft robots appear to remain in the research stage, involving the somehow conflictual goals of having a deformable body and exerting forces on the environment to achieve locomotion. This paper aims to provide a reference guide for researchers approaching mobile soft robotics, to describe the underlying principles of soft robot locomotion with its pros and cons, and to envisage applications and further developments for mobile soft robotics. © 2017 The Author(s).

  9. 40 CFR 92.511 - Remanufactured locomotives: installation audit requirements.

    Code of Federal Regulations, 2013 CFR

    2013-07-01

    ... locomotives: installation audit requirements. (a) Remanufacturers of locomotives or locomotive engines shall...: installation audit requirements. 92.511 Section 92.511 Protection of Environment ENVIRONMENTAL PROTECTION..., component settings and component installations on randomly chosen locomotives in an engine family....

  10. SIMULTANEOUS CONTROL OF AN ANKLE-FOOT PROSTHESIS MODEL USING A VIRTUAL CONSTRAINT

    PubMed Central

    Nanjangud, Akshay; Gregg, Robert D.

    2014-01-01

    Amputee locomotion can benefit from recent advances in robotic prostheses, but their control systems design poses challenges. Prosthesis control typically discretizes the nonlinear gait cycle into phases, with each phase controlled by different linear controllers. Unfortunately, real-time identification of gait phases and tuning of controller parameters limit implementation. Recently, biped robots have used phase variables and virtual constraints to characterize the gait cycle as a whole. Although phase variables and virtual constraints could solve issues with discretizing the gait cycle, the virtual constraints method from robotics does not readily translate to prosthetics because of hard-to-measure quantities, like the interaction forces between the user and prosthesis socket, and prosthesis parameters which are often altered by a clinician even for a known patient. We use the simultaneous stabilization approach to design a low-order, linear time-invariant controller for ankle prostheses independent of such quantities to enforce a virtual constraint. We show in simulation that this controller produces suitable walking gaits for a simplified amputee model. PMID:25554734

  11. 49 CFR 236.509 - Two or more locomotives coupled.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION RULES, STANDARDS, AND INSTRUCTIONS GOVERNING THE INSTALLATION... Train Stop, Train Control and Cab Signal Systems Standards § 236.509 Two or more locomotives coupled. The automatic train stop, train control or cab signal apparatus shall be arranged so that when two...

  12. 49 CFR 236.509 - Two or more locomotives coupled.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION RULES, STANDARDS, AND INSTRUCTIONS GOVERNING THE INSTALLATION... Train Stop, Train Control and Cab Signal Systems Standards § 236.509 Two or more locomotives coupled. The automatic train stop, train control or cab signal apparatus shall be arranged so that when two...

  13. 49 CFR 236.509 - Two or more locomotives coupled.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION RULES, STANDARDS, AND INSTRUCTIONS GOVERNING THE INSTALLATION... Train Stop, Train Control and Cab Signal Systems Standards § 236.509 Two or more locomotives coupled. The automatic train stop, train control or cab signal apparatus shall be arranged so that when two...

  14. 49 CFR 236.509 - Two or more locomotives coupled.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION RULES, STANDARDS, AND INSTRUCTIONS GOVERNING THE INSTALLATION... Train Stop, Train Control and Cab Signal Systems Standards § 236.509 Two or more locomotives coupled. The automatic train stop, train control or cab signal apparatus shall be arranged so that when two...

  15. 77 FR 75045 - Locomotive Safety Standards

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-12-19

    ... settings, reorganization of steam generator requirements, and the establishment locomotive electronics... Federal Railroad Administration 49 CFR Part 229 RIN 2130-AC39 Locomotive Safety Standards AGENCY: Federal... regulations containing safety standards for locomotives. In response to the petitions, this document amends...

  16. 49 CFR 236.1047 - Training specific to locomotive engineers and other operating personnel.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... 49 Transportation 4 2014-10-01 2014-10-01 false Training specific to locomotive engineers and... engineers and other operating personnel. (a) Operating personnel. Training provided under this subpart for any locomotive engineer or other person who participates in the operation of a train in train control...

  17. 49 CFR 236.1047 - Training specific to locomotive engineers and other operating personnel.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... 49 Transportation 4 2013-10-01 2013-10-01 false Training specific to locomotive engineers and... engineers and other operating personnel. (a) Operating personnel. Training provided under this subpart for any locomotive engineer or other person who participates in the operation of a train in train control...

  18. 49 CFR 236.1047 - Training specific to locomotive engineers and other operating personnel.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... 49 Transportation 4 2012-10-01 2012-10-01 false Training specific to locomotive engineers and... engineers and other operating personnel. (a) Operating personnel. Training provided under this subpart for any locomotive engineer or other person who participates in the operation of a train in train control...

  19. 49 CFR 236.1047 - Training specific to locomotive engineers and other operating personnel.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... 49 Transportation 4 2011-10-01 2011-10-01 false Training specific to locomotive engineers and... engineers and other operating personnel. (a) Operating personnel. Training provided under this subpart for any locomotive engineer or other person who participates in the operation of a train in train control...

  20. 40 CFR Appendix I to Part 92 - Emission Related Locomotive and Engine Parameters and Specifications

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    .... Roots blower/supercharger/turbocharger calibration. 2. Charge air cooling. a. Type (air-to-air; air-to... AGENCY (CONTINUED) AIR PROGRAMS (CONTINUED) CONTROL OF AIR POLLUTION FROM LOCOMOTIVES AND LOCOMOTIVE... Specifications I. Basic Engine Parameters—Reciprocating Engines. 1. Compression ratio. 2. Type of air aspiration...

  1. 40 CFR Appendix I to Part 92 - Emission Related Locomotive and Engine Parameters and Specifications

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    .... Roots blower/supercharger/turbocharger calibration. 2. Charge air cooling. a. Type (air-to-air; air-to... AGENCY (CONTINUED) AIR PROGRAMS (CONTINUED) CONTROL OF AIR POLLUTION FROM LOCOMOTIVES AND LOCOMOTIVE... Specifications I. Basic Engine Parameters—Reciprocating Engines. 1. Compression ratio. 2. Type of air aspiration...

  2. 40 CFR Appendix I to Part 92 - Emission Related Locomotive and Engine Parameters and Specifications

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    .... Roots blower/supercharger/turbocharger calibration. 2. Charge air cooling. a. Type (air-to-air; air-to... AGENCY (CONTINUED) AIR PROGRAMS (CONTINUED) CONTROL OF AIR POLLUTION FROM LOCOMOTIVES AND LOCOMOTIVE... Specifications I. Basic Engine Parameters—Reciprocating Engines. 1. Compression ratio. 2. Type of air aspiration...

  3. Insects Use Two Distinct Classes of Steps during Unrestrained Locomotion

    PubMed Central

    Theunissen, Leslie M.; Dürr, Volker

    2013-01-01

    Background Adaptive, context-dependent control of locomotion requires modulation of centrally generated rhythmic motor patterns through peripheral control loops and postural reflexes. Thus assuming that the modulation of rhythmic motor patterns accounts for much of the behavioural variability observed in legged locomotion, investigating behavioural variability is a key to the understanding of context-dependent control mechanisms in locomotion. To date, the variability of unrestrained locomotion is poorly understood, and virtually nothing is known about the features that characterise the natural statistics of legged locomotion. In this study, we quantify the natural variability of hexapedal walking and climbing in insects, drawing from a database of several thousand steps recorded over two hours of walking time. Results We show that the range of step length used by unrestrained climbing stick insects is large, showing that step length can be changed substantially for adaptive locomotion. Step length distributions were always bimodal, irrespective of leg type and walking condition, suggesting the presence of two distinct classes of steps: short and long steps. Probability density of step length was well-described by a gamma distribution for short steps, and a logistic distribution for long steps. Major coefficients of these distributions remained largely unaffected by walking conditions. Short and long steps differed concerning their spatial occurrence on the walking substrate, their timing within the step sequence, and their prevalent swing direction. Finally, ablation of structures that serve to improve foothold increased the ratio of short to long steps, indicating a corrective function of short steps. Conclusions Statistical and functional differences suggest that short and long steps are physiologically distinct classes of leg movements that likely reflect distinct control mechanisms at work. PMID:24376877

  4. Railroad and locomotive technology roadmap.

    SciTech Connect

    Stodolsky, F.; Gaines, L.; Energy Systems

    2003-02-24

    Railroads are important to the U.S. economy. They transport freight efficiently, requiring less energy and emitting fewer pollutants than other modes of surface transportation. While the railroad industry has steadily improved its fuel efficiency--by 16% over the last decade--more can, and needs to, be done. The ability of locomotive manufacturers to conduct research into fuel efficiency and emissions reduction is limited by the small number of locomotives manufactured annually. Each year for the last five years, the two North American locomotive manufacturers--General Electric Transportation Systems and the Electro-Motive Division of General Motors--have together sold about 800 locomotives in the United States. With such a small number of units over which research costs can be spread, outside help is needed to investigate all possible ways to reduce fuel usage and emissions. Because fuel costs represent a significant portion of the total operating costs of a railroad, fuel efficiency has always been an important factor in the design of locomotives and in the operations of a railroad. However, fuel efficiency has recently become even more critical with the introduction of strict emission standards by the U.S. Environmental Protection Agency, to be implemented in stages (Tiers 0, 1, and 2) between 2000 and 2005. Some of the technologies that could be employed to meet the emission standards may negatively affect fuel economy--by as much as 10-15% when emissions are reduced to Tier 1 levels. Lowering fuel economy by that magnitude would have a serious impact on the cost to the consumer of goods shipped by rail, on the competitiveness of the railroad industry, and on this country's dependence on foreign oil. Clearly, a joint government/industry R&D program is needed to help catalyze the development of advanced technologies that will substantially reduce locomotive engine emissions while also improving train system energy efficiency. DOE convened an industry

  5. Proprioceptive Actuation Design for Dynamic Legged locomotion

    NASA Astrophysics Data System (ADS)

    Kim, Sangbae; Wensing, Patrick; Biomimetic Robotics Lab Team

    Designing an actuator system for highly-dynamic legged locomotion exhibited by animals has been one of the grand challenges in robotics research. Conventional actuators designed for manufacturing applications have difficulty satisfying challenging requirements for high-speed locomotion, such as the need for high torque density and the ability to manage dynamic physical interactions. It is critical to introduce a new actuator design paradigm and provide guidelines for its incorporation in future mobile robots for research and industry. To this end, we suggest a paradigm called proprioceptive actuation, which enables highly- dynamic operation in legged machines. Proprioceptive actuation uses collocated force control at the joints to effectively control contact interactions at the feet under dynamic conditions. In the realm of legged machines, this paradigm provides a unique combination of high torque density, high-bandwidth force control, and the ability to mitigate impacts through backdrivability. Results show that the proposed design provides an impact mitigation factor that is comparable to other quadruped designs with series springs to handle impact. The paradigm is shown to enable the MIT Cheetah to manage the application of contact forces during dynamic bounding, with results given down to contact times of 85ms and peak forces over 450N. As a result, the MIT Cheetah achieves high-speed 3D running up to 13mph and jumping over an 18-inch high obstacle. The project is sponsored by DARPA M3 program.

  6. Investigation of Interactions between Embodiment and its Controller Using a Passive Dynamic Walking Robot

    NASA Astrophysics Data System (ADS)

    Kawasumi, Kenta; Fujii, Akinobu; Ishiguro, Akio

    Over the past decade it has been widely recognized that not only the controllers implemented but also their embodiment, such as robots’ body, significantly influence the emergence of intelligence. In spite of its importance, still few studies have explicitly investigated this mutual interaction. In light of these facts, in this article, the interaction between controllers and their embodiments is investigated. To do so, a synthetic approach is employed. More specifically, construction of a locomotion controller that enables a passive dynamic walking (PDW) robot to walk on a flat terrain is taken as a practical example. In this study, so-called staged evolution is conducted for this purpose. First, body parameters (e.g. mass, length) of a biped robot are evolved in order to elicit PDW. After obtaining acceptable embodiments, their CPG (Central Pattern Generator)-based controllers are evolved. Simulations have been carried out and the results have shown that “appropriate” embodiments allow us to significantly increase the efficiency of developing their controllers.

  7. 21st Century Locomotive Technology: 2003 Annual Technical Status Report DOE/AL68284-TSR03

    SciTech Connect

    Lembit Salasoo

    2004-01-09

    The 21st Century Locomotive program objective is to develop 25% more efficient freight locomotives by 2010. Diesel engine-related research addresses advanced fuel injection, electric turbocharger and abradable seals. Assembly of a common rail fuel injection test system is underway, and a CFD combustion model has been validated. An electrically assisted turbocharger has been constructed and operated, meeting the generator mode design rating. System characterization and optimization is ongoing. Candidate abradable seal materials have been identified and test coupons prepared. Locomotive system-related research addresses capturing, storing and utilizing regenerative braking energy in a hybrid locomotive, and fuel optimization control. Hybrid locomotive energy storage requirements have been identified and studies on specific energy storage solutions are in progress. Energy management controls have been defined and testing initiated. Train and track parameter identification necessary for fuel optimization has been demonstrated.

  8. Synchronization of epicardial crawling robot with heartbeat and respiration for improved safety and efficiency of locomotion

    PubMed Central

    Patronik, Nicholas A.; Ota, Takeyoshi; Zenati, Marco A.; Riviere, Cameron N.

    2011-01-01

    Background HeartLander is a miniature mobile robot designed to navigate over the epicardium of the beating heart for minimally invasive therapy. This paper presents a technique to decrease slippage and improve locomotion efficiency by synchronizing the locomotion with the intrapericardial pressure variations of the respiration and heartbeat cycles. Methods Respiratory and heartbeat phases were detected in real time using a chest-mounted accelerometer during locomotion in a porcine model in vivo. Trials were conducted over the lateral aspect of the heart surface to test synchronized locomotion against an unsynchronized control. Results Offline evaluation showed that the respiration and heartbeat algorithms had accuracies of 100% and 88%, respectively. Synchronized trials exhibited significantly lower friction, higher efficiency, and greater total distance traveled than control trials. Conclusion Synchronization of the locomotion of HeartLander with respiration and heartbeat is feasible and results in safer and more efficient travel on the beating heart. PMID:22009934

  9. Coal-fueled diesel locomotive test

    SciTech Connect

    Hsu, B.D.; McDowell, R.E.; Confer, G.L.; Basic, S.L.

    1993-01-01

    The biggest challenges to the development of a commercially-acceptable coal-fueled diesel-electric locomotive are integrating all systems into a working unit that can be operated in railroad service. This involves mainly the following three systems: (1) the multi-cylinder coal-fueled diesel engine, (2) the locomotive and engine controls, and (3) the CWS fuel supply system. Consequently, a workable 12-cylinder coal-fueled diesel engine was considered necessary at this stage to evolve the required locomotive support systems, in addition to gaining valuable multi-cylinder engine operating experience. The CWS fuel used during this project was obtained from Otisca, Inc. (Syracuse, NY). It was prepared from micronized and deashed Kentucky Blue Gem coal to 49.0% coal loading by weight, with less than 1% ash and 5 micron mean diameter particle size. Its higher heating value was analyzed at approximately 34630 kJ/k. Anti-agglomerating additive Triton X-114 was added to the CWS at GE Transportation Systems at 2% of coal weight. The nature of the Otisca CWS fuel makes it inherently more difficult to store, pump, and inject than diesel fuel, since concepts which govern Newtonian or normally viscous liquids do not apply entirely to CWS. Otisca CWS tends to be unstable and to settle in tanks and lines after a period of time, making it necessary to provide a means of agitation during storage. To avoid long term settling problems and to minimize losses, piping velocities were designed to be in the 60-90 m/min range.

  10. Guiding locomotion in complex, dynamic environments

    PubMed Central

    Fajen, Brett R.

    2013-01-01

    Locomotion in complex, dynamic environments is an integral part of many daily activities, including walking in crowded spaces, driving on busy roadways, and playing sports. Many of the tasks that humans perform in such environments involve interactions with moving objects—that is, they require people to coordinate their own movement with the movements of other objects. A widely adopted framework for research on the detection, avoidance, and interception of moving objects is the bearing angle model, according to which observers move so as to keep the bearing angle of the object constant for interception and varying for obstacle avoidance. The bearing angle model offers a simple, parsimonious account of visual control but has several significant limitations and does not easily scale up to more complex tasks. In this paper, I introduce an alternative account of how humans choose actions and guide locomotion in the presence of moving objects. I show how the new approach addresses the limitations of the bearing angle model and accounts for a variety of behaviors involving moving objects, including (1) choosing whether to pass in front of or behind a moving obstacle, (2) perceiving whether a gap between a pair of moving obstacles is passable, (3) avoiding a collision while passing through single or multiple lanes of traffic, (4) coordinating speed and direction of locomotion during interception, (5) simultaneously intercepting a moving target while avoiding a stationary or moving obstacle, and (6) knowing whether to abandon the chase of a moving target. I also summarize data from recent studies that support the new approach. PMID:23885238

  11. 77 FR 21311 - Locomotive Safety Standards

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-04-09

    ...FRA is revising the existing regulations containing Railroad Locomotive Safety Standards. The revisions update, consolidate, and clarify the existing regulations. The final rule incorporates existing industry and engineering best practices related to locomotives and locomotive electronics. This includes the development of a safety analysis for new locomotive electronic systems. FRA believes this final rule will modernize and improve its safety regulatory program related to locomotives. In accordance with the requirements of the Executive Order 13563 (E.O. 13563), this final rule also modifies the existing locomotive safety standards based on what has been learned from FRA's retrospective review of the regulation. As a result, FRA is reducing the burden on the industry by modifying the regulations related to periodic locomotive inspection and headlights.

  12. 40 CFR 1033.615 - Voluntarily subjecting locomotives to the standards of this part.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... PROTECTION AGENCY (CONTINUED) AIR POLLUTION CONTROLS CONTROL OF EMISSIONS FROM LOCOMOTIVES Special Compliance... the definition of “locomotive” because of its total power, but would otherwise meet the definition of...

  13. Scaling in Theropod Dinosaurs: Femoral Bone Strength and Locomotion

    ERIC Educational Resources Information Center

    Lee, Scott

    2015-01-01

    In our first article on scaling in theropod dinosaurs, the longitudinal stress in the leg bones due to supporting the weight of the animal was studied and found not to control the dimensions of the femur. As a continuation of our study of elasticity in dinosaur bones, we now examine the transverse stress in the femur due to locomotion and find…

  14. Scaling in Theropod Dinosaurs: Femoral Bone Strength and Locomotion

    ERIC Educational Resources Information Center

    Lee, Scott

    2015-01-01

    In our first article on scaling in theropod dinosaurs, the longitudinal stress in the leg bones due to supporting the weight of the animal was studied and found not to control the dimensions of the femur. As a continuation of our study of elasticity in dinosaur bones, we now examine the transverse stress in the femur due to locomotion and find…

  15. 40 CFR 1033.230 - Grouping locomotives into engine families.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... family is limited to a single model year. Freshly manufactured locomotives may not be included in the... supercharger (e.g., approximate boost pressure, approximate response time, approximate size relative to engine... pressure. (16) The type of fuel injection system controls (i.e., mechanical or electronic). (17) The...

  16. [Locomotive syndrome and frailty. Locomotive syndrome due to the underlying disease of degenerative arthritis].

    PubMed

    Chosa, Etsuo

    2012-04-01

    Japan became a superaging society. We have been putting a new focus on locomotive syndrome and frailty. The prevention and treatment of locomotive syndromes, such as osteoarthritis, degenerative spondylosis, lumbar canal stenosis, osteoporosis, upper extremity diseases, rheumatoid arthritis, and many other disorders of the locomotive organs are important. Because, the locomotive syndrome results in deterioration of the exercise function and loss of mental and physical health. The aim of locomotive syndrome exercises are: to reduce pain, to restore and improve joint function. We need to take a comprehensive approach to locomotive syndrome, including lifestyle modification, muscle exercise, stretching and therapeutic exercise.

  17. Elastic actuation for legged locomotion

    NASA Astrophysics Data System (ADS)

    Cao, Chongjing; Conn, Andrew

    2017-04-01

    The inherent elasticity of dielectric elastomer actuators (DEAs) gives this technology great potential in energy efficient locomotion applications. In this work, a modular double cone DEA is developed with reduced manufacturing and maintenance time costs. This actuator can lift 45 g of mass (5 times its own weight) while producing a stroke of 10.4 mm (23.6% its height). The contribution of the elastic energy stored in antagonistic DEA membranes to the mechanical work output is experimentally investigated by adding delay into the DEA driving voltage. Increasing the delay time in actuation voltage and hence reducing the duty cycle is found to increase the amount of elastic energy being recovered but an upper limit is also noticed. The DEA is then applied to a three-segment leg that is able to move up and down by 17.9 mm (9% its initial height), which demonstrates the feasibility of utilizing this DEA design in legged locomotion.

  18. Dynamically Stable Legged Locomotion

    DTIC Science & Technology

    1981-11-30

    Animals also demonstrate feats of agility that make them able to move quickly and reliably over flat, hilly, and mountainous terrain, through forest, swamp...University. Moss Rehabilitation Hospital, Philadelphia 282. Witt.D,C. A feasibility study on automatically-controlled powered lower- limh prosthesis

  19. Lizard locomotion on weak sand

    NASA Astrophysics Data System (ADS)

    Goldman, Daniel

    2005-03-01

    Terrestrial animal locomotion in the natural world can involve complex foot-ground interaction; for example, running on sand probes the solid and fluid behaviors of the medium. We study locomotion of desert-dwelling lizard Callisaurus draconoides (length 16 cm, mass=20 g) during rapid running on sand. To explore the role of foot-ground interaction on locomotion, we study the impact of flat disks ( 2 cm diameter, 10 grams) into a deep (800 particle diameters) bed of 250 μm glass spheres of fixed volume fraction φ 0.59, and use a vertical flow of air (a fluidized bed) to change the material properties of the medium. A constant flow Q below the onset of bed fluidization weakens the solid: at fixed φ the penetration depth and time of a disk increases with increasing Q. We measure the average speed, foot impact depth, and foot contact time as a function of material strength. The animal maintains constant penetration time (30 msec) and high speed (1.4 m/sec) even when foot penetration depth varies as we manipulate material strength. The animals compensate for decreasing propulsion by increasing stride frequency.

  20. Scaling laws of aquatic locomotion

    NASA Astrophysics Data System (ADS)

    Sun, BoHua

    2017-10-01

    In recent years studies of aquatic locomotion have provided some remarkable insights into the many features of fish swimming performances. This paper derives a scaling relation of aquatic locomotion C D( Re)2 = ( Sw)2 and its corresponding log law and power law. For power scaling law, ( Sw)2 = β n Re 2-1/ n , which is valid within the full spectrum of the Reynolds number Re = UL/ν from low up to high, can simply be expressed as the power law of the Reynolds number Re and the swimming number Sw = ωAL/ν as Re ∝ ( Sw)σ, with σ = 2 for creeping flows, σ = 4=3 for laminar flows, σ = 10=9 and σ = 14=13 for turbulent flows. For log law this paper has derived the scaling law as Sw ∝ Re=(ln Re+1:287), which is even valid for a much wider range of the Reynolds number Re. Both power and log scaling relationships link the locomotory input variables that describe the swimmer's gait A; ω via the swimming number Sw to the locomotory output velocity U via the longitudinal Reynolds number Re, and reveal the secret input-output relationship of aquatic locomotion at different scales of the Reynolds number

  1. Emotion through Locomotion: Gender Impact

    PubMed Central

    Krüger, Samuel; Sokolov, Alexander N.; Enck, Paul; Krägeloh-Mann, Ingeborg; Pavlova, Marina A.

    2013-01-01

    Body language reading is of significance for daily life social cognition and successful social interaction, and constitutes a core component of social competence. Yet it is unclear whether our ability for body language reading is gender specific. In the present work, female and male observers had to visually recognize emotions through point-light human locomotion performed by female and male actors with different emotional expressions. For subtle emotional expressions only, males surpass females in recognition accuracy and readiness to respond to happy walking portrayed by female actors, whereas females exhibit a tendency to be better in recognition of hostile angry locomotion expressed by male actors. In contrast to widespread beliefs about female superiority in social cognition, the findings suggest that gender effects in recognition of emotions from human locomotion are modulated by emotional content of actions and opposite actor gender. In a nutshell, the study makes a further step in elucidation of gender impact on body language reading and on neurodevelopmental and psychiatric deficits in visual social cognition. PMID:24278456

  2. Dedicated Hippocampal Inhibitory Networks for Locomotion and Immobility.

    PubMed

    Arriaga, Moises; Han, Edward B

    2017-09-20

    Network activity is strongly tied to animal movement; however, hippocampal circuits selectively engaged during locomotion or immobility remain poorly characterized. Here we examined whether distinct locomotor states are encoded differentially in genetically defined classes of hippocampal interneurons. To characterize the relationship between interneuron activity and movement, we used in vivo, two-photon calcium imaging in CA1 of male and female mice, as animals performed a virtual-reality (VR) track running task. We found that activity in most somatostatin-expressing and parvalbumin-expressing interneurons positively correlated with locomotion. Surprisingly, nearly one in five somatostatin or one in seven parvalbumin interneurons were inhibited during locomotion and activated during periods of immobility. Anatomically, the somata of somatostatin immobility-activated neurons were smaller than those of movement-activated neurons. Furthermore, immobility-activated interneurons were distributed across cell layers, with somatostatin-expressing cells predominantly in stratum oriens and parvalbumin-expressing cells mostly in stratum pyramidale. Importantly, each cell's correlation between activity and movement was stable both over time and across VR environments. Our findings suggest that hippocampal interneuronal microcircuits are preferentially active during either movement or immobility periods. These inhibitory networks may regulate information flow in "labeled lines" within the hippocampus to process information during distinct behavioral states.SIGNIFICANCE STATEMENT The hippocampus is required for learning and memory. Movement controls network activity in the hippocampus but it's unclear how hippocampal neurons encode movement state. We investigated neural circuits active during locomotion and immobility and found interneurons were selectively active during movement or stopped periods, but not both. Each cell's response to locomotion was consistent across time and

  3. Reversibility in locomotion in granular media

    NASA Astrophysics Data System (ADS)

    Savoie, William; Goldman, Daniel

    2013-11-01

    A recent study of a self-deforming robot [Hatton et al., PRL, 2013] demonstrated that slow movement in dry granular media resembles locomotion in low Re fluids, in part because inertia is dominated by friction. The study indicated that granular swimming was kinematically reversible, a surprise because yielding in granular flow is irreversible. To investigate if reciprocal motions lead to net displacements in granular swimmers, in laboratory experiments, we study the locomotion of a robotic ``scallop'' consisting of a square body with two flipper-like limbs controlled to flap forward and backward symmetrically (a flap cycle). The body is constrained by linear bearings to allow motion in only one dimension. We vary the the flapping frequency f, the body/flipper burial depth d, and the number of flaps N in a deep bed of 6 mm diameter plastic spheres. Over a range of f and d, the N = 1 cycle produces net translation of the body; however for large N, a cycle produces no net translation. We conclude that symmetric strokes in granular swimming are irreversible at the onset of self-deformation, but become asymptotically reversible. work supported by NSF and ARL.

  4. Differential gating of thalamo-cortical signals by reticular nucleus of thalamus during locomotion

    PubMed Central

    Marlinski, Vladimir; Sirota, Mikhail G.; Beloozerova, Irina N.

    2012-01-01

    SUMMARY The thalamic reticular nucleus (RE) provides inhibition to the dorsal thalamus, and forms a crucial interface between thalamo-cortical and cortico-thalamic signals. Whereas there has been significant interest in the role of the RE in organizing thalamo-cortical signaling, information on the activity of the RE in the awake animal is scant. Here we investigated the activity of neurons within the ‘motor’ compartment of the RE in the awake, unrestrained cat during simple locomotion on a flat surface and complex locomotion along a horizontal ladder that required visual control of stepping. The activity of 88% of neurons in this region was modulated during locomotion. Neurons with receptive fields on the shoulder were located dorsally in the nucleus and had regular discharges; during locomotion they had relatively low activity and modest magnitudes of stride-related modulation, and their group activity was distributed over the stride. In contrast, neurons with receptive fields on the wrist/paw were located more ventrally, often discharged sleep-type bursts during locomotion, were very active and profoundly modulated, and their group activity was concentrated in the swing and end of stance. 75% of RE neurons had different activity during the two locomotion tasks. We conclude that during locomotion the RE differentially gates thalamo-cortical signals transmitted during different phases of the stride, in relation to different parts of the limb, and the type of locomotion task. PMID:23136421

  5. Lunar Balance and Locomotion

    NASA Technical Reports Server (NTRS)

    Paloski, William H.

    2008-01-01

    Balance control and locomotor patterns were altered in Apollo crewmembers on the lunar surface, owing, presumably, to a combination of sensory-motor adaptation during transit and lunar surface operations, decreased environmental affordances associated with the reduced gravity, and restricted joint mobility as well as altered center-of-gravity caused by the EVA pressure suits. Dr. Paloski will discuss these factors, as well as the potential human and mission impacts of falls and malcoordination during planned lunar sortie and outpost missions. Learning objectives: What are the potential impacts of postural instabilities on the lunar surface? CME question: What factors affect balance control and gait stability on the moon? Answer: Sensory-motor adaptation to the lunar environment, reduced mechanical and visual affordances, and altered biomechanics caused by the EVA suit.

  6. Lunar Balance and Locomotion

    NASA Technical Reports Server (NTRS)

    Paloski, William H.

    2008-01-01

    Balance control and locomotor patterns were altered in Apollo crewmembers on the lunar surface, owing, presumably, to a combination of sensory-motor adaptation during transit and lunar surface operations, decreased environmental affordances associated with the reduced gravity, and restricted joint mobility as well as altered center-of-gravity caused by the EVA pressure suits. Dr. Paloski will discuss these factors, as well as the potential human and mission impacts of falls and malcoordination during planned lunar sortie and outpost missions. Learning objectives: What are the potential impacts of postural instabilities on the lunar surface? CME question: What factors affect balance control and gait stability on the moon? Answer: Sensory-motor adaptation to the lunar environment, reduced mechanical and visual affordances, and altered biomechanics caused by the EVA suit.

  7. Dynamically Stable Legged Locomotion.

    DTIC Science & Technology

    1983-01-27

    preferred direction of travel. We decided early on not to build a self contained machine. Thcrcfore the hydraulic and pneumatic power supplies ave ...model’s motion. Running from leIt to right, the left-nost drawing shows rnodel’s configuration just blbre IrOUCIIDOWN, the center dr• aving shows...of phYsiologically motivated mathematical model;. ir human postura ! control. Ph.D. Th., The Ohio State University, Columbus, Ohio, 1977. 39. Camana

  8. Dynamically Stable Legged Locomotion

    DTIC Science & Technology

    1983-12-13

    in/ 1200 lb-in @2000 psig Theoretical Max. Work per Stroke 83 N-i 740 lb-in ’p.,. ~.55 ,, C C . --- - 29 2.9 Appendix B: Kinematics of 3D Machine We...344 70 Simulation khip (N/m) Frequency Ratio Result r.320.8 1500 4.999 unstable r.323.3 1200 4.523 unstable r.325.1 880 3.954 stable r.313.4 632 3.449...down. VVer is the vertical velocity of the hopper. T are the torques applied on the body at the hip. To achieve path control in the plane, we need to

  9. Locomotive Emission and Engine Idle Reduction Technology Demonstration Project

    SciTech Connect

    John R. Archer

    2005-03-14

    In response to a United States Department of Energy (DOE) solicitation, the Maryland Energy Administration (MEA), in partnership with CSX Transportation, Inc. (CSXT), submitted a proposal to DOE to support the demonstration of Auxiliary Power Unit (APU) technology on fifty-six CSXT locomotives. The project purpose was to demonstrate the idle fuel savings, the Nitrous Oxide (NOX) emissions reduction and the noise reduction capabilities of the APU. Fifty-six CSXT Baltimore Division locomotives were equipped with APUs, Engine Run Managers (ERM) and communications equipment to permit GPS tracking and data collection from the locomotives. Throughout the report there is mention of the percent time spent in the State of Maryland. The fifty-six locomotives spent most of their time inside the borders of Maryland and some spent all their time inside the state borders. Usually when a locomotive traveled beyond the Maryland State border it was into an adjoining state. They were divided into four groups according to assignment: (1) Power Unit/Switcher Mate units, (2) Remote Control units, (3) SD50 Pusher units and (4) Other units. The primary data of interest were idle data plus the status of the locomotive--stationary or moving. Also collected were main engine off, idling or working. Idle data were collected by county location, by locomotive status (stationary or moving) and type of idle (Idle 1, main engine idling, APU off; Idle 2, main engine off, APU on; Idle 3, main engine off, APU off; Idle 4, main engine idle, APU on). Desirable main engine idle states are main engine off and APU off or main engine off and APU on. Measuring the time the main engine spends in these desirable states versus the total time it could spend in an engine idling state allows the calculation of Percent Idle Management Effectiveness (%IME). IME is the result of the operation of the APU plus the implementation of CSXT's Warm Weather Shutdown Policy. It is difficult to separate the two. The units

  10. The noise factor in railway locomotives.

    PubMed

    Rotter, T

    1982-09-01

    This article concerns the problem of acoustic work conditions on railway locomotives. The objective results of sonometric surveys in locomotive cabins are compared with subject data received from locomotive crews obtained by means of a specific questionnaire 'The Subjective Estimation of Noise'. The analysis touched 9 type of locomotives; steam, diesel and electric engines. We asked drivers of different age groups and with varying lengths of professional service for their opinions The aim of the investigation was to determine the following points: 1. to analyse the drivers' subjective estimation of the noise in the locomotive cabins; 2. to define length of time for which the driver remains under the influence of the noise after finishing work; 3. to investigate the question of perception and understanding of sounds and vocal signals used in the locomotive. These problems are a small part of the general plan to improve work conditions on the Polish National Railways.

  11. Fish locomotion: insights from both simple and complex mechanical models

    NASA Astrophysics Data System (ADS)

    Lauder, George

    2015-11-01

    Fishes are well-known for their ability to swim and maneuver effectively in the water, and recent years have seen great progress in understanding the hydrodynamics of aquatic locomotion. But studying freely-swimming fishes is challenging due to difficulties in controlling fish behavior. Mechanical models of aquatic locomotion have many advantages over studying live animals, including the ability to manipulate and control individual structural or kinematic factors, easier measurement of forces and torques, and the ability to abstract complex animal designs into simpler components. Such simplifications, while not without their drawbacks, facilitate interpretation of how individual traits alter swimming performance and the discovery of underlying physical principles. In this presentation I will discuss the use of a variety of mechanical models for fish locomotion, ranging from simple flexing panels to complex biomimetic designs incorporating flexible, actively moved, fin rays on multiple fins. Mechanical devices have provided great insight into the dynamics of aquatic propulsion and, integrated with studies of locomotion in freely-swimming fishes, provide new insights into how fishes move through the water.

  12. Transmembrane channel-like (tmc) gene regulates Drosophila larval locomotion

    PubMed Central

    Guo, Yanmeng; Wang, Yuping; Zhang, Wei; Meltzer, Shan; Zanini, Damiano; Yu, Yue; Li, Jiefu; Cheng, Tong; Guo, Zhenhao; Wang, Qingxiu; Jacobs, Julie S.; Sharma, Yashoda; Eberl, Daniel F.; Göpfert, Martin C.; Jan, Lily Yeh; Jan, Yuh Nung; Wang, Zuoren

    2016-01-01

    Drosophila larval locomotion, which entails rhythmic body contractions, is controlled by sensory feedback from proprioceptors. The molecular mechanisms mediating this feedback are little understood. By using genetic knock-in and immunostaining, we found that the Drosophila melanogaster transmembrane channel-like (tmc) gene is expressed in the larval class I and class II dendritic arborization (da) neurons and bipolar dendrite (bd) neurons, both of which are known to provide sensory feedback for larval locomotion. Larvae with knockdown or loss of tmc function displayed reduced crawling speeds, increased head cast frequencies, and enhanced backward locomotion. Expressing Drosophila TMC or mammalian TMC1 and/or TMC2 in the tmc-positive neurons rescued these mutant phenotypes. Bending of the larval body activated the tmc-positive neurons, and in tmc mutants this bending response was impaired. This implicates TMC’s roles in Drosophila proprioception and the sensory control of larval locomotion. It also provides evidence for a functional conservation between Drosophila and mammalian TMCs. PMID:27298354

  13. Origami-based earthworm-like locomotion robots.

    PubMed

    Fang, Hongbin; Zhang, Yetong; Wang, Kon-Well

    2017-08-04

    Inspired by the morphology characteristics of the earthworms and the excellent deformability of origami structures, this research creates a novel earthworm-like locomotion robot through exploiting the origami techniques. In this innovation, appropriate actuation mechanisms are incorporated with origami ball structures into the earthworm-like robot 'body', and the earthworm's locomotion mechanism is mim-icked to develop a gait generator as the robot 'centralized controller'. The origami ball, which is a peri-odic repetition of waterbomb units, could output significant bidirectional (axial and radial) deformations in an antagonistic way similar as the earthworm's body segment. Such bidirectional deformability can be strategically programmed by designing the number of constituent units. Experiments also indicate that the origami ball possesses two outstanding mechanical properties that are beneficial to robot develop-ment: one is the structural multistability in the axil direction that could contribute to the robot control implementation; and the other is the structural compliance in the radial direction that would increase the robot robustness and applicability. To validate the origami-based innovation, this research designs and constructs three robot segments based on different axial actuators: DC-motor, shape-memory-alloy springs, and pneumatic balloon. Performance evaluations reveal their merits and limitations, and to prove the concept, the DC-motor actuation is selected for building a six-segment robot prototype. Learning from earthworms' fundamental locomotion mechanism -- retrograde peristalsis wave, seven gaits are automatically generated; controlled by which, the robot could achieve effective locomotion with qualita-tively different modes and a wide range of average speeds. The outcomes of this research could lead to the development of origami locomotion robots with low fabrication costs, high customizability, light weight, good scalability, and excellent re

  14. 49 CFR 238.209 - Forward end structure of locomotives, including cab cars and MU locomotives.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... 49 Transportation 4 2012-10-01 2012-10-01 false Forward end structure of locomotives, including... SAFETY STANDARDS Specific Requirements for Tier I Passenger Equipment § 238.209 Forward end structure of locomotives, including cab cars and MU locomotives. (a)(1) The skin covering the forward-facing end of each...

  15. 49 CFR 238.209 - Forward end structure of locomotives, including cab cars and MU locomotives.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... 49 Transportation 4 2014-10-01 2014-10-01 false Forward end structure of locomotives, including... SAFETY STANDARDS Specific Requirements for Tier I Passenger Equipment § 238.209 Forward end structure of locomotives, including cab cars and MU locomotives. (a)(1) The skin covering the forward-facing end of each...

  16. 49 CFR 238.209 - Forward end structure of locomotives, including cab cars and MU locomotives.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... 49 Transportation 4 2011-10-01 2011-10-01 false Forward end structure of locomotives, including... SAFETY STANDARDS Specific Requirements for Tier I Passenger Equipment § 238.209 Forward end structure of locomotives, including cab cars and MU locomotives. (a)(1) The skin covering the forward-facing end of each...

  17. 49 CFR 238.209 - Forward end structure of locomotives, including cab cars and MU locomotives.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... 49 Transportation 4 2013-10-01 2013-10-01 false Forward end structure of locomotives, including... SAFETY STANDARDS Specific Requirements for Tier I Passenger Equipment § 238.209 Forward end structure of locomotives, including cab cars and MU locomotives. (a)(1) The skin covering the forward-facing end of each...

  18. 49 CFR 238.209 - Forward end structure of locomotives, including cab cars and MU locomotives.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... 49 Transportation 4 2010-10-01 2010-10-01 false Forward end structure of locomotives, including... SAFETY STANDARDS Specific Requirements for Tier I Passenger Equipment § 238.209 Forward end structure of locomotives, including cab cars and MU locomotives. (a)(1) The skin covering the forward-facing end of each...

  19. [Locomotive syndrome and metabolic syndrome].

    PubMed

    Fukushi, Jun-ichi; Iwamoto, Yukihide

    2014-10-01

    The Japanese Orthopedic Association coined the term locomotive syndrome (LS) to designate a condition of elderly people in high risk groups of requiring nursing care because of problems with their musculoskeletal diseases. LS is a socioeconomic concept, and closely associated with osteoporosis, osteoarthritis, and sarcopenia. Recent studies have revealed that metabolic syndrome (MS), a clustering of cardiovascular risk factors, has been related with LS. For example, individuals with MS have a greater risk of osteoarthritis and sarcopenia. Secreted factors from adipose tissue and skeletal muscles, namely, adipokines and myokines, are involved in the association of LS and MS.

  20. Human locomotion and workload for simulated lunar and Martian environments.

    PubMed

    Newman, D J; Alexander, H L

    1993-08-01

    Human locomotion in simulated lunar and Martian environments is investigated. A unique human-rated underwater treadmill and an adjustable ballasting harness simulate partial gravity in order to better understand how gravity determines the biomechanics and energetics of human locomotion. This study has two research aspects, biomechanics and energetics. The fundamental biomechanics measurements are continuously recorded vertical forces as exerted by subjects of the treadmill which is instrumented with a force platform. Experimental results indicate that peak vertical force and stride frequency decrease as the gravity level is reduced. Foot contact time is independent of gravity level. Oxygen uptake measurements, VO2, constitute the energetics, or workload, data for this study. As theory predicts, locomotion energy requirements for lunar (1/6-g) and Martian (3/8-g) gravity levels are significantly less than at 1-g. The observed variation in workload with gravity level is nonmonotonic, however, in over half the subject population. The hypothesis is offered that energy expenditure increases for lunar, as compared with Martian, locomotion due to the subject "wasting energy" for stability and posture control in simulated lunar gravity. Biomechanics data could influence advanced spacesuit design and planetary habitat design, while workload data will help define oxygen requirements for planetary life support systems.

  1. Human locomotion and workload for simulated lunar and Martian environments

    NASA Astrophysics Data System (ADS)

    Newman, Dava J.; Alexander, Harold L.

    Human locomotion in simulated lunar and Martian environments is investigated. A unique human-rated underwater treadmill and an adjustable ballasting harness simulate partial gravity in order to better understand how gravity determines the biomechanics and energetics of human locomotion. This study has two research aspects, biomechanics and energetics. The fundamental biomechanics measurements are continuously recorded vertical forces as exerted by subjects of the treadmill which is instrumented with a force platform. Experimental results indicate that peak vertical force and stride frequency decrease as the gravity level is reduced. Foot contact time is independent of gravity level. Oxygen uptake measurements, VO 2, constitute the energetics, or workload, data for this study. As theory predicts, locomotion energy requirements for lunar ( 1/6-g ) and Martian ( 3/8-g ) gravity levels are significantly less than at 1- g. The observed variation in workload with gravity level is nonmonotonic, however, in over half the subject population. The hypothesis is offered that energy expenditure increases for lunar, as compared with Martian, locomotion due to the subject "wasting energy" for stability and posture control in simulated lunar gravity. Biomechanics data could influence advanced spacesuit design and planetary habitat design, while workload data will help define oxygen requirements for planetary life support systems.

  2. Theory of the locomotion of nematodes

    PubMed Central

    Niebur, Ernst; Erdös, Paul

    1991-01-01

    We develop a model of the undulatory locomotion of nematodes, in particular that of Caenorhabditis elegans, based on mechanics. The model takes into account the most important forces acting on a moving worm and allows the computer simulation of a creeping nematode. These forces are produced by the interior pressure in the liquid-filled body cavity, the elasticity of the cuticle, the excitation of certain sets of muscles and the friction between the body and its support. We propose that muscle excitation patterns can be generated by stretch receptor control. By solving numerically the equations of motion of the model of the nematode, we demonstrate that these muscle excitation patterns are suitable for the propulsion of the animal. PMID:19431807

  3. Locomotion concerns with moral usefulness: When liberals endorse binding moral foundations.

    PubMed

    Cornwell, James F M; Higgins, E Tory

    2014-01-01

    Moral Foundations Theory has provided a framework for understanding the endorsement of different moral beliefs. Our research investigated whether there are other reasons to endorse moral foundations in addition to epistemic concerns; specifically, the perceived social usefulness of moral foundations. In Study 1, we demonstrate that those showing stronger locomotion concerns for controlling movement tend toward a higher endorsement of binding foundations, and that this effect is stronger among political liberals who otherwise do not typically endorse these foundations. In Study 2, we show that priming participants with assessment concerns (emphasizing truth) rather than locomotion concerns (emphasizing control) reduces the response variance among liberals and also removes the association between locomotion and the binding foundations. In Study 3, we directly ask participants to focus on moral truth versus moral usefulness, with moral truth replicating the Study 2 effect of assessment priming, and moral usefulness replicating the effect of locomotion priming.

  4. Locomotion concerns with moral usefulness: When liberals endorse binding moral foundations

    PubMed Central

    Cornwell, James F. M.; Higgins, E. Tory

    2013-01-01

    Moral Foundations Theory has provided a framework for understanding the endorsement of different moral beliefs. Our research investigated whether there are other reasons to endorse moral foundations in addition to epistemic concerns; specifically, the perceived social usefulness of moral foundations. In Study 1, we demonstrate that those showing stronger locomotion concerns for controlling movement tend toward a higher endorsement of binding foundations, and that this effect is stronger among political liberals who otherwise do not typically endorse these foundations. In Study 2, we show that priming participants with assessment concerns (emphasizing truth) rather than locomotion concerns (emphasizing control) reduces the response variance among liberals and also removes the association between locomotion and the binding foundations. In Study 3, we directly ask participants to focus on moral truth versus moral usefulness, with moral truth replicating the Study 2 effect of assessment priming, and moral usefulness replicating the effect of locomotion priming. PMID:24347681

  5. Principle of Spectral Reciprocity in Biomechanics of Locomotion and Rehabilitation

    PubMed Central

    Pitkin, Mark

    2016-01-01

    Providing the technical means to prevent collapse or falls in patients with different types of pathology in motion and balance control is one of the traditional problems in rehabilitation engineering. A means of addressing the problem using assistive devices, including prostheses, is to restrict the mobility in certain anatomical or artificial joints by applying corsets, braces, brakes and locks. The restriction of mobility in the joints increases local stiffnesses, and in a sense, tunes the spectrum of oscillations in these joints out of resonantly dangerous zones. So far, these efforts for limiting unwanted mobility are mostly empirical within rehabilitation technologies, and we suggest that they can be optimized with algorithms for controlling the spectrum of oscillations used in multi-linked technical systems. Further, we suggest that tuning out of resonance is inseparable from the phenomenon of tuning into resonance that is widely recognized in biomechanics of locomotion. These considerations result in our postulating the principle of spectral reciprocity in locomotion. PMID:27066156

  6. 21st Century Locomotive Technology: Quarterly Technical Status Report 8 DOE/AL68284-TSR08

    SciTech Connect

    Lembit Salasoo; Jennifer Topinka; Anthony Furman; Raj Bharadwaj

    2005-02-16

    Completed high pressure common rail system performance mapping at notch 8 to establish advanced fuel injection fuel savings entitlement. Investigated performance differences of several abradable coatings between full-scale tests and rub test coupons using post-run micrographic analysis. Demonstrated implementation of advanced energy management controls on hybrid locomotive. Began advanced energy storage detailed design; continued life-cycle subscale energy storage testing. Formulated trip optimization problem with hybrid locomotive, and evaluated first implementation to produce an optimal driving plan.

  7. Locomotive track detection for underground

    NASA Astrophysics Data System (ADS)

    Ma, Zhonglei; Lang, Wenhui; Li, Xiaoming; Wei, Xing

    2017-08-01

    In order to improve the PC-based track detection system, this paper proposes a method to detect linear track for underground locomotive based on DSP + FPGA. Firstly, the analog signal outputted from the camera is sampled by A / D chip. Then the collected digital signal is preprocessed by FPGA. Secondly, the output signal of FPGA is transmitted to DSP via EMIF port. Subsequently, the adaptive threshold edge detection, polar angle and radius constrain based Hough transform are implemented by DSP. Lastly, the detected track information is transmitted to host computer through Ethernet interface. The experimental results show that the system can not only meet the requirements of real-time detection, but also has good robustness.

  8. Continuum limbed robots for locomotion

    NASA Astrophysics Data System (ADS)

    Mutlu, Alper

    This thesis focuses on continuum robots based on pneumatic muscle technology. We introduce a novel approach to use these muscles as limbs of lightweight legged robots. The flexibility of the continuum legs of these robots offers the potential to perform some duties that are not possible with classical rigid-link robots. Potential applications are as space robots in low gravity, and as cave explorer robots. The thesis covers the fabrication process of continuum pneumatic muscles and limbs. It also provides some new experimental data on this technology. Afterwards, the designs of two different novel continuum robots - one tripod, one quadruped - are introduced. Experimental data from tests using the robots is provided. The experimental results are the first published example of locomotion with tripod and quadruped continuum legged robots. Finally, discussion of the results and how far this technology can go forward is presented.

  9. Unifying Rules for Aquatic Locomotion

    NASA Astrophysics Data System (ADS)

    Saadat, Mehdi; Domel, August; di Santo, Valentina; Lauder, George; Haj-Hariri, Hossein

    2016-11-01

    Strouhal number, St (=fA/U) , a scaling parameter that relates speed, U, to the tail-beat frequency, f, and tail-beat amplitude, A, has been used many times to describe animal locomotion. It has been observed that swimming animals cruise at 0.2 <=St <=0.4. Using simple dimensional and scaling analyses supported by new experimental evidence of a self-propelled fish-like swimmer, we show that when cruising at minimum hydrodynamic input power, St is predetermined, and is only a function of the shape, i.e. drag coefficient and area. The narrow range for St, 0.2-0.4, has been previously associated with optimal propulsive efficiency. However, St alone is insufficient for deciding optimal motion. We show that hydrodynamic input power (energy usage to propel over a unit distance) in fish locomotion is minimized at all cruising speeds when A* (= A/L), a scaling parameter that relates tail-beat amplitude, A, to the length of the swimmer, L, is constrained to a narrow range of 0.15-0.25. Our analysis proposes a constraint on A*, in addition to the previously found constraint on St, to fully describe the optimal swimming gait for fast swimmers. A survey of kinematics for dolphin, as well as new data for trout, show that the range of St and A* for fast swimmers indeed are constrained to 0.2-0.4 and 0.15-0.25, respectively. Our findings provide physical explanation as to why fast aquatic swimmers cruise with relatively constant tail-beat amplitude at approximately 20 percent of body length, while their swimming speed is linearly correlated with their tail-beat frequency.

  10. Electrical stimulation of motor cortex in the uninjured hemisphere after chronic unilateral injury promotes recovery of skilled locomotion through ipsilateral control.

    PubMed

    Carmel, Jason B; Kimura, Hiroki; Martin, John H

    2014-01-08

    Partial injury to the corticospinal tract (CST) causes sprouting of intact axons at their targets, and this sprouting correlates with functional improvement. Electrical stimulation of motor cortex augments sprouting of intact CST axons and promotes functional recovery when applied soon after injury. We hypothesized that electrical stimulation of motor cortex in the intact hemisphere after chronic lesion of the CST in the other hemisphere would restore function through ipsilateral control. To test motor skill, rats were trained and tested to walk on a horizontal ladder with irregularly spaced rungs. Eight weeks after injury, produced by pyramidal tract transection, half of the rats received forelimb motor cortex stimulation of the intact hemisphere. Rats with injury and stimulation had significantly improved forelimb control compared with rats with injury alone and achieved a level of proficiency similar to uninjured rats. To test whether recovery of forelimb function was attributable to ipsilateral control, we selectively inactivated the stimulated motor cortex using the GABA agonist muscimol. The dose of muscimol we used produces strong contralateral but no ipsilateral impairments in naive rats. In rats with injury and stimulation, but not those with injury alone, inactivation caused worsening of forelimb function; the initial deficit was reinstated. These results demonstrate that electrical stimulation can promote recovery of motor function when applied late after injury and that motor control can be exerted from the ipsilateral motor cortex. These results suggest that the uninjured motor cortex could be targeted for brain stimulation in people with large unilateral CST lesions.

  11. Fuel consumption of freight trains hauled by diesel electric locomotives

    SciTech Connect

    Radford, R.W.

    1983-05-01

    The cost of railway diesel fuel has become an increasingly high proportion of railway operating expenses. The paper analyzes the generation and utilization of rail horsepower in freight train operations. The effects on fuel consumption of variations in several parameters including train consist, car weight, gradient, average speed, meet strategy, throttle control, locomotive axle arrangement, and train marshalling are examined. Estimates are made of the value, in terms of fuel cost, of weight reduction of freight cars and of selective train marshalling.

  12. Central Pattern Generator for Locomotion: Anatomical, Physiological, and Pathophysiological Considerations

    PubMed Central

    Guertin, Pierre A.

    2013-01-01

    This article provides a perspective on major innovations over the past century in research on the spinal cord and, specifically, on specialized spinal circuits involved in the control of rhythmic locomotor pattern generation and modulation. Pioneers such as Charles Sherrington and Thomas Graham Brown have conducted experiments in the early twentieth century that changed our views of the neural control of locomotion. Their seminal work supported subsequently by several decades of evidence has led to the conclusion that walking, flying, and swimming are largely controlled by a network of spinal neurons generally referred to as the central pattern generator (CPG) for locomotion. It has been subsequently demonstrated across all vertebrate species examined, from lampreys to humans, that this CPG is capable, under some conditions, to self-produce, even in absence of descending or peripheral inputs, basic rhythmic, and coordinated locomotor movements. Recent evidence suggests, in turn, that plasticity changes of some CPG elements may contribute to the development of specific pathophysiological conditions associated with impaired locomotion or spontaneous locomotor-like movements. This article constitutes a comprehensive review summarizing key findings on the CPG as well as on its potential role in Restless Leg Syndrome, Periodic Leg Movement, and Alternating Leg Muscle Activation. Special attention will be paid to the role of the CPG in a recently identified, and uniquely different neurological disorder, called the Uner Tan Syndrome. PMID:23403923

  13. The primate semicircular canal system and locomotion

    PubMed Central

    Spoor, Fred; Garland, Theodore; Krovitz, Gail; Ryan, Timothy M.; Silcox, Mary T.; Walker, Alan

    2007-01-01

    The semicircular canal system of vertebrates helps coordinate body movements, including stabilization of gaze during locomotion. Quantitative phylogenetically informed analysis of the radius of curvature of the three semicircular canals in 91 extant and recently extinct primate species and 119 other mammalian taxa provide support for the hypothesis that canal size varies in relation to the jerkiness of head motion during locomotion. Primate and other mammalian species studied here that are agile and have fast, jerky locomotion have significantly larger canals relative to body mass than those that move more cautiously. PMID:17576932

  14. Warning system against locomotive driving wheel flaccidity

    NASA Astrophysics Data System (ADS)

    Luo, Peng

    2014-09-01

    Causes of locomotive relaxation are discussed. Alarm system against locomotive driving wheel flaccidity is designed by means of techniques of infrared temperature measurement and Hall sensor measurement. The design scheme of the system, the principle of detecting locomotive driving wheel flaccidity with temperature and Hall sensor is introduced, threshold temperature of infrared alarm is determined. The circuit system is designed by microcontroller technology and the software is designed with the assembly language. The experiment of measuring the flaccid displacement with Hall sensor measurement is simulated. The results show that the system runs well with high reliability and low cost, which has a wide prospect of application and popularization.

  15. 49 CFR 238.223 - Locomotive fuel tanks.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... 49 Transportation 4 2012-10-01 2012-10-01 false Locomotive fuel tanks. 238.223 Section 238.223... Equipment § 238.223 Locomotive fuel tanks. Locomotive fuel tanks shall comply with either the following or....21: (a) External fuel tanks. External locomotive fuel tanks shall comply with the...

  16. 49 CFR 238.223 - Locomotive fuel tanks.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... 49 Transportation 4 2011-10-01 2011-10-01 false Locomotive fuel tanks. 238.223 Section 238.223... Equipment § 238.223 Locomotive fuel tanks. Locomotive fuel tanks shall comply with either the following or....21: (a) External fuel tanks. External locomotive fuel tanks shall comply with the...

  17. 49 CFR 230.106 - Steam locomotive frame.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... 49 Transportation 4 2012-10-01 2012-10-01 false Steam locomotive frame. 230.106 Section 230.106..., DEPARTMENT OF TRANSPORTATION STEAM LOCOMOTIVE INSPECTION AND MAINTENANCE STANDARDS Steam Locomotives and Tenders Trucks, Frames and Equalizing System § 230.106 Steam locomotive frame. (a) Maintenance...

  18. 49 CFR 230.21 - Steam locomotive number change.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... 49 Transportation 4 2012-10-01 2012-10-01 false Steam locomotive number change. 230.21 Section 230... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION STEAM LOCOMOTIVE INSPECTION AND MAINTENANCE STANDARDS General Recordkeeping Requirements § 230.21 Steam locomotive number change. When a steam locomotive number is...

  19. 49 CFR 230.106 - Steam locomotive frame.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... 49 Transportation 4 2014-10-01 2014-10-01 false Steam locomotive frame. 230.106 Section 230.106..., DEPARTMENT OF TRANSPORTATION STEAM LOCOMOTIVE INSPECTION AND MAINTENANCE STANDARDS Steam Locomotives and Tenders Trucks, Frames and Equalizing System § 230.106 Steam locomotive frame. (a) Maintenance...

  20. 49 CFR 230.21 - Steam locomotive number change.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... 49 Transportation 4 2014-10-01 2014-10-01 false Steam locomotive number change. 230.21 Section 230... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION STEAM LOCOMOTIVE INSPECTION AND MAINTENANCE STANDARDS General Recordkeeping Requirements § 230.21 Steam locomotive number change. When a steam locomotive number is...

  1. 49 CFR 230.106 - Steam locomotive frame.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... 49 Transportation 4 2013-10-01 2013-10-01 false Steam locomotive frame. 230.106 Section 230.106..., DEPARTMENT OF TRANSPORTATION STEAM LOCOMOTIVE INSPECTION AND MAINTENANCE STANDARDS Steam Locomotives and Tenders Trucks, Frames and Equalizing System § 230.106 Steam locomotive frame. (a) Maintenance...

  2. 49 CFR 230.21 - Steam locomotive number change.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... 49 Transportation 4 2013-10-01 2013-10-01 false Steam locomotive number change. 230.21 Section 230... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION STEAM LOCOMOTIVE INSPECTION AND MAINTENANCE STANDARDS General Recordkeeping Requirements § 230.21 Steam locomotive number change. When a steam locomotive number is...

  3. 49 CFR 229.121 - Locomotive cab noise.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... 49 Transportation 4 2011-10-01 2011-10-01 false Locomotive cab noise. 229.121 Section 229.121... § 229.121 Locomotive cab noise. (a) Performance standards for locomotives. (1) When tested for static noise in accordance with paragraph (a)(3) of this section, all locomotives of each design or model that...

  4. 49 CFR 229.121 - Locomotive cab noise.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... 49 Transportation 4 2010-10-01 2010-10-01 false Locomotive cab noise. 229.121 Section 229.121... § 229.121 Locomotive cab noise. (a) Performance standards for locomotives. (1) When tested for static noise in accordance with paragraph (a)(3) of this section, all locomotives of each design or model that...

  5. 49 CFR 229.121 - Locomotive cab noise.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... 49 Transportation 4 2012-10-01 2012-10-01 false Locomotive cab noise. 229.121 Section 229.121... § 229.121 Locomotive cab noise. (a) Performance standards for locomotives. (1) When tested for static noise in accordance with paragraph (a)(3) of this section, all locomotives of each design or model that...

  6. 49 CFR 210.27 - New locomotive certification.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... 49 Transportation 4 2014-10-01 2014-10-01 false New locomotive certification. 210.27 Section 210... Testing § 210.27 New locomotive certification. (a) A railroad shall not operate a locomotive built after.... (d) Each new locomotive certified under this section shall be identified by a permanent badge or tag...

  7. 49 CFR 210.27 - New locomotive certification.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... 49 Transportation 4 2013-10-01 2013-10-01 false New locomotive certification. 210.27 Section 210... Testing § 210.27 New locomotive certification. (a) A railroad shall not operate a locomotive built after.... (d) Each new locomotive certified under this section shall be identified by a permanent badge or tag...

  8. 49 CFR 230.101 - Steam locomotive driving journal boxes.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... 49 Transportation 4 2013-10-01 2013-10-01 false Steam locomotive driving journal boxes. 230.101... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION STEAM LOCOMOTIVE INSPECTION AND MAINTENANCE STANDARDS Steam Locomotives and Tenders Running Gear § 230.101 Steam locomotive driving journal boxes. (a) Driving journal...

  9. 49 CFR 230.101 - Steam locomotive driving journal boxes.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... 49 Transportation 4 2014-10-01 2014-10-01 false Steam locomotive driving journal boxes. 230.101... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION STEAM LOCOMOTIVE INSPECTION AND MAINTENANCE STANDARDS Steam Locomotives and Tenders Running Gear § 230.101 Steam locomotive driving journal boxes. (a) Driving journal...

  10. 49 CFR 230.101 - Steam locomotive driving journal boxes.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... 49 Transportation 4 2012-10-01 2012-10-01 false Steam locomotive driving journal boxes. 230.101... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION STEAM LOCOMOTIVE INSPECTION AND MAINTENANCE STANDARDS Steam Locomotives and Tenders Running Gear § 230.101 Steam locomotive driving journal boxes. (a) Driving journal...

  11. 49 CFR 238.223 - Locomotive fuel tanks.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... 49 Transportation 4 2010-10-01 2010-10-01 false Locomotive fuel tanks. 238.223 Section 238.223... Equipment § 238.223 Locomotive fuel tanks. Locomotive fuel tanks shall comply with either the following or....21: (a) External fuel tanks. External locomotive fuel tanks shall comply with the...

  12. 49 CFR 230.21 - Steam locomotive number change.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... 49 Transportation 4 2011-10-01 2011-10-01 false Steam locomotive number change. 230.21 Section 230... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION STEAM LOCOMOTIVE INSPECTION AND MAINTENANCE STANDARDS General Recordkeeping Requirements § 230.21 Steam locomotive number change. When a steam locomotive number is changed...

  13. 49 CFR 230.101 - Steam locomotive driving journal boxes.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... 49 Transportation 4 2011-10-01 2011-10-01 false Steam locomotive driving journal boxes. 230.101... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION STEAM LOCOMOTIVE INSPECTION AND MAINTENANCE STANDARDS Steam Locomotives and Tenders Running Gear § 230.101 Steam locomotive driving journal boxes. (a) Driving journal...

  14. 49 CFR 230.106 - Steam locomotive frame.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... 49 Transportation 4 2010-10-01 2010-10-01 false Steam locomotive frame. 230.106 Section 230.106..., DEPARTMENT OF TRANSPORTATION STEAM LOCOMOTIVE INSPECTION AND MAINTENANCE STANDARDS Steam Locomotives and Tenders Trucks, Frames and Equalizing System § 230.106 Steam locomotive frame. (a) Maintenance and...

  15. 49 CFR 230.101 - Steam locomotive driving journal boxes.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... 49 Transportation 4 2010-10-01 2010-10-01 false Steam locomotive driving journal boxes. 230.101... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION STEAM LOCOMOTIVE INSPECTION AND MAINTENANCE STANDARDS Steam Locomotives and Tenders Running Gear § 230.101 Steam locomotive driving journal boxes. (a) Driving journal...

  16. 49 CFR 230.106 - Steam locomotive frame.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... 49 Transportation 4 2011-10-01 2011-10-01 false Steam locomotive frame. 230.106 Section 230.106..., DEPARTMENT OF TRANSPORTATION STEAM LOCOMOTIVE INSPECTION AND MAINTENANCE STANDARDS Steam Locomotives and Tenders Trucks, Frames and Equalizing System § 230.106 Steam locomotive frame. (a) Maintenance and...

  17. 49 CFR 230.21 - Steam locomotive number change.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... 49 Transportation 4 2010-10-01 2010-10-01 false Steam locomotive number change. 230.21 Section 230... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION STEAM LOCOMOTIVE INSPECTION AND MAINTENANCE STANDARDS General Recordkeeping Requirements § 230.21 Steam locomotive number change. When a steam locomotive number is changed...

  18. Visual exploration during locomotion limited by fear of heights.

    PubMed

    Kugler, Günter; Huppert, Doreen; Eckl, Maria; Schneider, Erich; Brandt, Thomas

    2014-01-01

    Visual exploration of the surroundings during locomotion at heights has not yet been investigated in subjects suffering from fear of heights. Eye and head movements were recorded separately in 16 subjects susceptible to fear of heights and in 16 non-susceptible controls while walking on an emergency escape balcony 20 meters above ground level. Participants wore mobile infrared eye-tracking goggles with a head-fixed scene camera and integrated 6-degrees-of-freedom inertial sensors for recording head movements. Video recordings of the subjects were simultaneously made to correlate gaze and gait behavior. Susceptibles exhibited a limited visual exploration of the surroundings, particularly the depth. Head movements were significantly reduced in all three planes (yaw, pitch, and roll) with less vertical head oscillations, whereas total eye movements (saccade amplitudes, frequencies, fixation durations) did not differ from those of controls. However, there was an anisotropy, with a preference for the vertical as opposed to the horizontal direction of saccades. Comparison of eye and head movement histograms and the resulting gaze-in-space revealed a smaller total area of visual exploration, which was mainly directed straight ahead and covered vertically an area from the horizon to the ground in front of the feet. This gaze behavior was associated with a slow, cautious gait. The visual exploration of the surroundings by susceptibles to fear of heights differs during locomotion at heights from the earlier investigated behavior of standing still and looking from a balcony. During locomotion, anisotropy of gaze-in-space shows a preference for the vertical as opposed to the horizontal direction during stance. Avoiding looking into the abyss may reduce anxiety in both conditions; exploration of the "vertical strip" in the heading direction is beneficial for visual control of balance and avoidance of obstacles during locomotion.

  19. Visual Exploration during Locomotion Limited by Fear of Heights

    PubMed Central

    Kugler, Günter; Huppert, Doreen; Eckl, Maria; Schneider, Erich; Brandt, Thomas

    2014-01-01

    Background Visual exploration of the surroundings during locomotion at heights has not yet been investigated in subjects suffering from fear of heights. Methods Eye and head movements were recorded separately in 16 subjects susceptible to fear of heights and in 16 non-susceptible controls while walking on an emergency escape balcony 20 meters above ground level. Participants wore mobile infrared eye-tracking goggles with a head-fixed scene camera and integrated 6-degrees-of-freedom inertial sensors for recording head movements. Video recordings of the subjects were simultaneously made to correlate gaze and gait behavior. Results Susceptibles exhibited a limited visual exploration of the surroundings, particularly the depth. Head movements were significantly reduced in all three planes (yaw, pitch, and roll) with less vertical head oscillations, whereas total eye movements (saccade amplitudes, frequencies, fixation durations) did not differ from those of controls. However, there was an anisotropy, with a preference for the vertical as opposed to the horizontal direction of saccades. Comparison of eye and head movement histograms and the resulting gaze-in-space revealed a smaller total area of visual exploration, which was mainly directed straight ahead and covered vertically an area from the horizon to the ground in front of the feet. This gaze behavior was associated with a slow, cautious gait. Conclusions The visual exploration of the surroundings by susceptibles to fear of heights differs during locomotion at heights from the earlier investigated behavior of standing still and looking from a balcony. During locomotion, anisotropy of gaze-in-space shows a preference for the vertical as opposed to the horizontal direction during stance. Avoiding looking into the abyss may reduce anxiety in both conditions; exploration of the “vertical strip” in the heading direction is beneficial for visual control of balance and avoidance of obstacles during locomotion. PMID

  20. Isolation, spreading, locomotion on various substrata, and the effect of hypotonicity on locomotion of fish keratinocytes.

    PubMed

    Korohoda, W; Drukała, J; Sroka, J; Madeja, Z

    1997-01-01

    The paper describes improved methods for the isolation of fish skin keratinocytes, which spread and locomote 15 min after trypsinization, in the absence of extracellular matrix proteins. The random locomotion of these keratinocytes under isotropic conditions on glass, plastic (polystyrene), and glass covered with poly-L-lysine or collagen IV was studied with computer-aided methods. Several methods for quantitative description of random cell locomotion were compared. The values of some parameters commonly computed showed non-Gaussian distribution. A comparison of keratinocyte locomotion under isotonic and hypotonic conditions revealed that the hypotonic conditions increased cell displacement (net migration) owing to the klinokinetic and not the orthokinetic effect.

  1. 49 CFR 212.215 - Locomotive inspector.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... four years of experience in locomotive construction or maintenance. A bachelor's degree in mechanical engineering or a related technical specialization may be substituted for two of the four years of this...

  2. 49 CFR 212.215 - Locomotive inspector.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... four years of experience in locomotive construction or maintenance. A bachelor's degree in mechanical engineering or a related technical specialization may be substituted for two of the four years of this...

  3. 49 CFR 212.215 - Locomotive inspector.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... four years of experience in locomotive construction or maintenance. A bachelor's degree in mechanical engineering or a related technical specialization may be substituted for two of the four years of this...

  4. 49 CFR 212.215 - Locomotive inspector.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... four years of experience in locomotive construction or maintenance. A bachelor's degree in mechanical engineering or a related technical specialization may be substituted for two of the four years of this...

  5. 49 CFR 212.215 - Locomotive inspector.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... four years of experience in locomotive construction or maintenance. A bachelor's degree in mechanical engineering or a related technical specialization may be substituted for two of the four years of this...

  6. 76 FR 8699 - Locomotive Safety Standards; Correction

    Federal Register 2010, 2011, 2012, 2013, 2014

    2011-02-15

    ... From the Federal Register Online via the Government Publishing Office DEPARTMENT OF TRANSPORTATION Federal Railroad Administration 49 CFR Parts 229 and 238 RIN 2130-AC16 Locomotive Safety Standards; Correction AGENCY: Federal Railroad Administration (FRA), DOT. ACTION: Proposed rule; correction....

  7. The Kinematics of Treadmill Locomotion in Space

    NASA Technical Reports Server (NTRS)

    Thornton, W. E.; Cavanagh, P. R.; Buczek, F. L.; Burgess-Milliron, M. J.; Davis, B. L.

    1997-01-01

    Locomotion on a treadmill in 0 G will probably remain a centerpiece of NASA's exercise countermeasures programme. This form of physical activity has the potential to cause large bone and muscle forces as well as loading during a period of continuous treadmill exercise. A critical concern is the provision of a treadmill which can approximate 1 G performance in space. At this point, no adequate objective measurements of in-flight treadmill kinetics or of the human response to this activity have been made. Interpretation of the results obtained in the present study is limited by the following: (1) bungee tensions were not measured; (2) ground reaction forces were not measured in parallel with the kinematic measurements; and (3) the instrumentation used to film the astronauts could itself have been affected by microgravity. Despite these shortcomings, what is apparent is that exercise during NASA missions STS 7 and STS 8 resulted in leg motions that were similar to those found during 1 G locomotion on an inclined passive treadmill and on an active treadmill at an even steeper grade. In addition, it was apparent that the majority of the loads were transmitted through the forefoot, and one can surmise that this style of running would result in physiologically significant tensions in the calf musculature and resultant ankle compressive loading. Further speculation regarding limb loading is complicated by the fact that varying amounts of force are transmitted through (1) the treadmill handle and (2) bungee cords that act as a tether. New generations of treadmills are being manufactured that could provide I important information for planners of long-duration space missions. If these types of treadmill are flown on future missions, it will be possible to control bungee tensions more precisely, control for grade and speed, and, most importantly, provide data on the rates and magnitudes of limb loading. These data could then be incorporated into biomechanical models of the

  8. Characteristics of undulatory locomotion in granular media

    NASA Astrophysics Data System (ADS)

    Peng, Zhiwei; Pak, On Shun; Elfring, Gwynn J.

    2016-03-01

    Undulatory locomotion is ubiquitous in nature and observed in different media, from the swimming of flagellated microorganisms in biological fluids, to the slithering of snakes on land, or the locomotion of sandfish lizards in sand. Despite the similarity in the undulating pattern, the swimming characteristics depend on the rheological properties of different media. Analysis of locomotion in granular materials is relatively less developed compared with fluids partially due to a lack of validated force models but recently a resistive force theory in granular media has been proposed and shown useful in studying the locomotion of a sand-swimming lizard. Here we employ the proposed model to investigate the swimming characteristics of a slender filament, of both finite and infinite length, undulating in a granular medium and compare the results with swimming in viscous fluids. In particular, we characterize the effects of drifting and pitching in terms of propulsion speed and efficiency for a finite sinusoidal swimmer. We also find that, similar to Lighthill's results using resistive force theory in viscous fluids, the sawtooth swimmer is the optimal waveform for propulsion speed at a given power consumption in granular media. The results complement our understanding of undulatory locomotion and provide insights into the effective design of locomotive systems in granular media.

  9. Characterization of undulatory locomotion in granular media

    NASA Astrophysics Data System (ADS)

    Peng, Zhiwei; Pak, On Shun; Elfring, Gwynn

    2015-11-01

    Undulatory locomotion is ubiquitous in nature, from the swimming of flagellated microorganisms in biological fluids, to the slithering of snakes on land, or the locomotion of sandfish lizards in sand. Analysis of locomotion in granular materials is relatively less developed compared with fluids partially due to a lack of validated force models but a recently proposed resistive force theory (RFT) in granular media has been shown useful in studying the locomotion of a sand-swimming lizard. Here we employ this model to investigate the swimming characteristics of an undulating slender filament of both finite and infinite length. For infinite swimmers, similar to results in viscous fluids, the sawtooth waveform is found to be optimal for propulsion speed at a given power consumption. We also compare the swimming characteristics of sinusoidal and sawtooth swimmers with swimming in viscous fluids. More complex swimming dynamics emerge when the assumption of an infinite swimmer is removed. In particular, we characterize the effects of drifting and pitching in terms of propulsion speed and efficiency for a finite sinusoidal swimmer. The results complement our understanding of undulatory locomotion and provide insights into the effective design of locomotive systems in granular media.

  10. Push-Pull Locomotion for Vehicle Extrication

    NASA Technical Reports Server (NTRS)

    Creager, Colin M.; Johnson, Kyle A.; Plant, Mark; Moreland, Scott J.; Skonieczny, Krzysztof

    2014-01-01

    For applications in which unmanned vehicles must traverse unfamiliar terrain, there often exists the risk of vehicle entrapment. Typically, this risk can be reduced by using feedback from on-board sensors that assess the terrain. This work addressed the situations where a vehicle has already become immobilized or the desired route cannot be traversed using conventional rolling. Specifically, the focus was on using push-pull locomotion in high sinkage granular material. Push-pull locomotion is an alternative mode of travel that generates thrust through articulated motion, using vehicle components as anchors to push or pull against. It has been revealed through previous research that push-pull locomotion has the capacity for generating higher net traction forces than rolling, and a unique optical flow technique indicated that this is the result of a more efficient soil shearing method. It has now been found that pushpull locomotion results in less sinkage, lower travel reduction, and better power efficiency in high sinkage material as compared to rolling. Even when starting from an "entrapped" condition, push-pull locomotion was able to extricate the test vehicle. It is the authors' recommendation that push-pull locomotion be considered as a reliable back-up mode of travel for applications where terrain entrapment is a possibility.

  11. Gravitational Effects upon Locomotion Posture

    NASA Technical Reports Server (NTRS)

    DeWitt, John K.; Bentley, Jason R.; Edwards, W. Brent; Perusek, Gail P.; Samorezov, Sergey

    2008-01-01

    Researchers use actual microgravity (AM) during parabolic flight and simulated microgravity (SM) obtained with horizontal suspension analogs to better understand the effect of gravity upon gait. In both environments, the gravitational force is replaced by an external load (EL) that returns the subject to the treadmill. However, when compared to normal gravity (N), researchers consistently find reduced ground reaction forces (GRF) and subtle kinematic differences (Schaffner et al., 2005). On the International Space Station, the EL is applied by elastic bungees attached to a waist and shoulder harness. While bungees can provide EL approaching body weight (BW), their force-length characteristics coupled with vertical oscillations of the body during gait result in a variable load. However, during locomotion in N, the EL is consistently equal to 100% body weight. Comparisons between AM and N have shown that during running, GRF are decreased in AM (Schaffner et al, 2005). Kinematic evaluations in the past have focussed on joint range of motion rather than joint posture at specific instances of the gait cycle. The reduced GRF in microgravity may be a result of differing hip, knee, and ankle positions during contact. The purpose of this investigation was to compare joint angles of the lower extremities during walking and running in AM, SM, and N. We hypothesized that in AM and SM, joints would be more flexed at heel strike (HS), mid-stance (MS) and toe-off (TO) than in N.

  12. Locomotion in a turbulent world

    NASA Astrophysics Data System (ADS)

    Koehl, M.

    2014-11-01

    When organisms swim or crawl in aquatic habitats, the water through which they travel is usually moving. Therefore, an important part of understanding how aquatic organisms locomote is determining how they interact with the fluctuating turbulent water currents through which they move. The research systems we have been using to address this question are microscopic marine animals swimming in turbulent, wavy water flow or crawling on surfaces in spatially-complex habitats exposed to such flow. Using a combination of field studies, wave-flume experiments, experiments in fluidic devices, and mathematical modeling, we have discovered that small organisms swimming or crawling in turbulent flow are not subjected to steady velocities. The shears, accelerations, and odor concentrations encountered by small swimmers and crawlers fluctuate rapidly, with peaks much higher than mean values. Although microscopic organisms swim slowly relative to ambient water flow, their locomotory behavior in response to the rapidly-fluctuating shears and odors they encounter can affect where they are transported by ambient water movement. Furthermore, the ability of small organisms to walk on surfaces without being dislodged by pulses of rapid flow constrains the microhabitats in which they can forage. Supported by NSF Grant #IOS-0842685.

  13. Reversal of the late phase of spike frequency adaptation in cat spinal motoneurons during fictive locomotion.

    PubMed

    Brownstone, Robert M; Krawitz, Sherry; Jordan, Larry M

    2011-03-01

    In spinal motoneurons, late spike frequency adaptation (SFA) is defined as the slowing of the firing rate over tens of seconds and can be seen during sustained or intermittent current injection. Although the function of late SFA is not known, it may result in a decrease in force production over time, or muscle fatigue. Because locomotion can persist for long periods of time without fatigue, late SFA was studied using intracellular recordings from adult cat motoneurons during fictive locomotion. Of eight lumbar motoneurons studied, all showed late adaptation during control conditions, but none demonstrated late adaptation during locomotor activity. The most consistent properties that correlated with the presence or absence of late SFA were those related to availability of fast, inactivating sodium channels, particularly action potential rate of rise. Evidence of the reversal of late SFA during locomotion was present for several minutes following locomotor trials, consistent with the suggestion that SFA is modulated through slow metabotropic pathways. The abolition of late adaptation in spinal motoneurons during fictive locomotion is an example of a state-dependent change in the "intrinsic" properties of mammalian motoneurons. This change contributes to increased excitability of motoneurons during locomotion and results in robust firing during sustained locomotion.

  14. Breathing and locomotion in patients with Parkinson's disease.

    PubMed

    Schiermeier, S; Schäfer, D; Schäfer, T; Greulich, W; Schläfke, M E

    2001-10-01

    The phase relationship between respiration and locomotion was examined in ten patients with Parkinson's disease (PD, mean age 65, range 51-79 years) and in six healthy subjects (mean age 63, range 58-68 years). Locomotion was measured by means of pressure sensors attached below the subjects' feet. Respiration was measured using respiratory inductive plethysmography. The data were recorded with a battery-driven portable device. We determined the coordination degree as the portion of steps which occurred within 12/50 bins of the respiratory cycle. The mean degree of coordination of PD patients was 45.0%+/-11.9%, for the healthy subjects 85.1%+/-10.8% (P<0.001). Three healthy subjects showed a 2:1 ratio between step and breathing rate, three a 3:2 ratio. Two PD patients showed a coordination of 4:1 and 3:1, respectively, with a larger scatter than in controls. In the other eight patients steps were almost equally distributed over the entire respiratory cycle. We conclude that in patients with PD the coordination between locomotion and breathing is reduced.

  15. Locomotion in intact and in brain cortex-ablated cats.

    PubMed

    López Ruiz, José Roberto; Castillo Hernández, Luis; De la Torre Valdovinos, Braniff; Franco Rodríguez, Nancy Elizabeth; Dueñas Jiménez, Judith Marcela; Dueñas Jiménez, Alejandro; Rivas-Carrillo, Jorge David; Dueñas Jiménez, Sergio Horacio

    2017-09-01

    The current decerebration procedures discard the role of the thalamus in the motor control and decortication only rules out the brain cortex part, leaving a gap between the brain cortex and the subthalamic motor regions. In here we define a new preparation denominated Brain Cortex-Ablated Cat (BCAC), in which the frontal and parietal brain cortices as well as the central white matter beneath them were removed, this decerebration process may be considered as suprathalamic, since the thalamus remained intact. To characterize this preparation cat hindlimb electromyograms (EMG), kinematics and cutaneous reflexes (CR) produced by electrical stimulation of sural (SU) or saphenous (SAPH) nerves were analyzed during locomotion in intact and in BCAC. In cortex-ablated cats compared to intact cats, the hindlimb EMG amplitude was increased in the flexors, whereas in most extensors the amplitude was decreased. Bifunctional muscle EMGs presented complex and speed-dependent amplitude changes. In intact cats CR produced an inhibition of extensors, as well as excitation and inhibition of flexors, and a complex pattern of withdrawal responses in bifunctional muscles. The same stimuli applied to BCAC produced no detectable responses, but in some cats cutaneous reflexes produced by electrical stimulation of saphenous nerve reappeared when the locomotion speed increased. In BCAC, EMG and kinematic changes, as well as the absence of CR, imply that for this cat preparation there is a partial compensation due to the subcortical locomotor apparatus generating close to normal locomotion. Copyright © 2017 IBRO. Published by Elsevier Ltd. All rights reserved.

  16. A strategy for identifying locomotion modes using surface electromyography.

    PubMed

    Huang, He; Kuiken, Todd A; Lipschutz, Robert D

    2009-01-01

    This study investigated the use of surface electromyography (EMG) combined with pattern recognition (PR) to identify user locomotion modes. Due to the nonstationary characteristics of leg EMG signals during locomotion, a new phase-dependent EMG PR strategy was proposed for classifying the user's locomotion modes. The variables of the system were studied for accurate classification and timely system response. The developed PR system was tested on EMG data collected from eight able-bodied subjects and two subjects with long transfemoral (TF) amputations while they were walking on different terrains or paths. The results showed reliable classification for the seven tested modes. For eight able-bodied subjects, the average classification errors in the four defined phases using ten electrodes located over the muscles above the knee (simulating EMG from the residual limb of a TF amputee) were 12.4% +/- 5.0%, 6.0% +/- 4.7%, 7.5% +/- 5.1%, and 5.2% +/- 3.7%, respectively. Comparable results were also observed in our pilot study on the subjects with TF amputations. The outcome of this investigation could promote the future design of neural-controlled artificial legs.

  17. Exposure to diesel exhaust emissions on board locomotives.

    PubMed

    Seshagiri, Baily

    2003-01-01

    Measurements of diesel exhaust emissions (DEEs) were taken in the cabs of leading and trailing locomotives on 48 runs, under winter and summer conditions, on 9 different routes. The cab windows were kept open during the summer runs and closed during the winter runs. The average measurement duration was 9.5 hours. There was virtually no exposure to DEEs in the lead locomotives during winter or summer and very little in the trailing locomotives during winter. The average elemental carbon (EC) concentration in the trailing units of the summer trials was greater than or equal to the proposed American Conference of Governmental Industrial Hygienists' threshold limit value/time-weighted average of 20 microg/m(3) on 26% of the runs, and was greater than or equal to 10 microg/m(3) on 63%. The concentrations of the gaseous components (nitric oxide, nitrogen dioxide, and carbon monoxide) were from 10 to 20 times below their respective threshold limit values. Mean EC concentration was 2.9 microg/m(3) (detection limit 2 microg/m(3)) during the winter runs and 17.1 microg/m(3) during summer. DEEs appeared to be fairly uniformly distributed in the trailing cabs. Configuration of the locomotives had a major impact on EC concentration, with the mean concentration being nearly three times higher in the forward-backward mode than in the forward-forward mode. Descriptive statistics such as means, medians, standard deviations, and so forth, are provided. Various types of statistical comparisons are reported. Recommendations for controlling exposure are made.

  18. 40 CFR 92.707 - Notification to locomotive or locomotive engine owners.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... be emitting pollutants in excess of the federal emission standards or family emission limits, as defined in 40 CFR part 92. These standards or family emission limits, as defined in 40 CFR part 92 were... communication sent to locomotive or locomotive engine owners or dealers shall contain any statement...

  19. Union Pacific Railroad`s LNG locomotive test program

    SciTech Connect

    Grimaila, B.

    1995-12-31

    Union Pacific Railroad is testing LNG in six locomotives through 1997 to determine if the liquefied natural gas technology is right for them. Two of the six LNG test locomotives are switch, or yard, locomotives. These 1,350 horsepower locomotives are the industry`s first locomotives totally fueled by natural gas. They`re being tested in the yard in the Los Angeles area. The other four locomotives are long-haul locomotives fueled by two tenders. These units are duel-fueled, operating on a mixture of LNG and diesel and are being tested primarily on the Los Angeles to North Platte, Nebraska corridor. All the information concerning locomotive emissions, locomotive performance, maintenance requirements, the overall LNG system design and the economic feasibility of the project will be analyzed to determine if UPR should expand, or abandon, the LNG technology.

  20. Dynamic primitives in the control of locomotion

    PubMed Central

    Hogan, Neville; Sternad, Dagmar

    2013-01-01

    Humans achieve locomotor dexterity that far exceeds the capability of modern robots, yet this is achieved despite slower actuators, imprecise sensors, and vastly slower communication. We propose that this spectacular performance arises from encoding motor commands in terms of dynamic primitives. We propose three primitives as a foundation for a comprehensive theoretical framework that can embrace a wide range of upper- and lower-limb behaviors. Building on previous work that suggested discrete and rhythmic movements as elementary dynamic behaviors, we define submovements and oscillations: as discrete movements cannot be combined with sufficient flexibility, we argue that suitably-defined submovements are primitives. As the term “rhythmic” may be ambiguous, we define oscillations as the corresponding class of primitives. We further propose mechanical impedances as a third class of dynamic primitives, necessary for interaction with the physical environment. Combination of these three classes of primitive requires care. One approach is through a generalized equivalent network: a virtual trajectory composed of simultaneous and/or sequential submovements and/or oscillations that interacts with mechanical impedances to produce observable forces and motions. Reliable experimental identification of these dynamic primitives presents challenges: identification of mechanical impedances is exquisitely sensitive to assumptions about their dynamic structure; identification of submovements and oscillations is sensitive to their assumed form and to details of the algorithm used to extract them. Some methods to address these challenges are presented. Some implications of this theoretical framework for locomotor rehabilitation are considered. PMID:23801959

  1. Water surface locomotion in tropical canopy ants.

    PubMed

    Yanoviak, S P; Frederick, D N

    2014-06-15

    Upon falling onto the water surface, most terrestrial arthropods helplessly struggle and are quickly eaten by aquatic predators. Exceptions to this outcome mostly occur among riparian taxa that escape by walking or swimming at the water surface. Here we document sustained, directional, neustonic locomotion (i.e. surface swimming) in tropical arboreal ants. We dropped 35 species of ants into natural and artificial aquatic settings in Peru and Panama to assess their swimming ability. Ten species showed directed surface swimming at speeds >3 body lengths s(-1), with some swimming at absolute speeds >10 cm s(-1). Ten other species exhibited partial swimming ability characterized by relatively slow but directed movement. The remaining species showed no locomotory control at the surface. The phylogenetic distribution of swimming among ant genera indicates parallel evolution and a trend toward negative association with directed aerial descent behavior. Experiments with workers of Odontomachus bauri showed that they escape from the water by directing their swimming toward dark emergent objects (i.e. skototaxis). Analyses of high-speed video images indicate that Pachycondyla spp. and O. bauri use a modified alternating tripod gait when swimming; they generate thrust at the water surface via synchronized treading and rowing motions of the contralateral fore and mid legs, respectively, while the hind legs provide roll stability. These results expand the list of facultatively neustonic terrestrial taxa to include various species of tropical arboreal ants. © 2014. Published by The Company of Biologists Ltd.

  2. Legged-locomotion on inclined granular media

    NASA Astrophysics Data System (ADS)

    Rieser, Jennifer; Qian, Feifei; Goldman, Daniel

    Animals traverse a wide variety of complex environments, including situations in which the ground beneath them can yield (e.g. dry granular media in desert dunes). Locomotion strategies that are effective on level granular media can fail when traversing a granular slope. Taking inspiration from successful legged-locomotors in sandy, uneven settings, we explore the ability of a small (15 cm long, 100 g), six-c-shaped legged robot to run uphill in a bed of 1-mm-diameter poppy seeds, using an alternating tripod gait. Our fully automated experiments reveal that locomotor performance can depend sensitively on both environmental parameters such as the inclination angle and volume fraction of the substrate, and robot morphology and control parameters like leg shape, step frequency, and the friction between the feet of the robot and the substrate. We assess performance by measuring the average speed of the robot, and we find that the robot tends to perform better at higher step frequency and lower inclination angles, and that average speed decreases more rapidly with increasing angle for higher step frequency.

  3. Spinal cord pattern generators for locomotion.

    PubMed

    Dietz, V

    2003-08-01

    It is generally accepted that locomotion in mammals, including humans, is based on the activity of neuronal circuits within the spinal cord (the central pattern generator, CPG). Afferent information from the periphery (i.e. the limbs) influences the central pattern and, conversely, the CPG selects appropriate afferent information according to the external requirement. Both the CPG and the reflexes that mediate afferent input to the spinal cord are under the control of the brainstem. There is increasing evidence that in central motor diseases, a defective utilization of afferent input, in combination with secondary compensatory processes, is involved in typical movement disorders, such as spasticity and Parkinson's disease. Recent studies indicate a plastic behavior of the spinal neuronal circuits following a central motor lesion. This has implications for any rehabilitative therapy that should be directed to take advantage of the plasticity of the central nervous system. The significance of this research is in a better understanding of the pathophysiology underlying movement disorders and the consequences for an appropriate treatment.

  4. Relationship between osteology and aquatic locomotion in birds: determining modes of locomotion in extinct Ornithurae.

    PubMed

    Hinić-Frlog, S; Motani, R

    2010-02-01

    The evolutionary history of aquatic invasion in birds would be incomplete without incorporation of extinct species. We show that aquatic affinities in fossil birds can be inferred by multivariate analysis of skeletal features and locomotion of 245 species of extant birds. Regularized discriminant analyses revealed that measurements of appendicular skeletons successfully separated diving birds from surface swimmers and flyers, while also discriminating among different underwater modes of swimming. The high accuracy of this method allows detection of skeletal characteristics that are indicative of aquatic locomotion and inference of such locomotion in bird species with insufficient behavioural information. Statistical predictions based on the analyses confirm qualitative assessments for both foot-propelled (Hesperornithiformes) and wing-propelled (Copepteryx) underwater locomotion in fossil birds. This is the first quantitative inference of underwater modes of swimming in fossil birds, enabling future studies of locomotion in extinct birds and evolutionary transitions among locomotor modes in avian lineage.

  5. Locomotion of an all-terrain mobile robot

    NASA Astrophysics Data System (ADS)

    Iagolnitzer, M.; Richard, F.; Samson, J. F.; Tournassoud, P.

    The authors introduce a framework and prospective solutions for intelligent locomotion, defined as the ability for a mobile robot to cross over obstacles along a path roughly determined either through teleoperation or by a navigation path-finder. Then, they present a simple but efficient control scheme derived from these concepts, taking into account ground clearance, vehicle safety, and possible occlusions in the vision field. This control scheme is applied to Rami, a four tiltable track robot equipped with force sensors, an inertial reference system, a laser-stripe range finder, and extensive real-time computing facilities based on a decentralized architecture.

  6. A Numerical Study on Hydrodynamics of Pectoral Fin Locomotion in Batoid Fishes

    NASA Astrophysics Data System (ADS)

    Hu, W. R.

    The mechanics of aquatic locomotion are of interest to biologists, dynamicists and engineers. Batoid fishes (skates and rays) propel themselves through the water primarily with their greatly expanded pectoral fins (pectoral-fin-based locomotion). Batoids exhibit two modes of pectoral swiminng behavior: (1) undulatory locomotion, termed ‘rajiform’, and (2) oscillatory locomotion, termed ‘mobuliform’. A computational study on the unsteady hydrodynamics of pectoral fin locomotion of Rhinoptera Bonasus and Dasyatis Sabina is carried out and presented, which represent the undulatory and oscillatory locomotion, respectively. Unsteady hydrodynamics around a pectoral fin is solved by a time-accurate solution of incompressible, laminar Navier-Stokes equations. Kinematic data of the pectoral fin locomotion used in the computational modeling are based on the experimental results. The pressure distribution of the pectoral fin was computed and integrated to give forces which were decomposed into lift and thrust. The velocity and vorticity field variation on the surface of pectoral fins and in the near-wake was computed throughout the swimming cycle. In the present study, we analyzed and compared the hydrodynamics and mechanmism of the Batoid pectoral fin locomotion between the two modes, and discovered how these patterns change with controllable factors, such as Renolds number, frequency, amplitude etc. The results show that forces on the fins of Rhinoptera Bonasus are much larger than that of Dasyatis Sabina. The load-bearing areas of Rhinoptera Bonasus are at the areas from the leading edge to the medial of the wing; while the load-bearing area of Dasyatis Sabina is the whole wavy fin. These characters are associated with the morphology of the wing skeleton. The propulsive mechanism of pectoral-fin-based locomotion is similar to that of the caudal-fin-based locomotion. A strong backward jet-stream in the wake contributes the net thrust, which is induced by the

  7. Bioinspired laser-operated molecular locomotive.

    PubMed

    Wang, Zhisong

    2004-09-01

    Biomotors kinesin and dynein show us that robust track-walking is possible down to molecular scale. Here I design a laser-powered molecular locomotive that is able to do that on an easily constructed track. The core of the machine is its work cycle that periodically converts optical energy into mechanical work, which is further rectified into processive, directional motion. Thus the molecular locomotive is essentially beyond the famous design of molecular shuttles. Under automated laser operation, the locomotive can move a few mum per second comparable to its biological counterparts. However, this artificial motor is capable of conveniently switchable, dual directional motion in contrast to common unidirectionality of biomotors. The locomotive is also different from the big category of Brownian motors in the sense that move of the locomotive is not a result of biasing pre-existing fluctuations, rather it is directly and decisively driven by optomechanical strokes of the work cycle, generating a pulling force ten times greater than those of biomotors. Being a novel type of molecular motor as well as a powerful molecular engine, this machine will potentially enable automatic, forceful delivery of molecular building blocks with nanometer accuracy. Well within reach of established techniques, its implementation will be a significant advance in nanoscience and nanotechnology.

  8. Bioinspired laser-operated molecular locomotive

    NASA Astrophysics Data System (ADS)

    Wang, Zhisong

    2004-09-01

    Biomotors kinesin and dynein show us that robust track-walking is possible down to molecular scale. Here I design a laser-powered molecular locomotive that is able to do that on an easily constructed track. The core of the machine is its work cycle that periodically converts optical energy into mechanical work, which is further rectified into processive, directional motion. Thus the molecular locomotive is essentially beyond the famous design of molecular shuttles. Under automated laser operation, the locomotive can move a few μm per second comparable to its biological counterparts. However, this artificial motor is capable of conveniently switchable, dual directional motion in contrast to common unidirectionality of biomotors. The locomotive is also different from the big category of Brownian motors in the sense that move of the locomotive is not a result of biasing pre-existing fluctuations, rather it is directly and decisively driven by optomechanical strokes of the work cycle, generating a pulling force ten times greater than those of biomotors. Being a novel type of molecular motor as well as a powerful molecular engine, this machine will potentially enable automatic, forceful delivery of molecular building blocks with nanometer accuracy. Well within reach of established techniques, its implementation will be a significant advance in nanoscience and nanotechnology.

  9. Advantage of straight walk instability in turning maneuver of multilegged locomotion: a robotics approach

    NASA Astrophysics Data System (ADS)

    Aoi, Shinya; Tanaka, Takahiro; Fujiki, Soichiro; Funato, Tetsuro; Senda, Kei; Tsuchiya, Kazuo

    2016-07-01

    Multilegged locomotion improves the mobility of terrestrial animals and artifacts. Using many legs has advantages, such as the ability to avoid falling and to tolerate leg malfunction. However, many intrinsic degrees of freedom make the motion planning and control difficult, and many contact legs can impede the maneuverability during locomotion. The underlying mechanism for generating agile locomotion using many legs remains unclear from biological and engineering viewpoints. The present study used a centipede-like multilegged robot composed of six body segments and twelve legs. The body segments are passively connected through yaw joints with torsional springs. The dynamic stability of the robot walking in a straight line changes through a supercritical Hopf bifurcation due to the body axis flexibility. We focused on a quick turning task of the robot and quantitatively investigated the relationship between stability and maneuverability in multilegged locomotion by using a simple control strategy. Our experimental results show that the straight walk instability does help the turning maneuver. We discuss the importance and relevance of our findings for biological systems and propose a design principle for a simple control scheme to create maneuverable locomotion of multilegged robots.

  10. Advantage of straight walk instability in turning maneuver of multilegged locomotion: a robotics approach.

    PubMed

    Aoi, Shinya; Tanaka, Takahiro; Fujiki, Soichiro; Funato, Tetsuro; Senda, Kei; Tsuchiya, Kazuo

    2016-07-22

    Multilegged locomotion improves the mobility of terrestrial animals and artifacts. Using many legs has advantages, such as the ability to avoid falling and to tolerate leg malfunction. However, many intrinsic degrees of freedom make the motion planning and control difficult, and many contact legs can impede the maneuverability during locomotion. The underlying mechanism for generating agile locomotion using many legs remains unclear from biological and engineering viewpoints. The present study used a centipede-like multilegged robot composed of six body segments and twelve legs. The body segments are passively connected through yaw joints with torsional springs. The dynamic stability of the robot walking in a straight line changes through a supercritical Hopf bifurcation due to the body axis flexibility. We focused on a quick turning task of the robot and quantitatively investigated the relationship between stability and maneuverability in multilegged locomotion by using a simple control strategy. Our experimental results show that the straight walk instability does help the turning maneuver. We discuss the importance and relevance of our findings for biological systems and propose a design principle for a simple control scheme to create maneuverable locomotion of multilegged robots.

  11. Advantage of straight walk instability in turning maneuver of multilegged locomotion: a robotics approach

    PubMed Central

    Aoi, Shinya; Tanaka, Takahiro; Fujiki, Soichiro; Funato, Tetsuro; Senda, Kei; Tsuchiya, Kazuo

    2016-01-01

    Multilegged locomotion improves the mobility of terrestrial animals and artifacts. Using many legs has advantages, such as the ability to avoid falling and to tolerate leg malfunction. However, many intrinsic degrees of freedom make the motion planning and control difficult, and many contact legs can impede the maneuverability during locomotion. The underlying mechanism for generating agile locomotion using many legs remains unclear from biological and engineering viewpoints. The present study used a centipede-like multilegged robot composed of six body segments and twelve legs. The body segments are passively connected through yaw joints with torsional springs. The dynamic stability of the robot walking in a straight line changes through a supercritical Hopf bifurcation due to the body axis flexibility. We focused on a quick turning task of the robot and quantitatively investigated the relationship between stability and maneuverability in multilegged locomotion by using a simple control strategy. Our experimental results show that the straight walk instability does help the turning maneuver. We discuss the importance and relevance of our findings for biological systems and propose a design principle for a simple control scheme to create maneuverable locomotion of multilegged robots. PMID:27444746

  12. Locomotion gaits of a rotating cylinder pair

    NASA Astrophysics Data System (ADS)

    van Rees, Wim M.; Novati, Guido; Koumoutsakos, Petros; Mahadevan, L.

    2015-11-01

    Using 2D numerical simulations of the Navier-Stokes equations, we demonstrate that a simple pair of rotating cylinders can display a range of locomotion patterns of biological and engineering interest. Steadily counter-rotating the cylinders causes the pair to move akin to a vortex dipole for low rotation rates, but as the rotational velocity is increased the direction of motion reverses. Unsteady rotations lead to different locomotion gaits that resemble jellyfish (for in-phase rotations) and undulating swimmers (for out-of-phase rotations). The small number of parameters for this simple system allows us to systematically map the phase space of these gaits, and allows us to understand the underlying physical mechanisms using a minimal model with implications for biological locomotion and engineered analogs.

  13. Neural organization of the locomotive oscillator.

    PubMed

    Willner, B E; Miranker, W L; Lu, C P

    1993-01-01

    We study the relation of neural development, organization, and activity to behavior. We provide a model of the locomotive oscillator, a neural system supplying alternating stimulation to extensor and flexor muscles creating an oscillatory motion. We propose a protocol by which this neural system starting from unstructured, unconnected neural populations develops structure and function. The protocol is studied by both computer simulation and mathematical analysis. Our main results are 1. The locomotive oscillator self-organizes and maintains its organization, assuming certain properties of the neural populations. 2. Imperfections disturbing the functional adequacy of the neural populations may lead to the deterioration and disappearance of the oscillatory behavior. 3. The locomotive oscillator may fail to organize if the development is not staged in time.

  14. Analysis of fuel cell hybrid locomotives

    NASA Astrophysics Data System (ADS)

    Miller, Arnold R.; Peters, John; Smith, Brian E.; Velev, Omourtag A.

    Led by Vehicle Projects LLC, an international industry-government consortium is developing a 109 t, 1.2 MW road-switcher locomotive for commercial and military railway applications. As part of the feasibility and conceptual-design analysis, a study has been made of the potential benefits of a hybrid power plant in which fuel cells comprise the prime mover and a battery or flywheel provides auxiliary power. The potential benefits of a hybrid power plant are: (i) enhancement of transient power and hence tractive effort; (ii) regenerative braking; (iii) reduction of capital cost. Generally, the tractive effort of a locomotive at low speed is limited by wheel adhesion and not by available power. Enhanced transient power is therefore unlikely to benefit a switcher locomotive, but could assist applications that require high acceleration, e.g. subway trains with all axles powered. In most cases, the value of regeneration in locomotives is minimal. For low-speed applications such as switchers, the available kinetic energy and the effectiveness of traction motors as generators are both minimal. For high-speed heavy applications such as freight, the ability of the auxiliary power device to absorb a significant portion of the available kinetic energy is low. Moreover, the hybrid power plant suffers a double efficiency penalty, namely, losses occur in both absorbing and then releasing energy from the auxiliary device, which result in a net storage efficiency of no more than 50% for present battery technology. Capital cost in some applications may be reduced. Based on an observed locomotive duty cycle, a cost model shows that a hybrid power plant for a switcher may indeed reduce capital cost. Offsetting this potential benefit are the increased complexity, weight and volume of the power plant, as well as 20-40% increased fuel consumption that results from lower efficiency. Based on this analysis, the consortium has decided to develop a pure fuel cell road-switcher locomotive

  15. The Role of Adaptation in Body Load-Regulating Mechanisms During Locomotion

    NASA Technical Reports Server (NTRS)

    Ruttley, Tara; Holt, Christopher; Mulavara, Ajitkumar; Bloomberg, Jacob

    2010-01-01

    Body loading is a fundamental parameter that modulates motor output during locomotion, and is especially important for controlling the generation of stepping patterns, dynamic balance, and termination of locomotion. Load receptors that regulate and control posture and stance in locomotion include the Golgi tendon organs and muscle spindles at the hip, knee, and ankle joints, and the Ruffini endings and the Pacinian corpuscles in the soles of the feet. Increased body weight support (BWS) during locomotion results in an immediate reorganization of locomotor control, such as a reduction in stance and double support duration and decreased hip, ankle, and knee angles during the gait cycle. Previous studies on the effect during exposure to increased BWS while walking showed a reduction in lower limb joint angles and gait cycle timing that represents a reorganization of locomotor control. Until now, no studies have investigated how locomotor control responds after a period of exposure to adaptive modification in the body load sensing system. The goal of this research was to determine the adaptive properties of body load-regulating mechanisms in locomotor control during locomotion. We hypothesized that body load-regulating mechanisms contribute to locomotor control, and adaptive changes in these load-regulating mechanisms require reorganization to maintain forward locomotion. Head-torso coordination, lower limb movement patterns, and gait cycle timing were evaluated before and after a 30-minute adaptation session during which subjects walked on a treadmill at 5.4 km/hr with 40% body weight support (BWS). Before and after the adaptation period, head-torso and lower limb 3D kinematic data were obtained while performing a goal directed task during locomotion with 0% BWS using a video-based motion analysis system, and gait cycle timing parameters were collected by foot switches positioned under the heel and toe of the subjects shoes. Subjects showed adaptive modification in

  16. Optimizing snake locomotion on an inclined plane.

    PubMed

    Wang, Xiaolin; Osborne, Matthew T; Alben, Silas

    2014-01-01

    We develop a model to study the locomotion of snakes on inclined planes. We determine numerically which snake motions are optimal for two retrograde traveling-wave body shapes, triangular and sinusoidal waves, across a wide range of frictional parameters and incline angles. In the regime of large transverse friction coefficients, we find power-law scalings for the optimal wave amplitudes and corresponding costs of locomotion. We give an asymptotic analysis to show that the optimal snake motions are traveling waves with amplitudes given by the same scaling laws found in the numerics.

  17. Locomotion of Paramecium in patterned environments

    NASA Astrophysics Data System (ADS)

    Park, Eun-Jik; Eddins, Aja; Kim, Junil; Yang, Sung; Jana, Saikat; Jung, Sunghwan

    2011-10-01

    Ciliary organisms like Paramecium Multimicronucleatum locomote by synchronized beating of cilia that produce metachronal waves over their body. In their natural environments they navigate through a variety of environments especially surfaces with different topology. We study the effects of wavy surfaces patterned on the PDMS channels on the locomotive abilities of Paramecium by characterizing different quantities like velocity amplitude and wavelength of the trajectories traced. We compare this result with the swimming characteristics in straight channels and draw conclusions about the effects of various patterned surfaces.

  18. 7. Detail of the Grant Locomotive Works Erecting Shop looking ...

    Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

    7. Detail of the Grant Locomotive Works Erecting Shop looking southwest showing ruined wall and entrance of a single story addition. - Grant Locomotive Works, Market & Spruce Streets, Paterson, Passaic County, NJ

  19. 40 CFR 92.1005 - In-use locomotives.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... railroad to schedule the supply of locomotives for testing in such a manner that it minimizes disruption of... schedule the supply of locomotives for testing in such a manner that it minimizes disruption of...

  20. VIEW OF TOOL TABLE AND CART, LOCOMOTIVE NO. 18 IN ...

    Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

    VIEW OF TOOL TABLE AND CART, LOCOMOTIVE NO. 18 IN BACKGROUND (BALDWIN LOCOMOTIVE 1920) - East Broad Top Railroad & Coal Company, Roundhouse, State Route 994, West of U.S. Route 522, Rockhill Furnace, Huntingdon County, PA

  1. 19. AERIAL VIEW LOOKING WEST NORTHWEST SHOWING GRANT LOCOMOTIVE WORKS ...

    Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

    19. AERIAL VIEW LOOKING WEST NORTHWEST SHOWING GRANT LOCOMOTIVE WORKS -- MACHINE SHOP, DANFORTH (COOKE) LOCOMOTIVE AND MACHINE CO., AND GODWIN (HAMIL) MILL. - Great Falls S. U. M. Historic District, Oliver Street, Paterson, Passaic County, NJ

  2. 49 CFR 229.209 - Alternative locomotive crashworthiness designs.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... 49 Transportation 4 2010-10-01 2010-10-01 false Alternative locomotive crashworthiness designs. 229.209 Section 229.209 Transportation Other Regulations Relating to Transportation (Continued) FEDERAL RAILROAD ADMINISTRATION, DEPARTMENT OF TRANSPORTATION RAILROAD LOCOMOTIVE SAFETY...

  3. A novel device for studying weight supported, quadrupedal overground locomotion in spinal cord injured rats

    PubMed Central

    Hamlin, Marvin; Traughber, Terrance; Reinkensmeyer, David J.; de Leon, Ray D.

    2015-01-01

    Background Providing weight support facilitates locomotion in spinal cord injured animals. To control weight support, robotic systems have been developed for treadmill stepping and more recently for overground walking. New Method We developed a novel device, the body weight supported ambulatory rodent trainer (i.e. BART). It has a small pneumatic cylinder that moves along a linear track above the rat. When air is supplied to the cylinder, the rats are lifted as they perform overground walking. We tested the BART device in rats that received a moderate spinal cord contusion injury and in normal rats. Locomotor training with the BART device was not performed. Results All of the rats learned to walk in the BART device. In the contused rats, significantly greater paw dragging and dorsal stepping occurred in the hindlimbs compared to normal. Providing weight support significantly raised hip position and significantly reduced locomotor deficits. Hindlimb stepping was tightly coupled to forelimb stepping but only when the contused rats stepped without weight support. Three weeks after the contused rats received a complete spinal cord transection, significantly fewer hindlimb steps were performed. Comparison with Existing Methods Relative to rodent robotic systems, the BART device is a simpler system for studying overground locomotion. The BART device lacks sophisticated control and sensing capability, but it can be assembled relatively easily and cheaply. Conclusions These findings suggest that the BART device is a useful tool for assessing quadrupedal, overground locomotion which is a more natural form of locomotion relative to treadmill locomotion. PMID:25794460

  4. Closing the Loop: Integrating Body, Muscle and Environment with Locomotion Central Pattern Generators

    DTIC Science & Technology

    2013-06-30

    optimal feedback control, central pattern generator, lamprey , locomotion, neural control Tim Kiemel, Kathleen Hoffman University of Maryland - College Park...between the neural circuitry, body, and fluid environment for swimming locomotion, where the lamprey serves as a model system1,2,3,4,5,6,7,8. Our...have done for a simple plant model of lamprey swimming (§2.2). In our CPG-based approach (§2.3), we have combined a simple CPG model with the plant model

  5. Guide-dog robot Harunobu-5: a locomotion strategy sign-pattern-based stereotyped motion

    NASA Astrophysics Data System (ADS)

    Mori, Hideo; Yasutomi, Satoshi; Charkari, N. M.; Nishikawa, Kazuhiro; Yamaguchi, Kencihi; Kotani, Shinj

    1993-05-01

    A locomotion paradigm called 'sign pattern-based stereotyped motion' is described in this paper. It urges that the motion control patterns of the robot can be limited in to six primitive ones: Moving-Along, Moving-Toward, Moving-for-Sighting, Following-a-Person, Moving- through-Gate, Moving-along-Wall, and a locomotion from the starting point to the goal can be controlled by a sequence of these patterns. This paradigm is implemented in guide dog robot Harunobu-5, and tested in outdoor scene.

  6. The goal of locomotion: Separating the fundamental task from the mechanisms that accomplish it.

    PubMed

    Croft, James L; Schroeder, Ryan T; Bertram, John E A

    2017-01-13

    Human locomotion has been well described but is still not well understood. This is largely true because the observable aspects of locomotion-neuromuscular activity that generates forces and motions-relate to both the task solution and the problem being solved. Identifying the fundamental task achieved in locomotion makes it possible to critically evaluate the motor control strategy used to accomplish the task goal. We contend that the readily observed movements and activities of locomotion should be considered mechanism(s). Our proposal is that the fundamental task of walking and running is analogous to flight, and should be defined in terms of the interaction of the individual's mass with the medium in which it moves: a low-density fluid for flight, or the supporting substrate for legged locomotion. A rigorous definition of the fundamental task can help identify the constraints and opportunities that influence its solution and guide the selection of appropriate mechanisms to accomplish the task effectively. The results from robotics-based modeling studies have demonstrated how the interaction of the mass and substrate can be optimized, making the goal of movement a defined trajectory of the individual's mass. We assessed these concepts by evaluating the ground reaction forces generated by an optimization model that satisfies the task but uses none of the mechanisms that are available to the human leg. Then we compared this model to normal human walking. Although it is obvious that the specific task of locomotion changes with a variety of movement challenges, clearly identifying the fundamental task of locomotion puts all other features in an interpretable context.

  7. 49 CFR 236.1006 - Equipping locomotives operating in PTC territory.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... THE INSTALLATION, INSPECTION, MAINTENANCE, AND REPAIR OF SIGNAL AND TRAIN CONTROL SYSTEMS, DEVICES, AND APPLIANCES Positive Train Control Systems § 236.1006 Equipping locomotives operating in PTC territory. (a) Except as provided in paragraph (b) of this section, each train operating on any...

  8. 49 CFR 236.1006 - Equipping locomotives operating in PTC territory.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... THE INSTALLATION, INSPECTION, MAINTENANCE, AND REPAIR OF SIGNAL AND TRAIN CONTROL SYSTEMS, DEVICES, AND APPLIANCES Positive Train Control Systems § 236.1006 Equipping locomotives operating in PTC territory. (a) Except as provided in paragraph (b) of this section, each train operating on any...

  9. 49 CFR 236.1006 - Equipping locomotives operating in PTC territory.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... THE INSTALLATION, INSPECTION, MAINTENANCE, AND REPAIR OF SIGNAL AND TRAIN CONTROL SYSTEMS, DEVICES, AND APPLIANCES Positive Train Control Systems § 236.1006 Equipping locomotives operating in PTC territory. (a) Except as provided in paragraph (b) of this section, each train operating on any...

  10. 49 CFR 236.1006 - Equipping locomotives operating in PTC territory.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... THE INSTALLATION, INSPECTION, MAINTENANCE, AND REPAIR OF SIGNAL AND TRAIN CONTROL SYSTEMS, DEVICES, AND APPLIANCES Positive Train Control Systems § 236.1006 Equipping locomotives operating in PTC territory. (a) Except as provided in paragraph (b) of this section, each train operating on any...

  11. 49 CFR 236.1006 - Equipping locomotives operating in PTC territory.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... THE INSTALLATION, INSPECTION, MAINTENANCE, AND REPAIR OF SIGNAL AND TRAIN CONTROL SYSTEMS, DEVICES, AND APPLIANCES Positive Train Control Systems § 236.1006 Equipping locomotives operating in PTC territory. (a) Except as provided in paragraph (b) of this section, each train operating on any...

  12. 40 CFR 1042.836 - Marine certification of locomotive remanufacturing systems.

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    ... 40 Protection of Environment 34 2012-07-01 2012-07-01 false Marine certification of locomotive... (CONTINUED) AIR POLLUTION CONTROLS CONTROL OF EMISSIONS FROM NEW AND IN-USE MARINE COMPRESSION-IGNITION ENGINES AND VESSELS Special Provisions for Remanufactured Marine Engines § 1042.836 Marine...

  13. Thermally actuated untethered impact-driven locomotive microdevices

    NASA Astrophysics Data System (ADS)

    Sul, O. J.; Falvo, M. R.; Taylor, R. M.; Washburn, S.; Superfine, R.

    2006-11-01

    The authors have developed steerable locomotive devices as small as 30μm using the inertial impact drive as the thrust method. The devices consist of three-legged, thin-metal-film bimorphs designed to rest on three sharp tips with the device body curved up off the surface. Rapid, thermally induced curvature of one leg leads to stepwise translation on a low friction surface. A focused laser was used to supply energy and its parameters controlled the velocity and direction of motion of the device.

  14. Scaling in Theropod Dinosaurs: Femoral Bone Strength and Locomotion

    NASA Astrophysics Data System (ADS)

    Lee, Scott

    2015-02-01

    In our first article1 on scaling in theropod dinosaurs, the longitudinal stress in the leg bones due to supporting the weight of the animal was studied and found not to control the dimensions of the femur. As a continuation of our study of elasticity in dinosaur bones, we now examine the transverse stress in the femur due to locomotion and find that this effect is important for the geometry of the bone. We find that larger theropods (including Tyrannosaurus rex) were less athletic than smaller theropods.

  15. Bio-inspired Optimal Locomotion Reconfigurability of Quadruped Rovers using Central Pattern Generators

    NASA Astrophysics Data System (ADS)

    Bohra, Murtaza

    Legged rovers are often considered as viable solutions for traversing unknown terrain. This work addresses the optimal locomotion reconfigurability of quadruped rovers, which consists of obtaining optimal locomotion modes, and transitioning between them. A 2D sagittal plane rover model is considered based on a domestic cat. Using a Genetic Algorithm, the gait, pose and control variables that minimize torque or maximize speed are found separately. The optimization approach takes into account the elimination of leg impact, while considering the entire variable spectrum. The optimal solutions are consistent with other works on gait optimization, and are similar to gaits found in quadruped animals as well. An online model-free gait planning framework is also implemented, that is based on Central Pattern Generators is implemented. It is used to generate joint and control trajectories for any arbitrarily varying speed profile, and shown to regulate locomotion transition and speed modulation, both endogenously and continuously.

  16. 49 CFR 229.141 - Body structure, MU locomotives.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... 49 Transportation 4 2012-10-01 2012-10-01 false Body structure, MU locomotives. 229.141 Section... Cab Equipment § 229.141 Body structure, MU locomotives. (a) MU locomotives built new after April 1... body structure designed to meet or exceed the following minimum specifications: (1) The body structure...

  17. 49 CFR 229.141 - Body structure, MU locomotives.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... 49 Transportation 4 2011-10-01 2011-10-01 false Body structure, MU locomotives. 229.141 Section... Design Requirements § 229.141 Body structure, MU locomotives. (a) MU locomotives built new after April 1... body structure designed to meet or exceed the following minimum specifications: (1) The body structure...

  18. 49 CFR 229.141 - Body structure, MU locomotives.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... 49 Transportation 4 2010-10-01 2010-10-01 false Body structure, MU locomotives. 229.141 Section... Design Requirements § 229.141 Body structure, MU locomotives. (a) MU locomotives built new after April 1... body structure designed to meet or exceed the following minimum specifications: (1) The body...

  19. 49 CFR 223.11 - Requirements for existing locomotives.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... be equipped with certified glazing in all locomotive cab windows after June 30, 1984. (d) Each... vandalism has a locomotive cab window that is broken or damaged so that the window fails to permit good... broken or damaged window is a part of the windshield of the locomotive cab, all of the forward and...

  20. 49 CFR 229.141 - Body structure, MU locomotives.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... 49 Transportation 4 2014-10-01 2014-10-01 false Body structure, MU locomotives. 229.141 Section... Cab Equipment § 229.141 Body structure, MU locomotives. (a) MU locomotives built new after April 1... body structure designed to meet or exceed the following minimum specifications: (1) The body structure...

  1. 49 CFR 229.141 - Body structure, MU locomotives.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... 49 Transportation 4 2013-10-01 2013-10-01 false Body structure, MU locomotives. 229.141 Section... Cab Equipment § 229.141 Body structure, MU locomotives. (a) MU locomotives built new after April 1... body structure designed to meet or exceed the following minimum specifications: (1) The body structure...

  2. 49 CFR 232.105 - General requirements for locomotives.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION BRAKE SYSTEM SAFETY STANDARDS FOR FREIGHT AND OTHER NON-PASSENGER... equalizing-reservoir leakage can be corrected. On locomotives equipped with electronic brakes, if the system... locomotives. (a) The air brake equipment on a locomotive shall be in safe and suitable condition for service...

  3. 49 CFR 231.29 - Road locomotives with corner stairways.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... 49 Transportation 4 2012-10-01 2012-10-01 false Road locomotives with corner stairways. 231.29... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION RAILROAD SAFETY APPLIANCE STANDARDS § 231.29 Road locomotives with corner stairways. After September 30, 1979, road locomotives with corner stairway openings must be...

  4. 49 CFR 231.29 - Road locomotives with corner stairways.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... 49 Transportation 4 2013-10-01 2013-10-01 false Road locomotives with corner stairways. 231.29... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION RAILROAD SAFETY APPLIANCE STANDARDS § 231.29 Road locomotives with corner stairways. After September 30, 1979, road locomotives with corner stairway openings must be...

  5. 49 CFR 231.29 - Road locomotives with corner stairways.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... 49 Transportation 4 2014-10-01 2014-10-01 false Road locomotives with corner stairways. 231.29... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION RAILROAD SAFETY APPLIANCE STANDARDS § 231.29 Road locomotives with corner stairways. After September 30, 1979, road locomotives with corner stairway openings must be...

  6. 49 CFR 231.29 - Road locomotives with corner stairways.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... 49 Transportation 4 2011-10-01 2011-10-01 false Road locomotives with corner stairways. 231.29... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION RAILROAD SAFETY APPLIANCE STANDARDS § 231.29 Road locomotives with corner stairways. After September 30, 1979, road locomotives with corner stairway openings must be...

  7. Exploiting Inherent Robustness and Natural Dynamics in the Control of Bipedal Walking Robots

    DTIC Science & Technology

    2000-06-01

    9.2.4 Multi-Joint Muscle Groups Animals have muscles which cross several joints [ Kapandji (1982)]. For example, the gastrocnemius activates both the...Walking Control of a Biped Robot Along a Potential Energy Conserving Orbit’, IEEE Transactions on Robotics and Automation 6(1), 431–438. Kapandji , I. A

  8. 40 CFR 1074.12 - Scope of preemption-specific provisions for locomotives and locomotive engines

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    ... period equivalent in length to 133 percent of the useful life, expressed as MW-hrs (or miles where applicable), beginning at the point at which the locomotive or engine becomes new, those standards or...

  9. 40 CFR 1074.12 - Scope of preemption-specific provisions for locomotives and locomotive engines

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... period equivalent in length to 133 percent of the useful life, expressed as MW-hrs (or miles where applicable), beginning at the point at which the locomotive or engine becomes new, those standards or...

  10. Lizard locomotion in heterogeneous granular media

    NASA Astrophysics Data System (ADS)

    Schiebel, Perrin; Goldman, Daniel

    2014-03-01

    Locomotion strategies in heterogeneous granular environments (common substrates in deserts), are relatively unexplored. The zebra-tailed lizard (C. draconoides) is a useful model organism for such studies owing to its exceptional ability to navigate a variety of desert habitats at impressive speed (up to 50 body-lengths per second) using both quadrapedal and bidepal gaits. In laboratory experiments, we challenge the lizards to run across a field of boulders (2.54 cm diameter glass spheres or 3.8 cm 3D printed spheres) placed in a lattice pattern and embedded in a loosely packed granular medium of 0.3 mm diameter glass particles. Locomotion kinematics of the lizard are recorded using high speed cameras, with and without the scatterers. The data reveals that unlike the lizard's typical quadrupedal locomotion using a diagonal gait, when scatterers are present the lizard is most successful when using a bipedal gait, with a raised center of mass (CoM). We propose that the kinematics of bipedal running in conjunction with the lizard's long toes and compliant hind foot are the keys to this lizard's successful locomotion in the presence of such obstacles. NSF PoLS

  11. 49 CFR 229.129 - Locomotive horn.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... produces a minimum sound level of 96 dB(A) and a maximum sound level of 110 dB(A) at 100 feet forward of...), or (b)(3) of this section, shall not be required to undergo sound level testing when equipped with a... locomotive horn sound level shall be in accordance with the following requirements: (1) A properly...

  12. 49 CFR 229.129 - Locomotive horn.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... produces a minimum sound level of 96 dB(A) and a maximum sound level of 110 dB(A) at 100 feet forward of...), or (b)(3) of this section, shall not be required to undergo sound level testing when equipped with a... locomotive horn sound level shall be in accordance with the following requirements: (1) A properly...

  13. 49 CFR 229.129 - Locomotive horn.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... produces a minimum sound level of 96 dB(A) and a maximum sound level of 110 dB(A) at 100 feet forward of...), or (b)(3) of this section, shall not be required to undergo sound level testing when equipped with a... locomotive horn sound level shall be in accordance with the following requirements: (1) A properly...

  14. Energetics and mechanics for partial gravity locomotion.

    PubMed

    Newman, D J; Alexander, H L; Webbon, B W

    1994-09-01

    The role of gravitational acceleration on human locomotion is not clearly understood. It is hypothesized that the mechanics and energetics of locomotion depend upon the prevailing gravity level. A unique human-rated underwater treadmill and an adjustable ballasting harness were used to stimulate partial gravity environments. This study has two research aspects, biomechanics and energetics. Vertical forces which are exerted by subjects on the treadmill-mounted, split-plate force platform show that peak vertical force and stride frequency significantly decrease (p < 0.05) as the gravity level is reduced, while ground contact time is independent of gravity level. A loping gait is employed over a wide range of speeds (approximately 1.5 m/s to approximately 2.3 m/s) suggesting a change in the mechanics for lunar (1/6 G) and Martian (3/8 G) locomotion. As theory predicts, locomotion energy requirements for partial gravity levels are significantly less than at 1 G (p < 0.05).

  15. Evidence for Motor Simulation in Imagined Locomotion

    ERIC Educational Resources Information Center

    Kunz, Benjamin R.; Creem-Regehr, Sarah H.; Thompson, William B.

    2009-01-01

    A series of experiments examined the role of the motor system in imagined movement, finding a strong relationship between imagined walking performance and the biomechanical information available during actual walking. Experiments 1 through 4 established the finding that real and imagined locomotion differ in absolute walking time. We then tested…

  16. Dynamic stabilization of rapid hexapedal locomotion.

    PubMed

    Jindrich, Devin L; Full, Robert J

    2002-09-01

    To stabilize locomotion, animals must generate forces appropriate to overcome the effects of perturbations and to maintain a desired speed or direction of movement. We studied the stabilizing mechanism employed by rapidly running insects by using a novel apparatus to perturb running cockroaches (Blaberus discoidalis). The apparatus used chemical propellants to accelerate a small projectile, generating reaction force impulses of less than 10 ms duration. The apparatus was mounted onto the thorax of the insect, oriented to propel the projectile laterally and loaded with propellant sufficient to cause a nearly tenfold increase in lateral velocity relative to maxima observed during unperturbed locomotion. Cockroaches were able to recover from these perturbations in 27+/-12 ms (mean +/- S.D., N=9) when running on a high-friction substratum. Lateral velocity began to decrease 13+/-5 ms (mean +/- S.D., N=11) following the start of a perturbation, a time comparable with the fastest reflexes measured in cockroaches. Cockroaches did not require step transitions to recover from lateral perturbations. Instead, they exhibited viscoelastic behavior in the lateral direction, with spring constants similar to those observed during unperturbed locomotion. The rapid onset of recovery from lateral perturbations supports the possibility that, during fast locomotion, intrinsic properties of the musculoskeletal system augment neural stabilization by reflexes.

  17. 77 FR 23159 - Locomotive Safety Standards; Correction

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-04-18

    ... From the Federal Register Online via the Government Publishing Office ] DEPARTMENT OF TRANSPORTATION Federal Railroad Administration 49 CFR Parts 229 and 238 RIN 2130-AC16 Locomotive Safety Standards; Correction AGENCY: Federal Railroad Administration (FRA), DOT. ACTION: Final rule; correction. SUMMARY:...

  18. Learning in the development of infant locomotion.

    PubMed

    Adolph, K E

    1997-01-01

    Infants master crawling and walking in an environment filled with varied and unfamiliar surfaces. At the same time, infants' bodies and skills continually change. The changing demands of everyday locomotion require infants to adapt locomotion to the properties of the terrain and to their own physical abilities. This Monograph examines how infants acquire adaptive locomotion in a novel task--going up and down slopes. Infants were tested longitudinally from their first week of crawling until several weeks after they began walking. Everyday locomotor experience played a central role in adaptive responding. Over weeks of crawling, infants' judgments became increasingly accurate, and exploration became increasingly efficient. There was no transfer over the transition from crawling to walking. Instead, infants learned, all over again, how to cope with slopes from an upright position. Findings indicate that learning generalized from everyday experience traveling over flat surfaces at home but that learning was specific to infants' typical method of locomotion and vantage point. Moreover, learning was not the result of simple associations between a particular locomotor response and a particular slope. Rather, infants learned to gauge their abilities on-line as they encountered each hill at the start of the trial. Change in locomotor responses and exploratory movements revealed a process of differentiation and selection spurred by changes in infants' everyday experience, body dimensions, and locomotor proficiency on flat ground.

  19. Learning in the Development of Infant Locomotion.

    ERIC Educational Resources Information Center

    Adolph, Karen E.

    1997-01-01

    Examined how infants acquire adaptive locomotion in the novel task of going up and down slopes. Found that infants' judgments became increasingly accurate and exploration became increasingly efficient, with no transfer over the transition from crawling to walking. Infants learned to gauge their abilities on-line as they encountered each hill at…

  20. The role of locomotion in psychological development

    PubMed Central

    Anderson, David I.; Campos, Joseph J.; Witherington, David C.; Dahl, Audun; Rivera, Monica; He, Minxuan; Uchiyama, Ichiro; Barbu-Roth, Marianne

    2013-01-01

    The psychological revolution that follows the onset of independent locomotion in the latter half of the infant's first year provides one of the best illustrations of the intimate connection between action and psychological processes. In this paper, we document some of the dramatic changes in perception-action coupling, spatial cognition, memory, and social and emotional development that follow the acquisition of independent locomotion. We highlight the range of converging research operations that have been used to examine the relation between locomotor experience and psychological development, and we describe recent attempts to uncover the processes that underlie this relation. Finally, we address three important questions about the relation that have received scant attention in the research literature. These questions include: (1) What changes in the brain occur when infants acquire experience with locomotion? (2) What role does locomotion play in the maintenance of psychological function? (3) What implications do motor disabilities have for psychological development? Seeking the answers to these questions can provide rich insights into the relation between action and psychological processes and the general processes that underlie human development. PMID:23888146

  1. Muscle spindle and fusimotor activity in locomotion.

    PubMed

    Ellaway, Peter H; Taylor, Anthony; Durbaba, Rade

    2015-08-01

    Mammals may exhibit different forms of locomotion even within a species. A particular form of locomotion (e.g. walk, run, bound) appears to be selected by supraspinal commands, but the precise pattern, i.e. phasing of limbs and muscles, is generated within the spinal cord by so-called central pattern generators. Peripheral sense organs, particularly the muscle spindle, play a crucial role in modulating the central pattern generator output. In turn, the feedback from muscle spindles is itself modulated by static and dynamic fusimotor (gamma) neurons. The activity of muscle spindle afferents and fusimotor neurons during locomotion in the cat is reviewed here. There is evidence for some alpha-gamma co-activation during locomotion involving static gamma motoneurons. However, both static and dynamic gamma motoneurons show patterns of modulation that are distinct from alpha motoneuron activity. It has been proposed that static gamma activity may drive muscle spindle secondary endings to signal the intended movement to the central nervous system. Dynamic gamma motoneuron drive appears to prime muscle spindle primary endings to signal transitions in phase of the locomotor cycle. These findings come largely from reduced animal preparations (decerebrate) and require confirmation in freely moving intact animals.

  2. Evidence for Motor Simulation in Imagined Locomotion

    ERIC Educational Resources Information Center

    Kunz, Benjamin R.; Creem-Regehr, Sarah H.; Thompson, William B.

    2009-01-01

    A series of experiments examined the role of the motor system in imagined movement, finding a strong relationship between imagined walking performance and the biomechanical information available during actual walking. Experiments 1 through 4 established the finding that real and imagined locomotion differ in absolute walking time. We then tested…

  3. Locomotion of C elegans in structured environments

    NASA Astrophysics Data System (ADS)

    Majmudar, Trushant; Keaveny, Eric; Shelley, Michael; Zhang, Jun

    2010-11-01

    Undulatory locomotion of microorganisms like soil-dwelling worms and sperm, in structured environments, is ubiquitous in nature. They navigate complex environments consisting of fluids and obstacles, negotiating hydrodynamic effects and geometrical constraints. Here we report experimental observations on the locomotion of C elegans swimming in arrays of micro-pillars in square lattices, with different lattice spacing. We observe that the worm employs a number of different locomotion strategies depending on the lattice spacing. As observed previously in the literature, we uncover regimes of enhanced locomotion, where the velocity is much higher than the free-swimming velocity. In addition, we also observe changes in frequency, velocity, and the gait of the worm as a function of lattice spacing. We also track the worm over time and find that it exhibits super-diffusive behavior and covers a larger area by utilizing the obstacles. These results may have significant impact on the foraging behavior of the worm in its natural environment. Our experimental approach, in conjunction with modeling and simulations, allows us to disentangle the effects of structure and hydrodynamics for an undulating microorganism.

  4. 30 CFR 57.6203 - Locomotives.

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... Resources MINE SAFETY AND HEALTH ADMINISTRATION, DEPARTMENT OF LABOR METAL AND NONMETAL MINE SAFETY AND HEALTH SAFETY AND HEALTH STANDARDS-UNDERGROUND METAL AND NONMETAL MINES Explosives Transportation-Surface.... When explosive material is hauled by trolley locomotive, covered, electrically insulated cars shall...

  5. 30 CFR 57.6203 - Locomotives.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... Resources MINE SAFETY AND HEALTH ADMINISTRATION, DEPARTMENT OF LABOR METAL AND NONMETAL MINE SAFETY AND HEALTH SAFETY AND HEALTH STANDARDS-UNDERGROUND METAL AND NONMETAL MINES Explosives Transportation-Surface.... When explosive material is hauled by trolley locomotive, covered, electrically insulated cars shall...

  6. 30 CFR 56.6203 - Locomotives.

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... Resources MINE SAFETY AND HEALTH ADMINISTRATION, DEPARTMENT OF LABOR METAL AND NONMETAL MINE SAFETY AND HEALTH SAFETY AND HEALTH STANDARDS-SURFACE METAL AND NONMETAL MINES Explosives Transportation § 56.6203... trolley locomotive, covered, electrically insulated cars shall be used....

  7. 30 CFR 56.6203 - Locomotives.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... Resources MINE SAFETY AND HEALTH ADMINISTRATION, DEPARTMENT OF LABOR METAL AND NONMETAL MINE SAFETY AND HEALTH SAFETY AND HEALTH STANDARDS-SURFACE METAL AND NONMETAL MINES Explosives Transportation § 56.6203... trolley locomotive, covered, electrically insulated cars shall be used....

  8. Aerodynamic Design of a Locomotive Fairing

    NASA Astrophysics Data System (ADS)

    Stucki, Chad; Maynes, Daniel

    2016-11-01

    Rising fuel cost has motivated increased fuel efficiency of freight trains. At cruising speed, the largest contributing factor to the fuel consumption is the aerodynamic drag. As a result of air stagnation at the front of the train and substantial flow separation behind, the leading locomotive and trailing railcar experience greater drag than intermediate cars. This work introduces the design of streamlined nose fairings to be attached to freight locomotives as a means of reducing the leading locomotive drag. The aerodynamic performance of each fairing design is modeled using a commercial CFD software package. The K-epsilon turbulence model is used, and fluid properties are equivalent to atmospheric air at standard conditions. A selection of isolated screening studies are performed, and a multidimensional regression is used to predict optimal-performing fairing designs. Between screening studies, careful examination of the flow field is performed to inspire subsequent fairing designs. Results are presented for 250 different nose fairings. The best performing fairing geometry predicts a nominal drag reduction of 17% on the lead locomotive in a train set. This drag reduction is expected to result in nearly 1% fuel savings for the entire train.

  9. 49 CFR 210.9 - Movement of a noise defective locomotive, rail car, or consist of a locomotive and rail cars.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... 49 Transportation 4 2011-10-01 2011-10-01 false Movement of a noise defective locomotive, rail car, or consist of a locomotive and rail cars. 210.9 Section 210.9 Transportation Other Regulations... locomotive, rail car, or consist of a locomotive and rail cars. A locomotive, rail car, or consist of...

  10. 49 CFR 210.9 - Movement of a noise defective locomotive, rail car, or consist of a locomotive and rail cars.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... 49 Transportation 4 2013-10-01 2013-10-01 false Movement of a noise defective locomotive, rail car, or consist of a locomotive and rail cars. 210.9 Section 210.9 Transportation Other Regulations... locomotive, rail car, or consist of a locomotive and rail cars. A locomotive, rail car, or consist of...

  11. 49 CFR 210.9 - Movement of a noise defective locomotive, rail car, or consist of a locomotive and rail cars.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... 49 Transportation 4 2012-10-01 2012-10-01 false Movement of a noise defective locomotive, rail car, or consist of a locomotive and rail cars. 210.9 Section 210.9 Transportation Other Regulations... locomotive, rail car, or consist of a locomotive and rail cars. A locomotive, rail car, or consist of...

  12. 49 CFR 210.9 - Movement of a noise defective locomotive, rail car, or consist of a locomotive and rail cars.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... 49 Transportation 4 2010-10-01 2010-10-01 false Movement of a noise defective locomotive, rail car, or consist of a locomotive and rail cars. 210.9 Section 210.9 Transportation Other Regulations... locomotive, rail car, or consist of a locomotive and rail cars. A locomotive, rail car, or consist of...

  13. 49 CFR 210.9 - Movement of a noise defective locomotive, rail car, or consist of a locomotive and rail cars.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... 49 Transportation 4 2014-10-01 2014-10-01 false Movement of a noise defective locomotive, rail car, or consist of a locomotive and rail cars. 210.9 Section 210.9 Transportation Other Regulations... locomotive, rail car, or consist of a locomotive and rail cars. A locomotive, rail car, or consist of...

  14. 49 CFR 1242.60 - Locomotive fuel, electric power purchased/produced for motive power and servicing locomotives...

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... 49 Transportation 9 2011-10-01 2011-10-01 false Locomotive fuel, electric power purchased/produced for motive power and servicing locomotives (accounts XX-51-67, XX-51-68 and XX-51-69). 1242.60 Section...-Transportation § 1242.60 Locomotive fuel, electric power purchased/produced for motive power and...

  15. 49 CFR 1242.60 - Locomotive fuel, electric power purchased/produced for motive power and servicing locomotives...

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... 49 Transportation 9 2013-10-01 2013-10-01 false Locomotive fuel, electric power purchased/produced for motive power and servicing locomotives (accounts XX-51-67, XX-51-68 and XX-51-69). 1242.60 Section...-Transportation § 1242.60 Locomotive fuel, electric power purchased/produced for motive power and...

  16. 49 CFR 1242.60 - Locomotive fuel, electric power purchased/produced for motive power and servicing locomotives...

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... 49 Transportation 9 2012-10-01 2012-10-01 false Locomotive fuel, electric power purchased/produced for motive power and servicing locomotives (accounts XX-51-67, XX-51-68 and XX-51-69). 1242.60 Section...-Transportation § 1242.60 Locomotive fuel, electric power purchased/produced for motive power and...

  17. 49 CFR 1242.60 - Locomotive fuel, electric power purchased/produced for motive power and servicing locomotives...

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... 49 Transportation 9 2014-10-01 2014-10-01 false Locomotive fuel, electric power purchased/produced for motive power and servicing locomotives (accounts XX-51-67, XX-51-68 and XX-51-69). 1242.60 Section...-Transportation § 1242.60 Locomotive fuel, electric power purchased/produced for motive power and...

  18. 49 CFR 1242.60 - Locomotive fuel, electric power purchased/produced for motive power and servicing locomotives...

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... 49 Transportation 9 2010-10-01 2010-10-01 false Locomotive fuel, electric power purchased/produced for motive power and servicing locomotives (accounts XX-51-67, XX-51-68 and XX-51-69). 1242.60 Section...-Transportation § 1242.60 Locomotive fuel, electric power purchased/produced for motive power and servicing...

  19. Metastable legged locomotion: methods to quantify and optimize reliability

    NASA Astrophysics Data System (ADS)

    Saglam, Cenk O.; Byl, Katie

    2015-05-01

    Measuring the stability of highly-dynamic bipedal locomotion is a challenging but essential task for more capable human-like walking. By discretizing the walking dynamics, we treat the system as a Markov chain, which lends itself to an easy quantification of failure rates by the expected number of steps before falling. This meaningful and intuitive metric is then used for optimizing and benchmarking given controllers. While this method is applicable to any controller scheme, we illustrate the results with two case demonstrations. One scheme is the now-familiar hybrid zero dynamics approach and the other is a method using piece-wise reference trajectories with a sliding mode control. We optimize low-level controllers, to minimize failure rates for any one gait, and we adopt a hierarchical control structure to switch among low-level gaits, providing even more dramatic improvements on the system performance.

  20. Locomotion and Body Shape Changes of Metabolically Different C.elegans in Fluids with Varying Viscosities

    NASA Astrophysics Data System (ADS)

    Wong, Rachel; Brenowitz, Noah; Shen, Amy

    2010-11-01

    Caenorhabditis elegans (C.elegans) are soil dwelling roundworms that have served as model organisms for studying a multitude of biological and engineering phenomena. On agar, the locomotion of the worm is sinusoidal, while in water, the swimming motion of the worm appears more episodic. The efficiency of the worm locomotion is tested by placing the worm in four fluids with varying viscosities. We quantify the locomotion pattern variations by categorizing the swimming kinematics and shapes of the C.elegans. The locomotion of two mutants C.elegans and a control C.elegans was tested: daf2, nhr49, and N2 Wildtype. The metabolic effects of the worms are evaluated by focusing on the forward swimming velocity, wavelength, amplitude and swimming frequency were compared. Using these measured values, we were able to quantify the efficiency, the speed of propagation of the wave along the body resulting in forward movement (wave velocity), and transverse velocity, defined as the amplitude times the frequency, of the worm locomotion. It was shown that C.elegans has a preferential swimming shape that adapts as the environment changes regardless of its efficiency.