arXiv subjects
Publications and source records attributed to Edward Zhu.
It is well known that every positive integer N can be written as the sum of non-consecutive powers of the golden ratio. We prove that the non-positive powers, together with the parity of the first positive power, can determine the positive integer. We give an explicit formula for N in terms of the above information.
Walking quadruped robots face challenges in positioning their feet and lifting their legs during gait cycles over uneven terrain. The robot Laika is under development as a quadruped with a flexible, actuated spine designed to assist with foot movement and balance during these gaits. This paper presents the first set of hardware designs for the spine of Laika, a physical prototype of those designs, and tests in both hardware and simulations that show the prototype's capabilities. Laika's spine is a tensegrity structure, used for its advantages with weight and force distribution, and represents the first working prototype of a tensegrity spine for a quadruped robot. The spine bends by adjusting the lengths of the cables that separate its vertebrae, and twists using an actuated rotating vertebra at its center. The current prototype of Laika has stiff legs attached to the spine, and is used as a test setup for evaluation of the spine itself. This work shows the advantages of Laika's spine by demonstrating the spine lifting each of the robot's four feet, both as a form of balancing and as a precursor for a walking gait. These foot motions, using specific combinations of bending and rotation movements of the spine, are measured in both simulation and hardware experiments. Hardware data are used to calibrate the simulations, such that the simulations can be used for control of balancing or gait cycles in the future. Future work will attach actuated legs to Laika's spine, and examine balancing and gait cycles when combined with leg movements.
The Underactuated Lightweight Tensegrity Robotic Assistive Spine (ULTRA Spine) project is an ongoing effort to develop a flexible, actuated backbone for quadruped robots. In this work, model-predictive control is used to track a trajectory in the robot's state space, in simulation. The state trajectory used here corresponds to a bending motion of the spine, with translations and rotations of the moving vertebrae. Two different controllers are presented in this work: one that does not use a reference input but includes smoothing constrants, and a second one that uses a reference input without smoothing. For the smoothing controller, without reference inputs, the error converges to zero, while the simpler-to-tune controller with an input reference shows small errors but not complete convergence. It is expected that this controller will converge as it is improved further.
Although cirrhosis is a key risk factor for the development of hepatocellular carcinoma (HCC), mounting evidence indicates that in a subset of patients presenting with non-alcoholic steatohepatitis (NASH), HCC manifests in the absence of cirrhosis. Given the sheer size of the non-alcoholic fatty liver disease (NAFLD) epidemic, and the dismal prognosis associated with late-stage primary liver cancer, there is an urgent need for HCC surveillance in the NASH patient. In the present study, adult male mice randomized to control diet or a fast food diet (FFD) were followed for up to 14 mo and serum level of a panel of HCC-relevant biomarkers was compared with liver biopsies at 3 and 14 mo. Both NAFLD Activity Score (NAS) and hepatic hydroxyproline content were elevated at 3 and 14 mo on FFD. Picrosirius red staining of liver sections revealed a filigree pattern of fibrillar collagen deposition with no cirrhosis at 14 mo on FFD. Nevertheless, 46% of animals bore one or more tumors on their livers confirmed as HCC in hematoxylin-eosin-stained liver sections. Receiver operating characteristic (ROC) curves analysis for serum levels of the HCC biomarkers osteopontin (OPN), alpha-fetoprotein (AFP) and Dickkopf-1 (DKK1) returned concordance-statistic/area under ROC curve of > 0.89. These data suggest that serum levels of OPN (threshold, 218 ng/mL; sensitivity, 82%; specificity, 86%), AFP (136 ng/mL; 91%; 97%) and DKK1 (2.4 ng/mL; 82%; 81%) are diagnostic for HCC in a clinically relevant model of NASH