Kinematic Analysis and Application to Control Logic Development for RHex Robot Locomotion.

This study explores the kinematic model of the popular RHex hexapod robots which have garnered considerable interest for their locomotion capabilities. We study the influence of tripod trajectory parameters on the RHex robot's movement, aiming to craft a precise kinematic model that enhances walking mechanisms. This model serves as a cornerstone for refining robot control strategies, enabling tailored performance enhancements or specific motion patterns. Validation conducted on a bespoke test bed confirms the model's efficacy in predicting spatial movements, albeit with minor deviations due to motor load variations and control system dynamics. In particular, the derived kinematic framework offers valuable insights for advancing control logic, particularly navigating in flat terrains, thereby broadening the RHex robot's application spectrum.

Assessment of diabetes knowledge, screening and uptake of community diabetes programs in a peri-urban region in Australia.

AIMS: The Wollondilly Diabetes Program (WDP) is testing ways to improve uptake of diabetes prevention services. This project evaluated the reach of WDP in diabetes promotion while assessing diabetes knowledge and risk among residents. METHODS: A WDP member travelled in the DW weekly to community events including outreach programs between October 2016 and June 2019. Data from diabetes knowledge questionnaire (DKQ), the Australian Type 2 Diabetes Risk Assessment Tool (AUSDRISK), HbA1c and Random Blood Glucose (RBG) measurements obtained from participants who attended community events and road shows. RESULTS: Over the 32 months period, WDP attended 32 community events reaching 1415 people (∼3% of the Wollondilly adult population). DKQ was completed by 154 people (52.9% females, 78% Australian born, median age 69 years), 39% had diabetes and their mean score (25.0 ± 3.1, maximum possible score = 31) was similar to those without diabetes (24.0 ± 4.6, p = 0.093). AUSDRISK assessment was completed by 166 people with 85% at intermediate or high risk of diabetes. There were 65% results above range for RBG (≥5.5 mmol/l) and/or HbA1c (≥5.7%,39 mmol/mol). CONCLUSION: A community outreach team set up in partnership with local stakeholders that offers opportunistic diabetes screening, is an effective way of engaging with the community to increase diabetes awareness and knowledge.