Quadruped Robot Control: An Approach Using Body Planar Motion Control, Legs Impedance Control and Bézier Curves.

In robotics, the ability of quadruped robots to perform tasks in industrial, mining, and disaster environments has already been demonstrated. To ensure the safe execution of tasks by the robot, meticulous planning of its foot placements and precise leg control are crucial. Traditional motion planning and control methods for quadruped robots often rely on complex models of both the robot itself and its surrounding environment. Establishing these models can be challenging due to their nonlinear nature, often entailing significant computational resources. However, a more simplified approach exists that focuses on the kinematic model of the robot's floating base for motion planning. This streamlined method is easier to implement but also adaptable to simpler hardware configurations. Moreover, integrating impedance control into the leg movements proves advantageous, particularly when traversing uneven terrain. This article presents a novel approach in which a quadruped robot employs impedance control for each leg. It utilizes sixth-degree Bézier curves to generate reference trajectories derived from leg velocities within a planar kinematic model for body control. This scheme effectively guides the robot along predefined paths. The proposed control strategy is implemented using the Robot Operating System (ROS) and is validated through simulations and physical experiments on the Go1 robot. The results of these tests demonstrate the effectiveness of the control strategy, enabling the robot to track reference trajectories while showing stable walking and trotting gaits.

Mean-field method for generic conductance-based integrate-and-fire neurons with finite timescales.

The construction of transfer functions in theoretical neuroscience plays an important role in determining the spiking rate behavior of neurons in networks. These functions can be obtained through various fitting methods, but the biological relevance of the parameters is not always clear. However, for stationary inputs, such functions can be obtained without the adjustment of free parameters by using mean-field methods. In this work, we expand current Fokker-Planck approaches to account for the concurrent influence of colored and multiplicative noise terms on generic conductance-based integrate-and-fire neurons. We reduce the resulting stochastic system through the application of the diffusion approximation to a one-dimensional Langevin equation. An effective Fokker-Planck is then constructed using Fox Theory, which is solved numerically using a newly developed double integration procedure to obtain the transfer function and the membrane potential distribution. The solution is capable of reproducing the transfer function and the stationary voltage distribution of simulated neurons across a wide range of parameters. The method can also be easily extended to account for different sources of noise with various multiplicative terms, and it can be used in other types of problems in principle.

Expectations and Perceptions of Healthcare Professionals for Robot Deployment in Hospital Environments During the COVID-19 Pandemic.

Several challenges to guarantee medical care have been exposed during the current COVID-19 pandemic. Although the literature has shown some robotics applications to overcome the potential hazards and risks in hospital environments, the implementation of those developments is limited, and few studies measure the perception and the acceptance of clinicians. This work presents the design and implementation of several perception questionnaires to assess healthcare provider's level of acceptance and education toward robotics for COVID-19 control in clinic scenarios. Specifically, 41 healthcare professionals satisfactorily accomplished the surveys, exhibiting a low level of knowledge about robotics applications in this scenario. Likewise, the surveys revealed that the fear of being replaced by robots remains in the medical community. In the Colombian context, 82.9% of participants indicated a positive perception concerning the development and implementation of robotics in clinic environments. Finally, in general terms, the participants exhibited a positive attitude toward using robots and recommended them to be used in the current panorama.

Development of a system to treat and online monitor photodynamic therapy of skin cancer using PpIX near-infrared fluorescence.

The limited adoption of photodynamic therapy (PDT) around the medical field may be tied to the unpredicted treatment response that an unmonitored therapy could deliver. Given the high variability in the lesions optical and physiological parameters, it is of fundamental importance to monitor PDT, since different lesions require different therapeutic parameters. We developed a system to treat and online monitor PDT of skin cancer, using protoporphyrin-IX (PpIX) near-infrared fluorescence imaging. The system can be operated up to 150 mW/cm2 at 633 nm, with real-time fluorescence monitoring around 700 nm, using the treatment light itself for fluorescence excitation. This technology allows system portability, simplicity, and low cost. This study describes the system development and its comparison with a 400-450 nm commercial system to detect the PpIX fluorescence during a PDT in murine skin cancer model. The developed device was able to acquire considerably more fluorescence signal from deeper regions when compared to the violet excitation device.

Amblyomma aureolatum (Pallas, 1772) (Acari: Ixodidae) parasitizing margay cat (Leopardus wiedii) (Schinz, 1821), in Uruguaiana, Rio Grande do Sul, Brazil / Amblyomma aureolatum (Pallas, 1772) (Acari: Ixodidae) parasitando gato-maracajá (Leopardus wiedii) (Schinz, 1821), em Uruguaiana, Rio Grande do Sul, Brasil

Ticks are parasites of wild animals, affecting diverse and several species. The present study reveals the presence of Amblyomma aureolatum parasitizing the margay cat (Leopardus wiedii) in the city of Uruguaiana. This is the first report of the presence of this tick specie in this city, situated in west (29° 45' 18" S 57° 05' 16" W) of the state of Rio Grande do Sul, Brazil, indicating a wide host diversity.

Carrapatos podem ser parasitos de animais selvagens, afetando diversas espécies. O presente trabalho relata a presença de Amblyomma aureolatum parasitando o gato-maracajá (Leopardus wiedii) na região de Uruguaiana, esse é o primeiro relato da presença desta espécie de ixodídeo nesta cidade (29° 45' 18" S 57° 05' 16" W), situada na região oeste do estado do Rio Grande do Sul, Brasil, indicando que diversos hospedeiros silvestres podem ser acometidos pelo parasito.

Multiple resistance to acaricides in field populations of Rhipicephalus microplus from Rio Grande do Sul state, Southern Brazil.

Acaricide resistance is a major obstacle to the control of Rhipicephalus microplus. Historically, the indiscriminate use of chemical compounds has contributed to the selection of populations resistant to different classes of acaricides. Therefore, multiple acaricide resistance is an important threat to the chemical control of the cattle tick. To investigate the occurrence and extent of multiple resistance to acaricides in Southern Brazil we performed larval tests with cypermethrin, chlorpyriphos, amitraz, fipronil and ivermectin on 104 cattle tick field samples from different ranches in Rio Grande do Sul, between the years 2013 and 2015. Adult immersion tests with a commercial formulation mixture of chlorpyriphos and cypermethrin were performed on 75 samples. Four levels of resistance were established according to the mortality of larvae: Level I: mortality between 82% and 95%; Level II: mortality between 57% and 82%; Level III: mortality between 25% and 57%; and Level IV: mortality lower than 25%. Resistance to cypermethrin was detected in 98.08% of the samples evaluated, mostly at resistance level IV. The frequency of samples resistant to amitraz, chlorpyriphos, ivermectin and fipronil was 76.92%, 60.58%, 60.58% and 53.85% respectively. Multiple resistance to three or more compounds was found in 78.85% of the samples. The results obtained in this study are alarming and reveal a new scenario for the challenge of tick control using chemicals. This is an issue of high importance to cattle production systems where this tick is responsible for a high economic impact.