Over the last 20 years, Lyme disease has grown to become the most common vector-borne disease affecting Americans. Spread in the eastern U.S. primarily by the bite of Ixodes scapularis, the black-legged tick, the disease affects an estimated 329,000 Americans per year. Originally confined to New England, it has since spread across much of the east coast and has become endemic in Virginia. Since 2010 the state has averaged 1200 cases per year, with 200 annually in the New River Health District (NRHD), the location of our study. Efforts to geographically model Lyme disease primarily focus on landscape and climatic variables. The disease depends highly on the survival of the tick vector, and white-footed mouse, the primary reservoir. Both depend on the existence of forest-herbaceous edge-habitats, as well as warm summer temperatures, mild winter lows, and summer wetness. While many studies have investigated the effect of forest fragmentation on Lyme, none have made use of high-resolution land cover data to do so at the peridomestic level. To fill this knowledge gap, we made use of the Virginia Geographic Information Network’s 1-meter land cover dataset and identified forest-herbaceous edge-habitats for the NRHD. We then calculated the density of these edge-habitats at 100, 200 and 300-meter radii, representing the peridomestic environment. We also calculated the density of <2-hectare forest patches at the same distance thresholds. To avoid confounding from climatic variation, we also calculated mean summer temperatures, total summer rainfall, and number of consecutive days below freezing of the prior winters. Adding to these data, elevation, terrain shape index, slope, and aspect, and including lags on each of our climatic variables, we created environmental niche models of Lyme in the NRHD. We did so using both Boosted Regression Trees (BRT) and Maximum Entropy (MaxEnt) modeling, the two most common niche modeling algorithms in the field today. We found that Lyme is strongly associated with higher density of developed-herbaceous edges within 100-meters from the home. Forest patch density was also significant at both 100-meter and 300-meter levels. This supports the notion that the fine scale peridomestic environment is significant to Lyme outcomes, and must be considered even if one were to account for fragmentation at a wider scale, as well as variations in climate and terrain. / M.S. / Lyme disease is the most common vector-borne disease in the United States today. Infecting about 330,000 Americans per year, the disease continues to spread geographically. Originally found only in New England, the disease is now common in Virginia. The New River Health District, where we did our study, sees over 200 cases per year. Lyme disease is mostly spread by the bite of the black-legged tick. As such we can predict where Lyme cases might be found if we understand the environmental needs of these ticks. The ticks themselves depend on warm summer temperatures, mild winter lows, and summer wetness. But they are also affected by forest fragmentation which drives up the population of white-footed mice, the tick’s primary host. The mice are particularly fond of the interface between forests and open fields. These edge habitats provide food and cover for the mice, and in turn support a large population of ticks. Many existing studies have demonstrated this link, but all have done so across broad scales such as counties or census tracts. To our knowledge, no such studies have investigated forest fragmentation near the home of known Lyme cases. To fill this gap in our knowledge, we made use of high-resolution forest cover data to identify forest-field edge habitats and small isolated forest patches. We then calculated the total density of both within 100, 200 and 300 meters of the homes of known Lyme cases, and compared these to values from non-cases using statistical modeling. We also included winter and summer temperatures, rainfall, elevation, slope, aspect, and terrain shape. We found that a large amount of forest-field edges within 100 meters of a home increases the risk of Lyme disease to residents of that home. The same can be said for isolated forest patches. Even after accounting for all other variables, this effect was still significant. This information can be used by health departments to predict which neighborhoods may be most at risk for Lyme. They can then increase surveillance in those areas, warn local doctors, or send out educational materials.

Made available in DSpace on 2015-03-05T13:58:27Z (GMT). No. of bitstreams: 0 Previous issue date: 10 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / O objetivo desta dissertação é propor, testar e avaliar o uso de técnicas de Aprendizado de Máquina (ML) na configuração automática do controle do caminhar de robôs com pernas. Para que este objetivo fosse atingido, um extensa pesquisa de técnicas do estado da arte foi realizada e descrita neste trabalho. Esta pesquisa permitiu a elaboração do modelo proposto, chamado de LegGen, que foi implementado em um protótipo. O protótipo modelo em questão permite a utilização de vários tipos de robôs, compostos de quatro, seis ou mais patas, e além disto permite a evolução da morfologia dos robôs. Utilizando o protótipo, é possível a realização de experimentos com robôs autônomos dotados de pernas, em um ambiente virtual tridimensional realístico, através de simulações baseadas em física. Foi utilizada a biblioteca ODE (Open Dynamics Engine) para a simulação de corpos rígidos e articulações, permitindo assim simular forças agindo nas articulações (atuadores), gravidade e colisões, entre outras propriedades físicas dos / The main goal of this dissertation is to propose, to test and to evaluate the use of Machine Learning (ML) techniques in the automatic con_guration of the gait control in legged robots. In order to achieve this goal, an extensive research about state-of-the-art techniques was accomplished and they are described in this work. This research allowed the development of the proposed model, called LegGen, which was implemented in a prototype. The proposed model allows the use of several different robot models with four, six or more paws. Besides that, the prototype allows also to study the robot's morphology evolution. The implemented prototype allows to accomplish experiments with autonomous legged robots, in a realistic three-dimensional virtual environment, through physics based simulations. The ODE (Open Dynamics Engine) software library was used in the physical simulation of rigid bodies and articulations, allowing to simulate forces acting in the articulations (actuators), gravity and collisions, among other

The Compact Rescue Crawler is a pneumatic legged robot. Two legs of a hexapod were designed and built. The legs are controlled directly from operator inputs. The operator gives foot position inputs through two PHANToM haptic controllers. A PD controller with a supplementary force gain-scheduler control stroke lengths of each cylinder. The force-based position control technique allows the robot feet to track operator inputs to within 10% position error. A guided gait algorithm was developed to allow the operator to control all 6 legs simply by haptically guiding the front two. The operator records successful and collision-free trajectories and the gait coordinator plays the trajectories through the rear legs as they approach the detected obstacles. This hybrid gait algorithm allows the robot to proceed through a hazardous environment, guided by an operator, but without taxing the input capabilities of the human operator.

The diploma thesis deals with the construction of a walking mobile robot, which is intended for passing through a rugged or forest terrain, whose task is to collect the sample. The first part is devoted to the review of walking robots. Follow-up an analysis of two-legged and four-leg walking robot technologies and a brief overview of drives. The second part is devoted to problem analysis and design variant. The work contains 4 design variants in the form of schemes. Using the multi-criteria analysis, the variants were evaluated and the optimal variant was chosen taking into account the representative parameters. The third part is devoted to the construction of the chosen variant, it is divided into body and leg construction. The overall design is processed in the form of a virtual 3D model. In the leg construction, the design itself, but also the calculations of drives, shafts, gears and belt transmissions are solved. The end of the thesis is devoted to drawing documentation based on 3D model and economic evaluation. Follow-up and discussion with possible continuation and use in practice.

[pt] Robôs híbridos equipados com pernas e rodas são uma solução promissora para uma locomoção versátil em terrenos acidentados. Eles combinam a velocidade e a eficiência das rodas com a capacidade das pernas de atravessar terrenos com obstáculos. Em geral, os desafios em locomoção para robôs híbridos envolvem planejamento de trajetória e sistemas de controle para o rastreamento da trajetória planejada. Esta tese se concentra, em particular, na tarefa de otimização de trajetória para robôs híbridos que navegam em terrenos acidentados. Para isso, propõe-se um algoritmo de planejamento que otimiza a posição e a orientação da base do robô e as posições e forças de contato nas rodas em uma formulação única, levando em consideração as informações do terreno e a dinâmica do robô. O robô é modelado como um único corpo rígido com massa e inércia concentrada no centro de massa, o que permite planejar movimentos complexos por longos horizontes de tempo e ainda manter uma baixa complexidade computacional para resolver a otimização de forma mais eficiente. O conhecimento do mapa do terreno permite que a otimização gere trajetórias para negociação de obstáculos de maneira dinâmica, em velocidades mais altas. Tais movimentos não podem ser gerados sem levar em consideração as informações do terreno. Duas formulações diferentes são apresentadas, uma que permite movimentos somente com as rodas, onde a negociação de obstáculos é permitida pelas pernas, e outra focada em movimentos híbridos dando passos e movendo as rodas, capazes de lidar com descontinuidades no perfil do terreno. A otimização é formulada como um NLP e as trajetórias obtidas são rastreadas por um controlador hierárquico que computa os comandos de atuação de torque para as juntas e as rodas do robô. As trajetórias são verificadas no robô quadrúpede ANYmal equipado com rodas não esterçáveis controladas por torque, em simulações e testes experimentais. O algoritmo proposto de otimização de trajetória permite que robôs com pernas e rodas naveguem por terrenos complexos, contendo, por exemplo, degraus, declives e escadas, enquanto negociam esses obstáculos com movimentos dinâmicos. / [en] Wheeled-legged robots are an attractive solution for versatile locomotion in challenging terrain. They combine the speed and efficiency of wheels with the ability of legs to traverse challenging terrain. In general, the challenges with wheeled-legged locomotion involve trajectory generation and motion control for trajectory tracking. This thesis focuses in particular on the trajectory optimization task for wheeled-legged robots navigating in challenging terrain. For this, a motion planning framework is proposed that optimizes over the robot’s base position and orientation, and the wheels’ positions and contact forces in a single planning problem, taking into account the terrain information and the robot dynamics. The robot is modeled as a single rigid-body, which allows to plan complex motions for long time horizons and still keep a low computational complexity to solve the optimization quickly. The knowledge of the terrain map allows the optimizer to generate feasible motions for obstacle negotiation in a dynamic manner, at higher speeds. Such motions cannot be discovered without taking into account the terrain information. Two different formulations allow for either purely driving motions, where obstacle negotiation is enabled by the legs, or hybrid driving-walking motions, which are able to overcome discontinuities in the terrain profile. The optimization is formulated as a Nonlinear Programming Problem (NLP) and the reference motions are tracked by a hierarchical whole-body controller that computes the torque actuation commands for the robot. The trajectories are verified on the quadrupedal robot ANYmal equipped with non-steerable torque-controlled wheels in simulations and experimental tests. The proposed trajectory optimization framework enables wheeled-legged robots to navigate over challenging terrain, e.g., steps, slopes, stairs, while negotiating these obstacles with dynamic motions.

Alien fish have been implicated in the decline of Rana draytonii (California red-legged frog) and Pseudacris regilla (Pacific treefrog) populations. Micropterus salmoides (largemouth bass) is a common sport fish that has been introduced into the sympatric range of these two anuran species; however, no studies have investigated the individual influence that this alien fish has on these two species. I conducted M. salmoides control or eradication experiments during a four year study in two ponds within the Transverse Mountain Range of Santa Barbara County, California. Changes in the densities of all life stages of R. draytonii and P. regilla were assessed through repeated visual encounter surveys. In response to the manipulations of the M. salmoides populations there was an increase in the density of both species. For R. draytonii, this salient increase in density was recorded in the larval and metamorph life stages. For P. regilla, a slight, yet steady increase in the density of adult, metamorph, and larval life stages was recorded. My results suggest that M. salmoides can be controlled or eradicated from lentic waterbodies and provides reasonable evidence that the negative effects of this species on R. draytonii and P. regilla populations can be minimized or reversed. The reversal of these effects may translate into increases in the densities and potential recruitment of these two native anurans. Therefore, my results provide tentative support that the control or eradication of M. salmoides where they cohabitate with these two species may be a viable conservation measure for R. draytonii and P. regilla populations. Since my study was performed at a very local scale and all results are strictly observational and descriptive, additional studies should be performed at a larger spatial scale and buttressed with controlled laboratory and field enclosures experiments to identify the causal factors responsible for the identified patterns.

[pt] Nos últimos anos, os robôs móveis com pernas têm despertado o interesse da comunidade robótica, pois tais mecanismos apresentam maior versatilidade em relação aos robôs móveis de rodas e aéreos. Neste trabalho, o autor considera o problema de modelagem e projeto de controle robusto para uma classe de robôs móveis com pernas usando a abordagem de controle por modos deslizantes. Um estudo comparativo entre um algoritmo de planejamento baseado em técnicas de Fourier e controladores via modo deslizante é apresentado para o problema de estabilização de um robô móvel saltitante na fase de vôo. O autor também propõe a estabilização da postura de robôs móveis multipernas, como hexapod e robô bípede, utilizando duas abordagens de controle diferentes, o controle de regulação Cartesiana e o controle via modos deslizantes. A teoria de estabilidade de Lyapunov é usada para demonstrar as propriedades de estabilidade dos sistemas de controle em malha-fechada. Simulações numéricas em ambiente de simulação MATLAB e simulações computacionais em Gazebo, um simulador robótico 3D de código aberto, são incluídas para ilustrar o desempenho e a viabilidade da metodologia proposta. / [en] In the last years, legged mobile robots have increased the interest of the robotics community because such mechanisms have higher versatility compared to wheeled and aerial mobile robots. These characteristics make robot with legs a viable solution for rescue and monitoring operations in irregular terrains and difficult to access locations. Although singlelegged or multi-legged mechanisms can transverse any terrain, some of their disadvantages are higher complexity in modelling and control design and higher power consumption. In this work, the author considers the problem of modelling and robust control design for a class of legged mobile robots using the sliding mode control approach. A comparative study between a planning algorithm based on Fourier techniques and sliding mode controllers is presented for the stabilization problem of a hopping robot in flight phase. The author also proposes the stabilization of the posture of multilegged mobile robots such as, hexapod and biped robot, using two different control approaches, the Cartesian regulation control and the sliding mode control. The Lyapunov stability theory is used to demonstrate the stability properties of the closed-loop control systems. Numerical simulations in MATLAB simulation software and computer simulations in Gazebo, an open-source 3D robotic simulator, are included to illustrate the performance and feasibility of the propose methodology.

Ideal prostheses are defined as artificial limbs that would permit physically impaired individuals freedom of movement and independence rather than a life of disability and dependence. Current lower limb prostheses range from a single mechanical revolute joint to advanced microprocessor controlled mechanisms. Despite the advancement in technology and medicine, current lower limb prostheses are still lacking an actuation element, which prohibits patients from regaining their original mobility and improving their quality of life. This thesis aims to design and test a Pneumatic Artificial Muscle that would actuate lower limb prostheses. This would offer patients the ability to ascend and descend stairs as well as standing up from a sitting position. A comprehensive study of knee biomechanics is first accomplished to characterize the actuation requirement, and subsequently a Pneumatic Artificial Muscle design is proposed. A novel design of muscle end fixtures is presented which would allow the muscle to operate at a gage pressure surpassing 2.76 MPa (i.e. 400 psi) and yield a muscle force that is at least 3 times greater than that produced by any existing equivalent Pneumatic Artificial Muscle. Finally, the proposed Pneumatic Artificial Muscle is tested and validated to verify that it meets the size, weight, kinetic and kinematic requirements of human knee articulation.

Ideal prostheses are defined as artificial limbs that would permit physically impaired individuals freedom of movement and independence rather than a life of disability and dependence. Current lower limb prostheses range from a single mechanical revolute joint to advanced microprocessor controlled mechanisms. Despite the advancement in technology and medicine, current lower limb prostheses are still lacking an actuation element, which prohibits patients from regaining their original mobility and improving their quality of life. This thesis aims to design and test a Pneumatic Artificial Muscle that would actuate lower limb prostheses. This would offer patients the ability to ascend and descend stairs as well as standing up from a sitting position. A comprehensive study of knee biomechanics is first accomplished to characterize the actuation requirement, and subsequently a Pneumatic Artificial Muscle design is proposed. A novel design of muscle end fixtures is presented which would allow the muscle to operate at a gage pressure surpassing 2.76 MPa (i.e. 400 psi) and yield a muscle force that is at least 3 times greater than that produced by any existing equivalent Pneumatic Artificial Muscle. Finally, the proposed Pneumatic Artificial Muscle is tested and validated to verify that it meets the size, weight, kinetic and kinematic requirements of human knee articulation.