A5085168927- Robotic Locomotion and Control
- Prosthetics and Rehabilitation Robotics
- Mass Spectrometry Techniques and Applications
- Ion-surface interactions and analysis
- Advanced Proteomics Techniques and Applications
- Robot Manipulation and Learning
- Microfluidic and Capillary Electrophoresis Applications
- Muscle activation and electromyography studies
- Neurogenetic and Muscular Disorders Research
- Adipose Tissue and Metabolism
- Mitochondrial Function and Pathology
- Cardiovascular Function and Risk Factors
- Network Packet Processing and Optimization
- Algorithms and Data Compression
- Analytical chemistry methods development
- Balance, Gait, and Falls Prevention
- Soil Mechanics and Vehicle Dynamics
- Adaptive Control of Nonlinear Systems
- Metabolomics and Mass Spectrometry Studies
- Microbial Metabolic Engineering and Bioproduction
- Advanced Glycation End Products research
- Advanced Control Systems Optimization
- Veterinary Oncology Research
- Forensic Fingerprint Detection Methods
- Autonomous Vehicle Technology and Safety
University of New Mexico
2023
IIT@MIT
2018-2019
Massachusetts Institute of Technology
2019
Georgia Institute of Technology
2016
Texas A&M University
2011-2015
Morgantown High School
2014-2015
West Virginia University
2004-2014
University of East Anglia
2005
University of Canterbury
2003
This paper introduces a new robust, dynamic quadruped, the MIT Cheetah 3. Like its predecessor, 3 exploits tailored mechanical design to enable simple control strategies for locomotion and features high-bandwidth proprioceptive actuators manage physical interaction with environment. A leg is presented that includes actuation on abduction/adduction degrees of freedom in addition an expanded range motion hips knees. To make full use these capabilities, general balance controllers are...
In December 2013, 16 teams from around the world gathered at Homestead Speedway near Miami, FL to participate in DARPA Robotics Challenge (DRC) Trials, an aggressive robotics competition partly inspired by aftermath of Fukushima Daiichi reactor incident. While focus DRC Trials is advance for use austere and inhospitable environments, objectives are progress areas supervised autonomy mobile manipulation everyday robotics. NASA's Johnson Space Center led a team comprised numerous partners...
Cardiac complications and heart failure are the leading cause of death in type 2 diabetic patients. Mitochondrial dysfunction is central pathogenesis heart. However, it unclear whether this specific for a particular subcellular region. The purpose study was to determine mitochondrial spatially distinct subset mitochondria. We investigated morphology, function, proteomic composition subsarcolemmal mitochondria (SSM) interfibrillar (IFM) 18-wk-old db/db mice. Oxidative damage assessed...
Diabetic cardiomyopathy is associated with increased risk of heart failure in type 1 diabetic patients. Mitochondrial dysfunction suggested as an underlying contributor to cardiomyopathy. Cardiac mitochondria are characterized by subcellular spatial locale, including located beneath the sarcolemma, subsarcolemmal (SSM), and situated between myofibrils, interfibrillar (IFM). The goal this study was determine whether insult influences proteomic make-up spatially distinct mitochondrial...
This paper presents a novel methodology for implementing optimized jumping behavior on quadruped robots. Our method includes efficient trajectory optimization, precise high-frequency tracking controller and robust landing stabilizing the robot body position orientation after impact. Experimental validation was successfully conducted MIT Cheetah 3, enabling to repeatably jump onto down from desk with height of 30" (0.76 m). The result demonstrates advantages approach as well capability...
This paper demonstrates the process of utilizing human locomotion data to formally design controllers that yield provably stable robotic walking and experimentally realizing these formal methods achieve dynamically bipedal on NAO robot. Beginning with data, outputs---or functions kinematics---are determined result in a low-dimensional representation locomotion. These same outputs can be considered robot, human-inspired control is used drive robot human. An optimization problem presented...
Mitochondrial dysfunction is a contributor to diabetic cardiomyopathy. Previously, we observed proteomic decrements within the inner mitochondrial membrane (IMM) and matrix of cardiac interfibrillar mitochondria (IFM) correlating with dysfunctional protein import. The goal this study was determine whether overexpression phospholipid hydroperoxide glutathione peroxidase 4 (mPHGPx), an antioxidant enzyme capable scavenging membrane-associated lipid peroxides in IMM, could reverse alterations,...
In this paper we analyze the continuity properties of feedback controllers that are formulated as state-dependent quadratic programs (QP), with specific application to motion control for humanoid robots. With a desire achieve multiple simultaneous goals in locomotion and manipulation, develop generalized QP-based law through use Lyapunov functions (CLFs). Motivated by simulation studies showing cases where loses Lipschitz continuity, main result is set sufficient conditions under which such...
Online optimization-based controllers are becoming increasingly prevalent as a means to control complex high-dimensional nonlinear systems, e.g., bipedal and humanoid robots, due their ability balance multiple objectives subject input constraints. Motivated by these applications, the goal of this paper is explore continuity smoothness properties feedback that formulated quadratic programs (QPs). We begin drawing connections between family perturbed programming problems commonly studied in...
Nanoantennas for ions: Silicon microcolumn arrays harvest light from a laser pulse to produce ions. The system behaves like quasi-periodic antenna array with ion yields that show profound dependence on the plane of polarization and angle incidence beam. Photonic sources promise enable enhanced control production micro- nanometer scale direct integration miniaturized analytical devices.
Laser ablation ESI (LAESI) is a recent development in MS imaging. It has been shown that lipids and small metabolites can be imaged various samples such as plant material, tissue sections or bacterial colonies without any sample pretreatment. Further, LAESI to produce multiply charged protein ions from liquids solid surfaces. This presents means address one of the biggest challenges imaging; identification proteins directly biological Such hindered by lack common MALDI ion sources difficulty...
This paper presents an approach to the development of bipedal robotic control techniques for multiple locomotion behaviors. Insight into fundamental behaviors human is obtained through examination experimental data walking on flat ground, upstairs and downstairs. Specifically, it shown that certain outputs human, independent terrain, can be characterized by a single function, termed extended canonical function. Optimized functions this form are tracked via feedback linearization in...
Gaits in legged robots are often hand tuned and time based, either explicitly or through an internal clock, for instance, the form of central pattern generators. This strategy requires trial error to identify leg timings, which may not be suitable challenging terrains. In this letter, we introduce new concepts quantify capabilities online gait emergence adaptation, without fixed timings predefined foothold sequences. Specifically, Feasible Impulse Set, a notion that extends aspects classical...
Analysis of serum and plasma proteomes is a common approach for biomarker discovery, the removal high-abundant proteins, such as albumin immunoglobins, usually first step in analysis. However, binds peptides which raises concerns to how could impact outcome study while ignoring possibility that this be subproteome itself. The goal was test new commercially available affinity capture reagent from Protea Biosciences compare efficiency reproducibility four other depletion methods. second...
A nanofabricated laser desorption ionization mass spectrometry (LDI-MS) chip for quantitation of small molecules.
Xenopus laevis eggs are used as a biological model system for studying fertilization and early embryonic development in vertebrates. Most methods their molecular analysis require elaborate sample preparation including separate protocols the water soluble lipid components. In this study, laser ablation electrospray ionization (LAESI), an ambient technique, was direct mass spectrometric of X. stage embryos up to five cleavage cycles. Single unfertilized fertilized eggs, animal vegetal poles,...
This paper employs the Human-Inspired Control framework in formal design, optimization and implementation of controllers for 3D bipedal robotic walking. In this framework, drive robot to a low-dimensional representation, termed partial hybrid zero dynamics, which is shaped by parameters outputs describing human locomotion data. The main result use dynamics an problem compute physical constraints on robot, without integrating system, while simultaneously yielding provably stable walking...
We investigate off-line dictionary oriented approaches to DNA sequence compression, based on the Burrows-Wheeler Transform (BWT). The preponderance of short repeating patterns is an important phenomenon in biological sequences. Here, we propose methods compress sequences that exploit different repetition structures inherent such Repetition analysis performed relationship between BWT and pattern matching data structures, as suffix tree array. discuss how proposed approach can be incorporated...
This paper presents a method for achieving planar multi-phase, multi-contact robotic walking using human inspired control and optimization. The presented contains phases with differing degrees of actuation including over-actuated double support, fully-actuated single under-actuated support via heel lift. An optimization methodology generating gaits partial hybrid zero dynamics will be presented. It shown that this yields periodic, locomotion. Simulation results the three domain under...
Laser ablation electrospray ionization tandem mass spectrometry (LAESI-MS/MS) was applied to the analysis of scheduled drugs in a variety forensically relevant media including solutions, hair and botanic matter.
We introduce remote laser ablation electrospray ionization (LAESI), a novel, non-proximate ambient sampling technique. Remote LAESI allows additional analytical instrumentation to be incorporated during sample analysis. This work demonstrates the utility of and, when combined with optical microscopy, for microscopy-guided biological tissues.Rapid prototyping using 3D printer was applied produce various chamber geometries. A focused 5 ns, 2.94 µm pulse kept at 10 Hz ablated within chamber,...