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The dog (Canis familiaris or Canis lupus familiaris) is a domesticated descendant of the wolf. Also called the domestic dog, it is derived from extinct Pleistocene wolves, and the modern wolf is the dog's nearest living relative. Dogs were the first species to be domesticated by hunter-gatherers over 15,000 years ago before the development of agriculture. Due to their long association with humans, dogs have expanded to a large number of domestic individuals and gained the ability to thrive on a starch-rich diet that would be inadequate for other canids. The dog has been selectively bred over millennia for various behaviors, sensory capabilities, and physical attributes. Dog breeds vary widely in shape, size, and color. They perform many roles for humans,

Towards Agility: Definition, Benchmark and Design Considerations for Small, Quadrupedal Robots

Peter Eckert

Agile quadrupedal locomotion in animals and robots is yet to be fully understood, quantified or achieved. An intuitive notion of agility exists, but neither a concise definition nor a common benchmark can be found. Further, it is unclear, what minimal level of mechatronic complexity is needed for this particular aspect of locomotion. In this thesis we address and partially answer two primary questions: (Q1) What is agile legged locomotion (agility) and how can wemeasure it? (Q2) How can wemake agile legged locomotion with a robot a reality? To answer our first question, we define agility for robot and animal alike, building a common ground for this particular component of locomotion and introduce quantitative measures to enhance robot evaluation and comparison. The definition is based on and inspired by features of agility observed in nature, sports, and suggested in robotics related publications. Using the results of this observational and literature review, we build a novel and extendable benchmark of thirteen different tasks that implement our vision of quantitatively classifying agility. All scores are calculated from simple measures, such as time, distance, angles and characteristic geometric values for robot scaling. We normalize all unit-less scores to reach comparability between different systems. An initial implementation with available robots and real agility-dogs as baseline finalize our effort of answering the first question. Bio-inspired designs introducing and benefiting from morphological aspects present in nature allowed the generation of fast, robust and energy efficient locomotion. We use engineering tools and interdisciplinary knowledge transferred from biology to build low-cost robots able to achieve a certain level of agility and as a result of this addressing our second question. This iterative process led to a series of robots from Lynx over Cheetah-Cub-S, Cheetah-Cub-AL, and Oncilla to Serval, a compliant robot with actuated spine, high range of motion in all joints. Serval presents a high level of mobility at medium speeds. With many successfully implemented skills, using a basic kinematics-duplication from dogs (copying the foot-trajectories of real animals and replaying themotion on the robot using a mathematical interpretation), we found strengths to emphasize, weaknesses to correct and made Serval ready for future attempts to achieve even more agile locomotion. We calculated Servalâs agility scores with the result of it performing better than any of its predecessors. Our small, safe and low-cost robot is able to execute up to 6 agility tasks out of 13 with the potential to reachmore after extended development. Concluding, we like to mention that Serval is able to cope with step-downs, smooth, bumpy terrain and falling orthogonally to the ground.

EPFL2018

Pulse pressure method and the area method for the estimation of total arterial compliance in dogs: sensitivity to wave reflection intensity

Patrick Segers, Nikolaos Stergiopulos

We estimated total arterial compliance (C) in eight anesthetized mongrel dogs with (i) the area method (AM), (ii) the pulse pressure method (PPM), and (iii) the stroke volume-to-pulse pressure ratio (SV/PP). Average compliance was C(AM)=1.1+/-0.73 ml mm Hg(-1) using AM; C(PPM)=0.60+/-0.31 ml mm Hg(-1) using PPM and C(SV/PP)=0.87+/-0.49 ml mm Hg(-1) using SV/PP. Mean aortic pressure was 64+/-23 mm Hg. The overall agreement between C(AM) and C(PPM) was relatively poor (C(AM)=0.15+/-1.61 C(PPM); r2=0.48), with a consistent overestimation of the area method with respect to the pulse pressure method. There was a significant correlation (r=-0.78) between the relative difference between PPM and AM, and the modulus of the first harmonic of the wave reflection coefficient [gamma] which was low in our dog population (0.37+/-0.18). SV/PP overestimated PPM, but both methods were highly correlated (C(SV/PP)=0.06+/-1.60C(PPM); r2=0.97). C(SV/PP) and C(AM) were similar only for [gamma]>0.4. The effect of isolated changes of [gamma] on PPM, AM, and SV/PP was studied using the linear wave separation technique. The area method appeared very sensitive to the wave reflection intensity. For low reflection coefficients, the diastolic wave profile was flattened and compliance was overestimated. PPM and SV/PP were relatively independent of [gamma] and remained even applicable for [gamma]=0. We believe that the pulse pressure method is the most consistent method for the estimation of total arterial compliance in hemodynamic conditions characterized by a low wave reflection intensity.

1999

The Lipopolysaccharide from Capnocytophaga canimorsus Reveals an Unexpected Role of the Core-Oligosaccharide in MD-2 Binding

Matteo Dal Peraro, Marco Stenta

Capnocytophaga canimorsus is a usual member of dog's mouths flora that causes rare but dramatic human infections after dog bites. We determined the structure of C. canimorsus lipid A. The main features are that it is penta-acylated and composed of a "hybrid backbone'' lacking the 4' phosphate and having a 1 phosphoethanolamine (P-Etn) at 2-amino-2-deoxy-D-glucose (GlcN). C. canimorsus LPS was 100 fold less endotoxic than Escherichia coli LPS. Surprisingly, C. canimorsus lipid A was 20,000 fold less endotoxic than the C. canimorsus lipid A-core. This represents the first example in which the core-oligosaccharide dramatically increases endotoxicity of a low endotoxic lipid A. The binding to human myeloid differentiation factor 2 (MD-2) was dramatically increased upon presence of the LPS core on the lipid A, explaining the difference in endotoxicity. Interaction of MD-2, cluster of differentiation antigen 14 (CD14) or LPS-binding protein (LBP) with the negative charge in the 3-deoxy-D-manno-oct-2-ulosonic acid (Kdo) of the core might be needed to form the MD-2 - lipid A complex in case the 4' phosphate is not present.

2012

Towards Agility: Definition, Benchmark and Design Considerations for Small, Quadrupedal Robots

Peter Eckert

EPFL2018