Abstract-The most widely-used technique to generate wholebody motions on a humanoid robot accounting for various tasks and constraints is the inverse kinematics. Based on the taskfunction approach, this class of methods makes possible the coordination of the robot movements to execute several tasks in parallel and account for the sensor feedback, in real-time thanks to the low computation cost. To some extent, it also enables dealing with some of the robot constraints (e.g. joint limits or visibility) and managing the quasi-static balance of the robot. In order to fully use the whole range of possible motions, this paper proposes to extend the task-function approach to handle the full dynamics of the robot multi-body along with any constraint written as equality or inequality of the state and control variables. The definition of multiple objectives is made possible by ordering them inside a strict hierarchy. Several models of contact with the environment can be implemented in the framework. We propose a reduced formulation of the multiple rigid planar contact that keeps a low computation cost. The efficiency of this approach is illustrated by presenting several multi-contact dynamic motions in simulation and on the real HRP-2 robot.

We analyzed the perinatal outcome of 1,086 pregnancies classified according to the response to the 3-hour 100-gram glucose tolerance test and the diurnal glycemic profile into the Rudge groups corresponding to control pregnant women, class A gestational diabetic women, class A/B to FRH pregnant women and women with daily hyperglycemia. Despite treatment, the diabetic pregnant women and those with daily hyperglycemia presented higher mean blood glucose levels compared to controls (76.6 ± 10.2 mg/dl). The pregnancies complicated by diabetes and by daily hyperglycemia were characterized by a high incidence of prematurity, macrosomia, large for gestational age newborn infants, malformation and fetal and neonatal death, with consequent perinatal mortality. The perinatal mortality of women with daily hyperglycemia was 10 times higher than that of the controls and was similar to that of the diabetic patients. These adverse perinatal results emphasize the need for the diagnosis and control of intrauterine hyperglycemia both in diabetic pregnant women and in women with an altered diurnal glycemic profile.

We have developed the CHIMP (CMU Highly Intelligent Mobile Platform) robot as a platform for executing complex tasks in dangerous, degraded, human‐engineered environments. CHIMP has a near‐human form factor, work‐envelope, strength, and dexterity to work effectively in these environments. It avoids the need for complex control by maintaining static rather than dynamic stability. Utilizing various sensors embedded in the robot's head, CHIMP generates full three‐dimensional representations of its environment and transmits these models to a human operator to achieve latency‐free situational awareness. This awareness is used to visualize the robot within its environment and preview candidate free‐space motions. Operators using CHIMP are able to select between task, workspace, and joint space control modes to trade between speed and generality. Thus, they are able to perform remote tasks quickly, confidently, and reliably, due to the overall design of the robot and software. CHIMP's hardware was designed, built, and tested over 15 months leading up to the DARPA Robotics Challenge. The software was developed in parallel using surrogate hardware and simulation tools. Over a six‐week span prior to the DRC Trials, the software was ported to the robot, the system was debugged, and the tasks were practiced continuously. Given the aggressive schedule leading to the DRC Trials, development of CHIMP focused primarily on manipulation tasks. Nonetheless, our team finished 3rd out of 16. With an upcoming year to develop new software for CHIMP, we look forward to improving the robot's capability and increasing its speed to compete in the DRC Finals.

While all patients with cystic fibrosis (CF) have mutations in both CFTR alleles, often only one CFTR change is detected in patients with other lung disorders. The aim of this study was to investigate whether heterozygosity for CFTR mutations could be a determinant risk factor in the development of bronchiectasis in adult patients. We have performed the CFTR gene analysis in a cohort of 55 bronchiectasis adult patients with unknown etiology. The 5T variant (TG)m and the M470V polymorphisms were also analyzed. A general population in which the same molecular analysis was previously performed was used as the control group. The mutational spectrum of patients was also compared with that found in our CF population. CFTR mutations/variants were found in 20 patients (36%), 14 with only one mutant gene (25%). All six patients colonized by Staphylococcus aureus presented with at least one CFTR change (p = 0.001). No statistical significance was observed between patients with and without mutations for other clinical features. The 5T variant was found in four patients. Additionally, 90% of patients with mutations had the more functional M470 allele (p < 0.001). These results suggest the involvement of the CFTR gene in bronchiectasis of unknown etiology in adult patients.

Both exogenous and endogenous cannabinoids can influence hormone secretion from the anterior pituitary gland. A large body of information proves that the primary target of these effects is the neuroendocrine hypothalamus. However, recent studies using cannabinoid (CB) receptor autoradiography, messenger RNA in-situ hybridization and in-vitro analysis, indicate direct effects of cannabinoids at the level of the anterior pituitary gland itself. In the present paper, the immunocytochemical distribution of CB in the adult rat anterior pituitary was studied using specific polyclonal antibodies against CB1 (central) and CB2 (peripheral) receptors. Due to its resolution, this method allowed identification of individual anterior pituitary cells possessing cannabinoid receptors. The specific hormone immunoreactive cells with receptor-like immunoreactivity were compared on adjacent sections. CB1-like immunoreactivity (CB1ir) was found in the lactotroph cells as well as in luteinizing hormone (LH) secreting gonadotrophs. The CB1ir positive material present in the cytoplasm of these cells was less homogeneous than the hormone immunoreactive material, and it was also seen at the periphery of the cells, presumably on the cell membrane. No CB1ir was found in growth hormone (GH) secreting cells and it was hardly seen in the corticotrophs. No CB1ir was detected in the posterior pituitary. CB2ir was not observed in any part of the pituitary gland. The results support the view that the site of action of cannabinoids on neuroendocrine regulatory mechanisms may be both at pituitary and hypothalamic levels. We suggest that at least the direct effect of cannabinoids on the regulation of LH and prolactin secretion is mediated via CB1 cannabinoid receptors in the anterior pituitary.