Stair Climbing is a key functionality desired for robots deployed in Urban Search and Rescue (USAR) scenarios. A novel compliant modular robot was proposed earlier to climb steep and big obstacles. This work extends the functionality of this robot to ascend and descend stairs of dimensions that are also typical of an urban setting. Stair Climbing is realized by equipping the robot's link joints with optimally designed passive spring pairs that resist clockwise and counter clockwise moments generated by the ground during the climbing motion. This 3-module robot is only propelled by wheel actuators. Desirable stair climbing configurations are estimated a-priori and used to obtain the optimal stiffness for springs. Extensive numerical simulation results over different stair configurations are shown. The numerical simulations are corroborated by experimentation using the prototype and its performance is tabulated for different types of surfaces.

A high power Y : Y/Δ three-phase Dual Active Bridge (DAB) topology offers higher power density, smaller switching stress, smaller volume of magnetics and smaller DC capacitor over single phase DAB. Therefore this topology is suitable for medium voltage (MV) applications. The high-frequency DAB currents are nearly sinusoidal suited for D-Q transformation which enables fast average mode current control for device protection. But it requires fast ADC conversions and processing speed to implement this control. Also the PWM channel requirement for this topology is high. A DSP repeats an infinite loop of calculations serially. Thus it has limited loop speed in case of longer algorithm size which limits the control bandwidth. An FPGA based control is suitable as it can process the algorithm in programmable combinational logic circuits which offer few nano-seconds of propagation delay. And thus the only speed limitation is the ADC conversion speed. But an FPGA board does not readily offer all the features required for this application. Therefore an ultra-fast 2 MSPS parallel ADC interface board has been developed to achieve the control objectives for the topology in this paper.

BACKGROUND: We have recently introduced a predictive framework for studying gene transcriptional regulation in simpler organisms using a novel supervised learning algorithm called GeneClass. GeneClass is motivated by the hypothesis that in model organisms such as Saccharomyces cerevisiae, we can learn a decision rule for predicting whether a gene is up- or down-regulated in a particular microarray experiment based on the presence of binding site subsequences ("motifs") in the gene's regulatory region and the expression levels of regulators such as transcription factors in the experiment ("parents"). GeneClass formulates the learning task as a classification problem--predicting +1 and -1 labels corresponding to up- and down-regulation beyond the levels of biological and measurement noise in microarray measurements. Using the Adaboost algorithm, GeneClass learns a prediction function in the form of an alternating decision tree, a margin-based generalization of a decision tree. METHODS: In the current work, we introduce a new, robust version of the GeneClass algorithm that increases stability and computational efficiency, yielding a more scalable and reliable predictive model. The improved stability of the prediction tree enables us to introduce a detailed post-processing framework for biological interpretation, including individual and group target gene analysis to reveal condition-specific regulation programs and to suggest signaling pathways. Robust GeneClass uses a novel stabilized variant of boosting that allows a set of correlated features, rather than single features, to be included at nodes of the tree; in this way, biologically important features that are correlated with the single best feature are retained rather than decorrelated and lost in the next round of boosting. Other computational developments include fast matrix computation of the loss function for all features, allowing scalability to large datasets, and the use of abstaining weak rules, which results in a more shallow and interpretable tree. We also show how to incorporate genome-wide protein-DNA binding data from ChIP chip experiments into the GeneClass algorithm, and we use an improved noise model for gene expression data. RESULTS: Using the improved scalability of Robust GeneClass, we present larger scale experiments on a yeast environmental stress dataset, training and testing on all genes and using a comprehensive set of potential regulators. We demonstrate the improved stability of the features in the learned prediction tree, and we show the utility of the post-processing framework by analyzing two groups of genes in yeast--the protein chaperones and a set of putative targets of the Nrg1 and Nrg2 transcription factors--and suggesting novel hypotheses about their transcriptional and post-transcriptional regulation. Detailed results and Robust GeneClass source code is available for download from http://www.cs.columbia.edu/compbio/robust-geneclass.