In December 2013, 16 teams from around the world gathered at Homestead Speedway near Miami, FL to participate in the DARPA Robotics Challenge (DRC) Trials, an aggressive robotics competition partly inspired by the aftermath of the Fukushima Daiichi reactor incident. While the focus of the DRC Trials is to advance robotics for use in austere and inhospitable environments, the objectives of the DRC are to progress the areas of supervised autonomy and mobile manipulation for everyday robotics. NASA's Johnson Space Center led a team comprised of numerous partners to develop Valkyrie, NASA's first bipedal humanoid robot. Valkyrie is a 44 degree‐of‐freedom, series elastic actuator‐based robot that draws upon over 18 years of humanoid robotics design heritage. Valkyrie's application intent is aimed at not only responding to events like Fukushima, but also advancing human spaceflight endeavors in extraterrestrial planetary settings. This paper presents a brief system overview, detailing Valkyrie's mechatronic subsystems, followed by a summarization of the inverse kinematics‐based walking algorithm employed at the Trials. Next, the software and control architectures are highlighted along with a description of the operator interface tools. Finally, some closing remarks are given about the competition, and a vision of future work is provided.

Hip resurfacing is being performed more frequently in the United Kingdom. The possible benefits include more accurate restoration of leg length, femoral offset and femoral anteversion than occurs after total hip arthroplasty (THA). We compared anteroposterior radiographs from 26 patients who had undergone hybrid THA (uncemented cup/cemented stem), with 28 who had undergone Birmingham Hip Resurfacing arthroplasty (BHR). We measured the femoral offset, femoral length, acetabular offset and acetabular height with reference to the normal contralateral hip. The data were analysed by paired t-tests. There was a significant reduction in femoral offset (p = 0.0004) and increase in length (p = 0.001) in the BHR group. In the THA group, there was a significant reduction in acetabular offset (p = 0.0003), but femoral offset and overall hip length were restored accurately. We conclude that hip resurfacing does not restore hip mechanics as accurately as THA.

Resurfacing arthroplasty of the hip is being performed more frequently in the United Kingdom. The majority of these patients are younger than 55 years of age, and in this group the key benefits include conservation of femoral bone stock and the potential reduction in the rate of dislocation afforded by the larger resurfacing head. Early aseptic loosening is well recognised in patients younger than 55 years of age, and proponents of resurfacing believe that the improved wear characteristics of the metal-on-metal bearing may improve the long-term survival of this implant. There has been some concern, however, that resurfacing may not be conservative of acetabular bone. We compared a series of 33 consecutive patients who had a hybrid total hip arthroplasty with an uncemented acetabular component and a cemented femoral implant, with 35 patients undergoing a Birmingham hip resurfacing arthroplasty. We compared the diameter of the implanted acetabulum in both groups and, because they were not directly comparable, we corrected for patient size by measuring the diameter of the contralateral femoral head. The data were analysed using unpaired t-tests and analysis of covariance. There was a significantly larger acetabulum in the Birmingham arthroplasty group (mean diameter 56.6 mm vs 52.0 mm; p < 0.001). However, this group had a significantly larger femoral head diameter on the contralateral side (p = 0.03). Analysis of covariance revealed a significant difference between the mean size of the acetabular component implanted in the two operations. The greatest difference in the size of acetabulum was in those patients with a larger diameter of the femoral head. This study shows that more bone is removed from the acetabulum in hip resurfacing than during hybrid total hip arthroplasty, a difference which is most marked in larger patients.

BackgroundCongenital talipes equinovarus (CTEV) is a common developmental disorder of the foot, affecting between 1 and 4.5 per 1000 live births. The aetiology is not well elucidated. While both genetic and environmental factors are implicated, no specific genes have been identified and little is known about environmental risk factors.MethodsWe conducted a case-control study of idiopathic congenital talipes equinovarus (ICTEV) in the United Kingdom. 194 cases and 60 controls were recruited. Pedigrees were obtained for 167 cases.ResultsThe rank of the index pregnancy, maternal education and caesarean delivery were significantly associated with ICTEV risk in a multivariate model. There were suggestions that maternal use of folic acid supplements in the three months before the pregnancy decreased ICTEV risk, and that parental smoking during the pregnancy increased risk, although the associations were not statistically significant. One quarter of pedigrees showed a family history of CTEV, and autosomal dominant inheritance was suggested in some of these.ConclusionUterine restriction did not appear to have a strong influence on ICTEV development in our study. Large population-based studies are needed to clarify the aetiology of this common developmental disorder.

different ion-pair association constants. The data for KBr are given in Table I.Once a value of E°is well established for a particular metal/metal-ion electrode, it is possible to determine potentiometrically the ion-pair formation constants of all the soluble 1:1 salts of that metal by application of the equation:where (M+) = antilog (E -E°MiM+)/0.05916 and the experimental values of E are corrected for liquid junction potentials. ACKNOWLEDGMENT I am grateful to Ward B.

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The equilibrium solubilities of benzoic acid (BA), salicylic acid (SAL), and acetylsalicylic acid (ASA) were determined in binary (solute + CO 2 ), ternary (two solutes + CO 2 ), and quaternary systems (three solutes + CO 2 ) at temperatures ranging from (308 to 328) K and pressures ranging from (10.1 to 28.0) MPa. Solubility data were obtained using a dynamic approach with a simple and reliable apparatus. Polar mixed-solid solute systems demonstrated solubility enhancements, which were consistent with the entrainer effect. In all the polar ternary systems studied, at least one component exhibited solubility enhancements. In the polar quaternary system studied, the solubility of each component increased in comparison to each binary system; the solubility of ASA, SAL, and BA was enhanced up to 484 %, 248 %, and 43 %, respectively. The high solubility enhancements observed in our study indicate that solute-solute interactions are significant in the supercritical fluid (SCF) phase. The solubility enhancements observed in the polar mixed-solid solute systems studied resulted in a decrease in selectivity of SCF CO 2 . However, in a quaternary system consisting of BA, SAL, and fluoranthene (FLU), the selectivity of SCF CO 2 for SAL versus FLU increased by a factor of 2.7 due to specific solute-solute interactions. This study showed that solute-solute interactions in mixed solid solute systems can result in an increase in the solubility of solutes and also the selectivity of SCF CO 2 .

Worldwide, 1-4 per 1,000 births are affected by clubfoot. Clubfoot etiology is unclear, but both genetic and environmental factors are thought to be involved. Low folate status in pregnant women has been implicated in several congenital malformations, and folate metabolism may be affected by polymorphisms in the methylenetetrahydrofolate reductase gene (MTHFR). Using a case-parent-triad design, the authors investigated whether the MTHFR C677T polymorphism, and maternal periconceptional folic acid supplement use, influenced risk of isolated clubfoot. Three hundred seventy-five United Kingdom case-parent triads were recruited in 1998-1999. Among the children, there was a significant trend of decreasing clubfoot risk with increasing number of T alleles: relative risk for CT vs. CC = 0.75, 95% confidence interval: 0.57, 0.97; relative risk for TT vs. CC = 0.57, 95% confidence interval: 0.35, 0.91; p trend = 0.006. This association was not modified by maternal folic acid use. Maternal MTHFR genotype did not influence clubfoot risk for the offspring overall, although a possible interaction with folic acid use was found. This is the first known report of a specific genetic polymorphism associated with clubfoot. The direction of the association is intriguing and suggests that DNA synthesis may be relevant in clubfoot development. However, clubfoot mechanisms are poorly understood, and the folate metabolism pathway is complex. Further research is needed to elucidate these relations.