Passive-Based Walking Robot

In this article, we presented our passive-based biped Denise. Using only two foot contact switches as sensors and simple on/off pneumatic muscle action, it walks at 0.4 m/s and can handle floor disturbances up to 6 mm (leg length is 0.7 m). Its simplicity, efficiency, and die natural look of its motions make it a promising lead for the development of commercially viable humanoid robots. The aim of this article is to provide other researchers enough details so that they can reproduce the work or use it as a basis for future research.     

Axisymmetric extrusion through adaptable dies—Part 1: Flexible velocity fields and power terms

An adaptable die is one that not only produces the correct geometrical shape, but also is designed through an adaptable method to impart other desirable properties to the product or process. In this first part of a series of papers, six kinematically admissible velocity fields are developed for use in upper bound models for axisymmetric extrusion through various dies, including extrusion through adaptable dies. Three base velocity fields are presented:

(1) assuming proportional angles in the deformation zone,

(2) assuming proportional areas in the deformation zone, or

(3) assuming proportional distances from the centerline in the deformation zone.

The base velocity is modified by an additional term comprised of two functions. One function allows extra flexibility in the radial direction, and the second function allows extra flexibility in the angular direction. There are two forms of the second function, which meet the required boundary conditions. The flexibility function in the radial direction is represented by a series of Legendre polynomials, which are orthogonal over the deformation region. The power terms derived for these velocity fields for use in upper bound models are also presented.Part 2 of this series compares the results obtained in upper bound models for the six velocity fields for a spherical extrusion die. In Part 3, the use of the best velocity field for extrusion through streamlined dies is developed to determine the adaptable die shape, which minimizes the required extrusion pressure. Additionally, the adaptable die shape is compared with results from Yang and Han for arbitrarily curved and streamlined dies.     

Comparison of finite element reliability methods

The spectral stochastic finite element method (SSFEM) aims at constructing a probabilistic representation of the response of a mechanical system, whose material properties are random fields. The response quantities, e.g. the nodal displacements, are represented by a polynomial series expansion in terms of standard normal random variables. This expansion is usually post-processed to obtain the second-order statistical moments of the response quantities. However, in the literature, the SSFEM has also been suggested as a method for reliability analysis. No careful examination of this potential has been made yet. In this paper, the SSFEM is considered in conjunction with the first-order reliability method (FORM) and with importance sampling for finite element reliability analysis. This approach is compared with the direct coupling of a FORM reliability code and a finite element code. The two procedures are applied to the reliability analysis of the settlement of a foundation lying on a randomly heterogeneous soil layer. The results are used to make a comprehensive comparison of the two methods in terms of their relative accuracies and efficiencies.     

On-body propagation velocity estimation using ultra-wideband frequency-domain spatial correlation analyses

On-body communications around the human torso are considered, using ultra-wideband transmissions. The velocity of the diffracted wave propagating around the body is extracted from frequency- domain spatial correlation analyses.     

High modulus of isotactic polypropylene attained by coextrusion with atactic polystyrene

Orientation-induced crystallization of crystallizable polymer melts can occur, under certain conditions, during flow through converging channels. Attempts have been made to achieve this phenomenon in a two-phase system, i.e., during simultaneous extrusion of a continuous concentric core of polypropylene within a polystyrene matrix through a conical duct. On one occasion, using Carlona P SY6100 (MFI = 11.0) with Hostyren N2000-V-01 (MFI = 25.0), a highly oriented polypropylene thread with a modulus of 14.6 GPa and a melting point of 178°C was extruded at a die temperature of approximately 170°C and a pressure lower than 40 MPa. It is, in principle, possible to form highly oriented, fiber-like structures as reinforcing elements in a polymer matrix.     

Affordances in the design of enactive systems

Enactive interfaces must incorporate intuitive activity that characterizes naturalistic perception. However, the manner in which information is presented is not more important than the contents: what information is presented. In this contribution, we address the contents of perception. We argue that people perceive affordances, that is, the possible actions that are available in any given situation. We further argue that enactive interfaces should be designed to optimize presentation of information about the possible actions that are available to a person using the enactive interface. The design of enactive interfaces might be guided by an extension of the theory of ecological interface design (Vicente in Hum Factors 44:62–78, 2002) to include multimodal information that is accessed through fast, intuitive exploratory movement. We review two empirical studies that illustrate our arguments. Careful analysis of affordances, together with our increasing understanding of the enactive perception of affordances, should influence the design of enactive interfaces.     

The Construction of Minimal DNA Expressions

We describe a formal language/notation for DNA molecules that may contain nicks and gaps. The elements of the language, DNA expressions, denote formal DNA molecules. Different DNA expressions may denote the same formal DNA molecule. We analyse the shortest DNA expressions denoting a given formal DNA molecule. We determine lower bounds on their lengths and explain how we construct these minimal DNA expressions.     

Microprocessor testability

As the level of microprocessor complexity increases to several hundred thousand transistors for a single-chip machine, it is becoming very difficult to test commercially available designs to the level of fault coverage desired by some customers. In order to achieve near 100-percent coverage of single stuck-at faults, future microprocessors must be designed with special testing features (designed for testability). The authors describe the testing problem for microprocessors, including the various methods of generating test sets and their application by the user. A survey of the testability features of some of today's commercially available microprocessors is presented. Suggestions for testability features for future-generation microprocessors are also discussed     

IPv6 delay and loss performance evolution

Although packet delay and loss are two important parameters of the Internet performance, to the best of our knowledge, the evolution of large‐scale IPv6 delay and loss performance has previously not been studied. In this paper, we analyze more than 600 end‐to‐end IPv6 paths between about 26 testboxes of RIPE Network Coordination Centre over two years, and compare the delay and loss performance over time with their IPv4 counterparts. We present and discuss the measurement methodologies and show that IPv6 paths have a higher delay and loss than their IPv4 counterparts. The main reason for the worse performance stems from IPv6‐in‐IPv4 tunnels rather than from native IPv6 paths and such tunnels are still widely used today. Copyright © 2007 John Wiley & Sons, Ltd.     

Influence of Production Process Parameters on Fish Oil Quality in a Pilot Plant

ABSTRACT: A pilot plant used for upgrading herring byproducts into fish oil was analyzed on its operational efficiency and product quality. The temperature of the heat exchanger and the speeds of the pump and the 3-phase decanter were varied according to a 2³ fractional factorial design. The initial amount of oxidation products present in the crude oil, its storage stability, and the yields from the different obtained products were determined. Multivariate data analysis of the advanced screening stage showed that T had neither influence on the quality nor on the yield in contrast to D and MP (P < 0.05). Process optimization results showed that the quality of the oil was influenced by an interaction effect between the speed of the MP and the D. Oils processed with the highest MP speed were the most stable during storage.