Rough terrain mapping and classification for foothold selection in a walking robot

Although legged locomotion over a moderately rugged terrain can be accomplished by employing simple reactions to the ground contact information, a more effective approach, which allows predictively avoiding obstacles, requires a model of the environment and a control algorithm that takes this model into account when planning footsteps and leg movements. This article addresses the issues of terrain perception and modeling and foothold selection in a walking robot. An integrated system is presented that allows a legged robot to traverse previously unseen, uneven terrain using only onboard perception, provided that a reasonable general path is known. An efficient method for real‐time building of a local elevation map from sparse two‐dimensional (2D) range measurements of a miniature 2D laser scanner is described. The terrain mapping module supports a foothold selection algorithm, which employs unsupervised learning to create an adaptive decision surface. The robot can learn from realistic simulations; therefore no a priori expert‐given rules or parameters are used. The usefulness of our approach is demonstrated in experiments with the six‐legged robot Messor. We discuss the lessons learned in field tests and the modifications to our system that turned out to be essential for successful operation under real‐world conditions. © 2011 Wiley Periodicals, Inc.     

Characterization of polymer inks for drop-on-demand printing systems

This paper presents a detailed study on the properties of different polymer inks based on poly(3,4ethylenedioxythiophene)/polystyrenesulfonate regarding their processability in an experimental piezo driven drop-on-demand (DoD) micro-feeding system. Based on the rheological properties of the used inks and the mechanical properties of the printing system characteristic values are derived which allow to predict the processability of polymer inks in a given printing system. Beside the printability the influence of different polymer inks on the electrical characteristics of printed organic field effect transistors is investigated.     

Modular framework support for context-aware mobile cinema

In this paper we describe a novel approach for interactive cinema based on context-aware narration using handheld computers. The paper describes both the artistic approach and the ubiquitous computing framework developed to realize the scenario. This framework has been used in various projects, including the described video production course at the ISNM, where five interactive cinema concepts have been developed and shown during a public demonstration. In our approach, a new type of user experience has been established by placing the viewer inside the movie’s physical locations during playback. Moreover, the developed ubiquitous computing framework provides a foundation for future work in the area of ad-hoc, service-oriented Ubicomp scenarios.     

State-space discrete systems: 2-D eigenvalues

A correction is given to a proof of the fact, presented in a paper by Roesser [1], that every partitioned matrixAnot only satisfies the two-dimensional characteristic equation, but it must also satisfy an additional set of equations. A new definition of 2-D eigenvalues is proposed.     

System Analysis of a DoD Print Head for Direct Writing of Conductive Circuits

The inkjet-printing principle is becoming more and more important for new applications besides conventional graphic printing. The target at our institute is to print conductive silver lines and areas of different widths and thicknesses. Based on a drop-on-demand (DoD) micro feeding system, a colloidal ink printer was developed to print conductive circuits. The printer has a stationary piezo-driven print head with a nozzle diameter of 100 μm. With such a nozzle, conductive paths with a width between 110 and 250 μm can be realized. A waveform generator is used to actuate the print head's piezo actuator. The most common control signal is a nearly rectangular voltage pulse. Shape, duration, and amplitude of the piezo control signal influence the stability of the printing process and thus the quality of the printed electrical structures significantly. Different rise and dwell times or pulse shapes can be considered to optimize the printing process. In this article, the piezo control signal's shape is analyzed, varied and the print head's system behavior is characterized. In a performance and signal analysis, the influence of the piezo input signal's shape on the transient behavior of the piezo output energy signal is identified. An optimized piezo control signal shall be achieved. In conclusion, a method is presented to measure droplet parameters such as radius, speed, and volume.     

The impact of a sewage treatment plant's effluent on sediment quality in a small bay in Lake Geneva (Switzerland–France). Part 2: Temporal evolution of heavy metals

The Bay of Vidy is the most contaminated area of Lake Geneva, Switzerland, as a result of the release of treated and untreated waste water from the municipal sewage treatment plant of the city of Lausanne and its surroundings. The reconstruction of the historical deposition of heavy metals in the sediment of the bay has been performed by the analysis of several dated (radiocaesium) sediment cores. The presence of sewage‐derived contaminants in the Bay of Vidy since the beginning of the sewage treatment plant's operations in 1964 is clearly observed, when a sharp increase in heavy metal contents is recorded, with maximum concentrations of cadmium, copper, zinc and lead occurring between the late 1960s and early 1970s. Despite considerable improvement in recent times, the present concentrations of the investigated heavy metals in sediments of the Bay of Vidy are still higher than concentrations measured at the centre of the lake, the latter close to Lake Geneva's natural background values. It is concluded that the quantity of heavy metals deposited in the bay is considerable and, because of sediment instability, will constitute a potential hazard for biota.     

Gravitational drainage of compressible organic materials

A model was developed to simulate drainage of compressible particle suspensions, and study how cake compression and volumetric load influence the process. The input parameters were settling velocity, cake resistance and compressibility. These parameters were found using a new experimental method. Dextran‐MnO₂ particle suspensions were drained as these resemble organic waste slurries with respect to settling and compressibility. It was demonstrated that cake compressibility must be taken into account to obtain adequate simulations. This implies that pressurized filtration resistances cannot be used for drainage simulations. In the filtration step, a distinct increase of dry matter from top to bottom of the cake was observed. During the subsequent consolidation, the cake compressed and a uniform dry matter profile was found. The final dry matter content of the cake increased with feed concentration and volumetric load. The drainage time increased proportionally with feed concentration and, more importantly, proportionally with squared volumetric load. © 2010 American Institute of Chemical Engineers AIChE J, 2010     

Cold Chemical Lamination—New Bonding Technique of LTCC Green Tapes

The low-temperature co-fired ceramic (LTCC) technology enables fabrication of sensors, actuators, microfludic devices² and fuel cells. The structures consist of screen-printed components, gas/liquid channels, reactive chambers and mixers. The lamination process determines the quality of such devices. Thermo-compression is the most popular bonding method. The LTCC green tapes are joined together at high temperature (up to 80°C) and high pressure (up to 30 MPa) for 2 to 15 minutes. The method allows good encapsulation of the LTCC structures, but the channels geometry is strongly affected by elevated temperature and pressure. Cold Chemical Lamination (CCL) is a new LTCC green tapes bonding technique, which allows for fabrication of 3D modules. A solvent-based method is used in the CCL lamination instead of the thermo-compression process. A special liquid agent is screen-printed on the green tape in the CCL method. The liquid melts the tape surface. Then the tapes are stacked and compressed at room temperature by a printing roll. The influence of the CCL and the thermo-compression methods on the chamber's geometry quality as well as basic electrical properties of screen-printed resistors (sheet resistance R_φ standard deviation of sheet resistance σ_R, variability coefficient of sheet resistance V_R, and long-term stability) are analyzed and compared in this paper. The bonding quality is examined by a scanning electron microscope (SEM).     

Synthesis and Biological Testing of N‐Aminoimidazole‐Based p38α MAP Kinase Inhibitors

The p38 mitogen‐activated protein (MAP) kinase α plays a central role in the regulation of cellular responses such as differentiation, proliferation, apoptosis, and inflammation. Inhibition of p38 results in decreased synthesis of pro‐inflammatory cytokines. To date, diverse p38α inhibitors are in phase II clinical trials for numerous cytokine‐dependent diseases. 2‐Sulfanylimidazole derivatives offer advantages over the prototype inhibitor SB 203580, including fewer cytochrome P450 interactions and better kinetic properties. The aim of this study was to develop novel 1,2,4,5‐tetrasubstituted pyridinylimidazoles with acyl residues at the imidazole N1 position that can interact with the kinase's hydrophobic region II (HR II) or sugar pocket (SP) to improve both selectivity and activity. The substitution pattern was optimized by variation of the acyl moiety at the N1 position of the N‐aminoimidazole core. Acylation of the amino function was used for optimization and led to potent p38α MAPK inhibitors.     

Low-pressure,thermo-compressive lamination

Lamination of green ceramic tapes is one of the most important technological processes in multilayer ceramic technology. Lamination affects the quality of all 3D structures (e.g., channels, chambers, membranes, etc.). Novel chemical methods of lamination reduce the deformation of 3D structures. However, these methods are useless in the fabrication of thin membranes and structures with thick-film electronic components or electric vias. Therefore, thermo-compressive lamination is still the best solution for the lamination of green ceramic tapes. Low-pressure thermo-compressive lamination with an insert material is presented in this paper. The influence of pressure and Low Temperature Cofired Ceramics (LTCC) material on the compressibility and shrinkage of LTCC, as well as the influence of the insert material on deflection and distortion of the membranes are presented and discussed in this paper.