Generation of adaptive gait patterns for quadruped robot with CPG network including motor dynamic model

This paper describes the generation of adaptive gait patterns using new Central Pattern Generators (CPGs) including motor dynamic models for a quadruped robot under various environments. The CPGs act as the flexible oscillators of the joints and adjust joint angles to required values. The CPGs are interconnected with each other and sets of their coupling parameters are adjusted by a genetic algorithm so that the quadruped robot can realize stable and adequate gait patterns. Generation of gait patterns results in the formation of the CPG networks suitable for the formation of not only a straight walking pattern but also of rotating gait patterns. Experimental results demonstrate that the proposed CPG networks are effective for the automatic adjustment of the adaptive gait patterns for the tested quadruped robot under various environments. Furthermore, the target tracking control based on image processing is achieved by combining the general gait patterns. © 2006 Wiley Periodicals, Inc. Electr Eng Jpn, 155(1): 35–43, 2006; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20225     

Variation in Malting Quality and Heat Resistance in the Malting Barley Variety “Alexis”

In earlier studies concerning vigour, where subsamples are heat‐treated before germination there was found heat‐sensitive as well as heat‐resistant barley samples. The vigour model developed by Ellis and Roberts and further developed at Carlsberg, could only describe the heat‐sensitive barleys. Seventeen samples of the “Alexis” variety grown widely in Europe were collected from the EBC trials in 1994 in order to see if heat resistance in barley was influenced by different growing conditions. We found both heat‐sensitive samples following the vigour model as well as pronounced heat‐resistant samples, but these were not divided according to growing conditions. The germination curves dependent on heat treatment and germination time were evaluated by Principal Component Analysis (PCA). Heat‐resistant barley samples could be differentiated from heat‐sensitive samples already after ½ h of heat treatment at 68°C (12% moisture) and after 3 days of germination. The barley samples were analysed with regard to malting quality. The PCA evaluation of the data divided the samples according to growing location, mainly due to differences in protein and β‐glucan. However, the malting analyses could not describe the differences in heat resistance and sensitivity of the barleys. The biochemical background of the heat resistance found is discussed on the basis of literature. Our findings should give an experimental basis for exploiting a biochemical principle for heat resistance, which is formed during grain filling and consumed during storage and germination.     

Investigation of Scale Formation in Heat Exchangers of Phosphoric Acid Evaporator Plants

The primary problem in concentrating phosphoric acid is due to fouling on the tube‐side of the heat exchangers of the evaporator units. Scaling on the heat transfer surfaces occurs because of high supersaturation of phosphoric acid liquor with respect to calcium sulphate. A review of the existing literature reveals that no information is available on heat transfer and on crystallization fouling of industrial phosphoric acid solutions. In this investigation, the solubility of different calcium sulphate types in phosphoric acid solution was studied and its dependency on acid concentration and temperature was investigated. A large number of fouling experiments were carried out in a side‐stream of a phosphoric acid plant at different flow velocities, surface temperatures and concentrations to determine the mechanisms, which control the deposition process. After identifying the effects of operational parameters on the deposition process, a model was developed for prediction of fouling resistances. The reaction of calcium sulphate crystallization followed a second order rate with respect to the supersaturation. The activation energy evaluated for the surface reaction of the deposit formation was found to be 57 kJ/mol. The predicted fouling resistances were compared with the experimental data. Quantitative and qualitative agreement between measured and predicted fouling rates is good.     

Preparation and characterization of polyurethane microcapsules containing n‐octadecane with styrene‐maleic anhydride as a surfactant by interfacial polycondensation

A series of polyurethane microcapsules containing a phase change material (PCM) of n‐octadecane was successfully synthesized by an interfacial polymerization in aqueous styrene‐maleic anhydride (SMA) dispersion with diethylene triamine (DETA) as a chain extender reacting with toluene‐2,4‐diisocyanate (TDI). The average diameter of microPCMs is in the range of 5–10 μm under the stirring speed of 3000–4000 rpm. Optical and SEM morphologies of microPCMs had ensured that the shell was regularly fabricated with the influence of SMA. FTIR results confirmed that the shell material was polyurethane and the SMA chains associated on core material reacted with TDI forming a part of shell material. The shell thickness was decreasing in the range of 0.31–0.55 μm with the molar ratio of DETA/TDI from 0.84 to 1.35 and the weight of core material increasing from 40 to 80% (wt %). By controlling the weight ratio of PCM as 40, 50, 60, 70, and 80% in microPCMs, it was found using DSC that the T_m and T_c of microPCMs were in the range of 29.8–31.0^oC and 21.1–22.0°C and an obvious phase change had been achieved nearly the same temperature range of that of PCM. The results from release curves of microPCM samples prepared by 1.4, 1.7, and 2.0 g of SMA indicated the release properties were affected by the amount of the dispersant, which attributed to the emulsion effect and shell polymerization structure. The above results suggest that the shell structure of microPCMs can be controlled and the properties of microPCMs determined by shell will perform proper practical usage. © 2006 Wiley Periodicals, Inc. J Appl Polym Sci 102: 4996–5006, 2006     

Low-power high-slew-rate CMOS buffer amplifier for flat panel display drivers

A new high-slew-rate CMOS buffer amplifier consuming a very small quiescent current is proposed. This buffer amplifier recursively copies the output driving current and increases the tail current of the input differential pair during slewing. Since the proposed buffer has a possible slew rate higher than 10 V//spl mu/s for a load capacitance of 1 nF almost independently of static currents as low as 1 /spl mu/A, this buffer amplifier is promising for column driver ICs of flat panel displays that require low static power consumption, high current driving capabilities, and small silicon areas.     

Selective oxidation of alcohols using octahedral molecular sieves: influence of synthesis method and property–activity relations

Manganese oxides having a tunnel structure (OMS-2) have been utilized as selective catalysts for alcohol oxidation. In this study manganese oxide catalysts were synthesized in different media and modified by exchanging the tunnel cation by H⁺, using acid treatment or exchanging with NH₄⁺ followed by thermolysis. Various alcohol oxidations were performed using these catalysts to ascertain the influence of synthesis method on their activity. A correlation is made between lattice oxygen instability and activity of the catalysts, which indicates involvement of the lattice oxygen in the mechanism. The exchange of the tunnel cation with the smaller H⁺ ions leads to weakening of the Mn–O bond, as verified by temperature programmed desorption (TPD) results. Only the chemisorbed oxygen on the surface (O⁻) and the lattice oxygen in the layers close to the surface is involved in the oxygen transfer during the reaction.     

A One‐Kilobit PQR‐CMOS Smart Pixel Array

The photonic quantum ring (PQR) laser is a three dimensional whispering gallery (WG) mode laser and has anomalous quantum wire properties, such as microampere to nanoampere range threshold currents and √T‐dependent thermal red shifts. We observed uniform bottom emissions from a 1‐kb smart pixel chip of a 32×32 InGaAs PQR laser array flip‐chip bonded to a 0.35 µm CMOS‐based PQR laser driver. The PQR‐CMOS smart pixel array, now operating at 30 MHz, will be improved to the GHz frequency range through device and circuit optimization.