Improving traversability of quadruped walking robots using body movement in 3D rough terrains

This paper presents a study on improving the traversability of a quadruped walking robot in 3D rough terrains. The key idea is to exploit body movement of the robot. The position and orientation of the robot are systematically adjusted and the possibility of finding a valid foothold for the next swing is maximized, which makes the robot have more chances to overcome the rough terrains. In addition, a foothold search algorithm that provides the valid foothold while maintaining a high traversability of the robot, is investigated and a gait selection algorithm is developed to help the robot avoid deadlock situations. To explain the algorithms, new concepts such as reachable area, stable area, potential search direction, and complementary kinematic margin are introduced, and the effectiveness of the algorithms is validated via simulations and experiments.     

The election problem in asynchronous distributed systems with bounded faulty processes

Determining the “weakest” failure detectors is a central topic in solving many agreement problems such as Consensus, Non-Blocking Atomic Commit and Election in asynchronous distributed systems. So far, this has been studied extensively for several such fundamental problems. It is stated that Perfect Failure Detector P is the weakest failure detector to solve the Election problem with any number of faulty processes. In this paper, we introduce Modal failure detector M and show that to solve Election, M is the weakest failure detector to solve election when the number of faulty processes is less than ⌈n/2⌉. We also show that it is strictly weaker than P.

Biofouling control by quorum sensing inhibition and its dependence on membrane surface

Biofouling control by quorum sensing (QS) inhibition and the influence of membrane surface characteristics on biofilm formation and QS inhibition were investigated. Pseudomonas putida isolated from the bio-fouled reverse osmosis (RO) membranes in a real plant was used. Acylase was chosen as a model QS inhibitor. Bacteria on the membrane coupons were quantified with the heterotrophic plate count method. Cell distribution was imaged by a confocal laser scanning microscope. Results showed that biofilm formation on the membrane was reduced by acylase as it inhibits the activity of N-acylhomoserine lactone (AHL) which is a signal molecule of QS. It was also shown that membrane surface characteristics were influential factors affecting bacterial adhesion, biofilm formation, and QS inhibition.     

Heuristics for determining a patrol path of an unmanned combat vehicle

We consider a problem of finding a path of an unmanned combat vehicle that patrols a given area by visiting a given set of checkpoints with the objective of minimizing possibility of enemy’s infiltration. In this study, we focus on a situation in which the possibility of enemy’s infiltration at (through) each checkpoint is increased nonlinearly as time passes and the checkpoint may be patrolled multiple times during a planning horizon. We develop two-phase heuristics in which an initial path is constructed in the first phase and then it is improved in the second phase. For evaluation of the performance of the proposed heuristics, computational experiments are performed on randomly generated problem instances, and results show that the heuristics give good solutions in a reasonably short time.     

Proactive Human Search for the Designated Person with Prior Context Information in an Undiscovered Environments

This paper describes a scheme for proactive human search for a designated person in an undiscovered indoor environment without human operation or intervention. In designing and developing human identification with prior information a new approach that is robust to illumination and distance variations in the indoor environment is proposed. In addition, a substantial exploration method with an octree structure, suitable for path planning in an office configuration, is employed. All these functionalities are integrated in a message- and component-based architecture for the efficient integration and control of the system. This approach is demonstrated by succeeding human search in the challenging robot mission of the 2009 Robot Grand Challenge Contest.     

Analysis of the unloading performance considering dimple–flexure behavior in HDD

Currently, almost all hard disk drives (HDDs) have adopted a loading/unloading mechanism that increases their recording capacity and improves their reliability. However, these mechanisms still create a few scratches or defects in the loading/unloading zone. Slipping at the dimple–flexure interface was recently reported as one of the causes. In this research, we first analyzed the relative behavior of dimple–flexure based on fretting wear marks. We determined that the dimple–flexure behavior included both slipping and rotating motion simultaneously. We then verified the distinct slipping and rolling phenomenon at the moment of ramp contact using finite-element method (FEM) analysis. An experimental setup was constructed, and an unloading experiment was carried out to obtain the ramp contact characteristics corresponding to various unloading velocities. Based on the verified FEM, the characteristics of dimple–flexure relative behavior were investigated for various suspension design parameters, ramp contact characteristics, and unloading velocities. A higher ramp contact force and shorter contact duration resulted in larger slip displacements and roll angles between the dimple and the flexure. Finally, we analyzed the unloading performance of an HDD for various design parameters using quasi-static approximation while considering the relative behavior between the dimple and flexure. The quasi-static analysis indicated a change of approximately 15?% in the flying height at an unloading velocity of 40?in. per second when the relative motion between the dimple and flexure was considered during the unloading process. Even, slider–disk contact occurred at an unloading velocity of 50 ISP.     

In-plane directional mechanical properties of carbon fabric skins in sandwich structures after thermoforming

In this paper, a representative unit volume finite element (RUV FE) model was employed to simulate thermoforming process of carbon fabric-polymeric foam sandwich structures. Thermoforming simulations, which capture crimp angles and amplitude changes of carbon fabric with respect to different operational pressure, were conducted with the help of RUV FE model. Micro-deformation of tow structures after thermoforming was rigorously reflected in the second stage FE model to determine the in-plane directional stiffness of skin parts. Tensile tests were carried out to investigate mechanical properties of skin parts in sandwich structures for the potential usage of automotives, electronic housings or the satellite structure design.     

Improvement in the volume efficiency of multilayered ceramic capacitors (MLCCs)

An attempt was made to improve the conventional lamination process in the multilayered ceramic capacitors (MLCCs) fabrication by adapting a solvent treatment on the BaTiO₃ green sheets. During the lamination process, additional particle rearrangement in the BaTiO₃ green block was stimulated by solvent treatment. This rearrangement resulted in a more compact structure of the BaTiO₃ green sheets compared to that obtained through the conventional lamination process. The overall thickness of BaTiO₃/Ni/BaTiO₃ laminates was also reduced after solvent treatment. It is suggested that miniaturization in the fabrication of MLCCs can be improved by adapting a solvent treatment during the lamination process.     

A novel frequency-offset monitoring technique for direct-detection DPSK systems

We propose and demonstrate a novel technique to monitor the frequency offset between the optical source and delay interferometer (DI) for direct-detection differential phase-shift-keying (DPSK) systems. In this scheme, a phase-modulated tone is applied to DPSK signals at the transmitter and then detected after being converted into an amplitude-modulated tone at the DI to be used for the monitoring signal. Our experimental demonstration shows that the monitoring range and sensitivity of the proposed scheme are measured to be /spl plusmn/2 GHz and /spl sim/10 MHz, respectively, which we believe are good enough to be used either to generate alarm signals for the frequency offset monitoring or to control the feedback loop of the DI.