A biped static balance control and torque pattern learning under unknown periodic external forces

This paper addresses a biped balancing task in which an unknown external force is exerted, using the so-called ‘ankle strategy’ model. When an external force is periodic, a human adaptively maintains the balance, next learns how much force should be produced at the ankle joint from its repeatability, and finally memorized it as a motion pattern. To acquire motion patterns with balancing, we propose a control and learning method: as the control method, we adopt ground reaction force feedback to cope with an uncertain external force, while, as the learning method, we introduce a motion pattern generator that memorizes the torque pattern of the ankle joint by use of Fourier series expansion. In this learning process, the period estimation of the external force is crucial; this estimation is achieved based on local autocorrelation of joint trajectories. Computer simulations and robot experiments show effective control and learning results with respect to unknown periodic external forces.     

A 950-MHz rectifier circuit for sensor network tags with 10-m distance

This paper presents a 950-MHz wireless power transmission system and a high-sensitivity rectifier circuit for ubiquitous sensor network tags. The wireless power transmission offers a battery-life-free sensor tag by recharging the output power of a base station into a secondary battery implemented with the tag. For realizing the system, a high-sensitivity rectifier with dynamic gate-drain biasing has been developed in a 0.3-/spl mu/m CMOS process. The measurement results show that the proposed rectifier can recharge a 1.2-V secondary battery over -14-dBm input RF power at a power conversion efficiency of 1.2%. In the proposed wireless system, this sensitivity corresponds to 10-m distance communication at 4-W output power from a base station.     

Pressure wave propagation in air-water bubbly and slug flow

Related to nuclear reactor safety problems, such as the loss of coolant accident caused by some small crevasses in nuclear reactor, choked flows after postulated breaks of hot and cold legs of pressurized water reactors and the boiling flow instability in parallel channels, the characteristics of pressure wave propagation were investigated experimentally for the air-water bubbly and slug two-phase flow in a vertical pipe. Pressure wave was generated from the small pressure disturbance by the up-and-down movement of piston in the test section. Air void fraction was up to 0.7 and superficial liquid velocity was up to 1.5 m/s as experimental conditions. The experimental results show that the pressure wave propagation velocity in bubbly flow decreases acutely with the increase of air void fraction from 0 to 0.05. In slug flow, it is constant when the air void fraction is less than 0.5 but increases gradually when the void fraction increases beyond 0.5. The attenuation coefficient of pressure wave increases with the increase of air void fraction in bubbly flow. The dependency of pressure wave propagation velocity on angle frequency ω in air-water flow shows the dispersion characteristic. The propagation velocity and attenuation coefficient increases gradually with the increase of angle frequency. However, the increase vanishes slowly as the angle frequency reaches 250 Hz in bubbly flow. The propagation of pressure wave in bubbly flow is independent of the superficial velocity of fluids in the range of experiment.     

三水铝石的粉碎机械力化学效就与热特性

使用振动球磨机将三水铝石粉体进行干式微粉碎.粉碎实验条件为介质球/试样(质量比)=8.5.研究调查了不同粉碎时间处理粉碎试样的机械力化学效应(平均粒径、结晶无定形和加热特性).结果表明,长时间粉碎,达到粉碎平衡,平均粒径趋于极限值.粉碎过程中未脱水.由于粉碎,加热脱水温度、结晶相变温度降低.     

Martensitic stabilization and defects induced by deformation in TiNi shape memory alloys

Martensitic stabilization caused by deformation in a TiNi shape memory alloy was studied.Special attention was paid to the deformed microstructures to identify the cause of martensitic stabilization.Martensitic stabilization was demonstrated by differential scanning calorimetry for the tensioned TiNi shape memory alloy.Transmission electron microscopy revealed that antiphase boundaries were formed because of the fourfold dissociation of[110]B19'super lattice dislocations and were preserved after reverse transformation due to the lattice correspondence.Martensitic stabilization was attributed to dislocations induced by deformation,which reduced the ordering degree of the microstructure,spoiled the reverse path from martensite to parent phase compared with thermoelastic transformation,and imposed resistance on phase transformation through the stress field.     

Uniformity of gallium doped zinc oxide thin film prepared by pulsed laser deposition

Recently, transparent conducting oxide thin films have attracted attention for the application to transparent conducting electrodes. In this work, we evaluated the uniformity of electrical, optical and structural properties for gallium doped zinc oxide thin films prepared on the 10 × 10 cm² silica glass substrate by pulsed laser deposition. The resistivity, carrier concentration, mobility, bonding state and atomic composition of the film were uniform along in-plane and depth direction over the 10 × 10 cm² area of the substrate. The film showed the average transmittance of 81-87%, resistivity of 1.4 × 10^− 3 Ω cm, carrier concentration of 9.7 × 10²⁰/cm³ and mobility of 5 cm²/Vs in spite of the amorphous X-ray diffraction pattern. The gradual thickness distribution was found, however, the potential for large-area and low temperature deposition of transparent conducting oxide thin film using pulsed laser deposition method was confirmed.     

Microstructure and mechanical properties of hot extruded Mg–Al–Mn–Ca alloy produced by rapid solidification powder metallurgy

The microstructure and mechanical properties of hot extruded Mg–Al–Mn–Ca alloy was investigated. Both rapid solidified powders and cast billets were extruded at 573, 623 and 673 K to optimize the processing conditions for obtaining better mechanical response. Powder was consolidated to prepare the extrusion billets using both cold compaction and Spark Plasma Sintering at 473 K. The tensile properties of the extruded alloy were then evaluated and correlated to the observed microstructure. The results show that the use of rapid solidified powder could lead to effective grain refinement, which in turn resulted in the improved mechanical response, especially compared to the extruded conventional cast material.     

The formation of graphene–titania hybrid films and their resistance change under ultraviolet irradiation

We report the fabrication of hybrid films of graphene and monolayer titania using a simple electrostatic self-assembly method. Ultraviolet (UV) responses of the hybrid films based on the graphene–titania structure were investigated. We observed that the resistance of the graphene–titania hybrid increased exponentially with UV irradiation time and decreased exponentially when UV was turned off. Time constants of the order of hundreds of seconds were identified and found to be sensitive to the gas environment of graphene. The UV response as well as the time constant is tunable by varying the number of titania layers. Our results confirmed that UV irradiation played a significant role in the resistance modulation of graphene as well as graphene–titania hybrid films.