Human motion database with a binary tree and node transition graphs

Database of human motion has been widely used for recognizing human motion and synthesizing humanoid motions. In this paper, we propose a data structure for storing and extracting human motion data and demonstrate that the database can be applied to the recognition and motion synthesis problems in robotics. We develop an efficient method for building a human motion database from a collection of continuous, multi-dimensional motion clips. The database consists of a binary tree representing the hierarchical clustering of the states observed in the motion clips, as well as node transition graphs representing the possible transitions among the nodes in the binary tree. Using databases constructed from real human motion data, we demonstrate that the proposed data structure can be used for human motion recognition, state estimation and prediction, and robot motion planning.     

An Interactive Design System of Free‐Formed Bamboo‐Copters

We present an interactive design system for designing free‐formed bamboo‐copters, where novices can easily design free‐formed, even asymmetric bamboo‐copters that successfully fly. The designed bamboo‐copters can be fabricated using digital fabrication equipment, such as a laser cutter. Our system provides two useful functions for facilitating this design activity. First, it visualizes a simulated flight trajectory of the current bamboo‐copter design, which is updated in real time during the user's editing. Second, it provides an optimization function that automatically tweaks the current bamboo‐copter design such that the spin quality—how stably it spins—and the flight quality—how high and long it flies—are enhanced. To enable these functions, we present non‐trivial extensions over existing techniques for designing free‐formed model airplanes [ UKSI14 ], including a wing discretization method tailored to free‐formed bamboo‐copters and an optimization scheme for achieving stable bamboo‐copters considering both spin and flight qualities.     

Buoyancy engine developed for underwater gliders

A buoyancy engine with a swashplate-type axial piston pump was developed. Its oil extrusion and drawing properties under high hydraulic pressure were evaluated. This buoyancy engine is now installed in an underwater glider that will achieve long-term monitoring of ocean environments up to 2100 m depth in a designated area with lower operational costs. This bidirectionally functioning pump can control the amount of oil in extrusion and draw operations. When drawing oil under high pressure, the hydraulic pump and the electric motor, respectively, act as a hydraulic motor and an electric generator. The generated electric power is absorbed by a damping resistor. The oil-drawing and extrusion properties were measured using a large hyperbaric chamber that is able to produce an almost identical environment to that of actual operations. Results confirmed stable oil extrusion operations up to 21 MPa. Regarding oil-drawing properties, although it was measured only up to 10 MPa in the hyperbaric chamber, it can be inferred that the system can draw the oil and can control the buoyancy precisely up to 21 MPa by replacing the two-way ball valve with an electromagnetic latching solenoid valve.     

A simple equivalent circuit for interdigital transducers based on the coupled-mode approach

The coupled-mode approach is a powerful tool for analyzing surface acoustic wave (SAW) periodic structures such as reflectors and interdigital transducers. The relations among the terminal quantities at two acoustical ports and one electrical port of an interdigital transducer (IDT) are derived from coupled-mode equations. A simple distributed-parameter equivalent circuit representing the entire IDT is proposed. A few examples of applications of this equivalent circuit to analysis of SAW devices are presented.     

The morphology of α′ martensite in a two-phase (α+γ) Fe-Cr-Ni stainless steel

Both lath-shaped and martensites are induced by tensile deformation within of a two-phase ( + ) Fe-Cr-Ni stainless steel, forms from the through the at an intersection of two crystals. These are observed both when is surrounded by and when borders . The amount of strain at which both and nucleate, increases with test temperatures in the range –196 to 50° C. Adjacent laths are either twin-related, or 5, 9, 15 or 19° off the twin relationship, as found by analysing electron diffraction patterns.     

Effects of hematocrit variations on cerebral blood flow and oxygen transport in ischemic cerebrovascular disease

The contribution of hematocrit (Ht) changes on cerebral blood flow (CBF) and brain oxygenation in ischemic cerebrovascular disease is still controversial. In the present study, effects of Ht variations of CBF and oxygen delivery were investigated in patients with ischemic cerebrovascular disease. CBF was measured by the Xe-133 intracarotid injection method in 27 patients, whose diagnoses included completed stroke, reversible ischemic neurological deficit, and transient ischemic attack. Ht values in the patients ranged from 31 to 53%. There was a significant inverse correlation between CBF and Ht in these Ht ranges. Oxygen delivery, i.e., the product of arterial oxygen content and CBF, increased with Ht elevation and reached the maximum level in the Ht range of 40-45% and then declined. The CBF-Ht and oxygen transport-Ht relations observed in our study were similar to those in the glass-tube model studies by other workers rather than to those in intact animal experiments. From these results, it is conceivable that in ischemic cerebrovascular disease, the vasomotor adjustment was impaired in such a manner that the relations among Ht, CBF, and oxygen delivery were different from those in healthy subjects. Further, an "optimal hematocrit" for brain oxygenation was also discussed.     

Size Distribution of Gold Nanoparticles Used by Small Angle X-ray Scattering

The size distribution of gold nanoparticles was estimated based on the scattering intensity data obtained from small angle X-ray scattering (SAXS) and compared with the result of micrographs by transmission electron microscopy. The slope of the Guinier plot was used to estimate the mean size assuming a narrow particle size distribution. When the size distribution is narrow, the mean size can be easily obtained from slope of a Guinier plot of scattering data within 10% error. Additionally, assuming a lognormal size distribution, the size distribution and the mean size can be calculated using the experimental SAXS data in the fitting analysis. The histogram method, which utilizes the coefficient matrix of scattering intensity, was also applied to the estimation of the size distribution, and this method could be useful for a rough estimate of the size distribution.     

Plasma etching of high-k and metal gate materials

Etching characteristics of high-k dielectric materials (HfO₂) and metal electrode materials (Pt, TaN) have been studied in high-density chlorine-containing plasmas at pressures around 10 mTorr. The etching of HfO₂ was performed in BCl₃ without rf biasing, giving an etch rate of about 5 nm/min with a high selectivity of >10 over Si and SiO₂. The etching of Pt and TaN was performed in Ar/O₂ with high rf biasing and in Ar/Cl₂ with low rf biasing, respectively, giving a Pt etch rate of about several tens nm/min and a TaN etch rate of about 200 nm/min with a high selectivity of >8 over HfO₂ and SiO₂. The etched profiles were outwardly tapered for Pt, owing to the redeposition of etch or sputter products on feature sidewalls, while the TaN profiles were almost anisotropic, probably owing to the ion-enhanced etching that occurred.     

Stiffness-Damping Simultaneous Identification under Limited Observation

A more reliable and stable method, compared to the previous one developed by the present writers, of stiffness-damping simultaneous identification of shear-type building structures is proposed using stationary random records under limited observation. It is shown that when stationary random horizontal accelerations are recorded at the floors just above and below a specific story in a shear building model, the story stiffness and the damping ratio can be identified uniquely. The viscous damping coefficient and the material damping ratio can also be identified simultaneously in a numerical model structure. It is also shown that unfavorable effects by extraneous noises, including measurement noises, due to wind excitation, building facilities, and the motion of the occupants can be eliminated partially by using the present method. The accuracy of the present identification method is investigated through the actual records under limited observation in a base-isolated building.     

An electrostatic microactuator using LIGA process for a magnetic head tracking system of hard disk drives

 We demonstrate an electrostatic micro actuator which is fabricated by LIGA process. The actuator is designed for a magnetic head tracking system of hard disk drives (HDDs). The actuator is essential to achieve very high track density of HDDs. We realize the aspect ratio of 125 by the LIGA process using a Si-Au mask. We propose to use PMMA molds both as the mechanical structure and as the insulator between electrodes. We believe there are great opportunity for the LIGA process in making micro actuators of HDDs. Received: 25 August 1997 / Accepted: 24 October 1997