Trunk motion control during the flight phase while hopping considering angular momentum of a humanoid

In previous studies, various stabilizing control methods for humanoids during the stance phase while hopping and running were proposed. Although these methods contribute to stability while hopping and running, it is possibility that the control during the flight phase could also affect the stability. In this study, we investigated whether the control during the flight phase can affect the stability of a humanoid while running. To achieve stable hopping, we developed a control system that accounts for the angular momentum of the whole body during the flight phase. In this system, the angular momentum generated by the motion of the lower body in each time interval is calculated during the flight phase, and the trunk joints are controlled to generate the angular momentum necessary to compensate for the deviation of the waist posture, which is used as the reference point for the motion coordinate system of the robot. Once the proposed control system was developed and simulated, we found that the hopping duration in the unconstrained state was extended.     

A Microprocessor for Speech Recognition

A new single-chip microprocessor for speech recognition, the SRP, has been developed, utilizing a multiprocessor architecture and a pipelined structure. It can recognize up to 340 isolated words or 40 connected words in real time. The SRP contains a vector distance calculator, a DP-equation calculator, and an I/O controller operating in a pipelined manner. Algorithm variations and operation parameters are user programmable, and the total size of the SRP program for a typical speech recognition system is about 700 words. The device has been fabricated with n-channel Si-gate E/D MOS technology with 2.5 μm design rules and employs 7296 three-transistor dynamic RAM cells for a total of more than 40 000 transistors.     

Implicit and explicit prejudice and interracial interaction.

The present research examined how implicit racial associations and explicit racial attitudes of Whites relate to behaviors and impressions in interracial interactions. Specifically, the authors examined how response latency and self-report measures predicted bias and perceptions of bias in verbal and nonverbal behavior exhibited by Whites while they interacted with a Black partner. As predicted, Whites' self-reported racial attitudes significantly predicted bias in their verbal behavior to Black relative to White confederates. Furthermore, these explicit attitudes predicted how much friendlier Whites felt that they behaved toward White than Black partners. In contrast, the response latency measure significantly predicted Whites' nonverbal friendliness and the extent to which the confederates and observers perceived bias in the participants' friendliness. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Effect of cleaving environment on the growth of ZnSe on the GaAs (1 1 0) surface by molecular beam epitaxy

Abstracts are not published in this journal This revised version was published online in November 2006 with corrections to the Cover Date.     

Roles of a neuronal cell-surface molecule, neuropilin, in nerve fiber fasciculation and guidance

PURPOSE: To determine whether infiltrative lung, airway, or vascular disease can be differentiated as the cause of mosaic attenuation on thin-section computed tomographic (CT) scans of the lung. MATERIALS AND METHODS: Thin-section CT scans were reviewed in 70 patients examined at three institutions. A mosaic attenuation pattern and pathologic or clinical proof of a specific type of disease were demonstrated. Causes of the mosaic pattern included infiltrative lung disease (n = 37), airway disease (n = 22), and vascular disease (n = 11). Thin-section CT findings were assessed independently by two observers blinded to clinical findings. RESULTS: The type of disease was identified correctly at CT in 58 (83%) of 70 patients by observer 1 and 57 (81%) of 70 patients by observer 2. Infiltrative lung disease was diagnosed correctly by both observers in 34 (92%) of 37 cases. Observer 1 identified 21 (95%) of 22 cases of airway disease and three (27%) of 11 cases of vascular disease. Observer 2 identified 19 (86%) of 22 cases of airway disease and four (36%) of 11 cases of vascular disease. CONCLUSION: Infiltrative lung disease and airway disease may be differentiated reliably as the cause of mosaic attenuation on lung CT scans, whereas vascular disease is often misinterpreted as infiltrative lung disease or airway disease.     

On the "Excess spontaneous emission factor" in gain-guided laser amplifiers

Petennann [1] computed an "excess spontaneous emission factor" for gain-guided laser. In this paper, we investigate further the role of this factor. Such a factor also appears in the treatment of thermodynamic equilibrium in an attenuating medium-a seeming paradox. Further investigation shows that the excess spontaneous emission excitation at thermal equilibrium is cancelled by the excitations in the other modes which are correlated with that in the fundamental mode. In a medium with gain, cancellation also occurs in a short amplifier in which there is no gain discrimination among modes. The "excess spontaneous emission factor" is fully present only in a system in which the different higher order modes have an appreciably smaller gain than the lowest order mode, a high gain amplifier. An analysis of the signal-to-noise ratio of a high gain amplifier reveals that the excess noise factor can be fully compensated by proper input excitation by a lens arrangement. The lens arrangement provides the signal with an "excess gain" factor. An "excess gain" factor is also present when a thermal source is used.     

Capacitor discharge percussion welding of pure aluminum wire to pure copper sheet

This paper presents the results of a research into capacitor discharge percussion welding (CDPW) of pure aluminum wires and pure copper sheets, using percussion welding power and special welding device. A lot of CDPW factors, which will affect aluminum and copper dissimilar bonding, are described and these parameters have also been optimized. The fracture pull, inter'ace compounds, microstructure and hardness are all studied. The results show that aluminum wire welding to copper sheet can form a sound weld and in some conditions the fracture pull is similar to that of the pure aluminum wires. The capacitance, discharge voltage, wire taper angle and machine oil as welding assistant medium affect fracture pull. The intermetallic compounds Al2 Cu appears on the copper side of joint. Narrower heat-affected zone is observed.     

Magnetically Ordered State of Cold Fermions on a Decorated Square Lattice

We study two-component ultracold fermions with repulsive interactions, which are loaded into a decorated square lattice. By combining the real-space dynamical mean-field theory with the numerical renormalization group method, we discuss magnetic properties in the system. It is clarified how the ferromagnetically ordered ground state, which is stabilized by a flat band mechanism, is adiabatically connected to the ferrimagnetically ordered state expected in the strong coupling limit.