Editing and Synthesizing Two‐Character Motions using a Coupled Inverted Pendulum Model

This study aims to develop a controller for use in the online simulation of two interacting characters. This controller is capable of generalizing two sets of interaction motions of the two characters based on the relationships between the characters. The controller can exhibit similar motions to a captured human motion while reacting in a natural way to the opponent character in real time. To achieve this, we propose a new type of physical model called a coupled inverted pendulum on carts that comprises two inverted pendulum on a cart models, one for each individual, which are coupled by a relationship model. The proposed framework is divided into two steps: motion analysis and motion synthesis. Motion analysis is an offline preprocessing step, which optimizes the control parameters to move the proposed model along a motion capture trajectory of two interacting humans. The optimization procedure generates a coupled pendulum trajectory which represents the relationship between two characters for each frame, and is used as a reference in the synthesis step. In the motion synthesis step, a new coupled pendulum trajectory is planned reflecting the effects of the physical interaction, and the captured reference motions are edited based on the planned trajectory produced by the coupled pendulum trajectory generator. To validate the proposed framework, we used a motion capture data set showing two people performing kickboxing. The proposed controller is able to generalize the behaviors of two humans to different situations such as different speeds and turning speeds in a realistic way in real time.     

Electrical properties of (Bi3.5La0.5)Ti3O12 thin-films prepared by liquid source misted chemical deposition

The ((Bi_3.5La_0.5)Ti₃O₁₂(BLT) thin-films used in this study were fabricated on a Pt(111)/SiO₂/Si(100) substrate by a Liquid Source Misted Chemical Deposition (LSMCD) technique. X-ray diffraction patterns showed that the BLT films were crystallized and no other phases were observed when annealed above 650 ‡C. Grain size and remnant polarizations increased with increase in the annealing temperature, while leakage current densities decreased. The remnant polarizations (Pr) increased from 2.0 to 4.8 and 19.0 μC/cm2 with increase in the annealing temperature from 650 to 700 and 750 ‡C, respectively. The BLT films annealed at 700 ‡C in O₂ showed a good fatigue resistance of reduced polarization by 10% after 10⁹ switching cycles when 9 V of bipolar voltage was applied at a frequency of 40 kHz.     

Monodisperse polymer/metal composite particles by electroless chemical deposition: Effect of surface functionality of polymer particles

Micron‐sized polymer particles were coated with layers of nickel compounds by plating electrolessly in the presence of aqueous solutions of nickel chloride, sodium hypophosphite, sodium citrate, and ammonium chloride at elevated temperature. The uniform functional polymer particle could be obtained by seeded polymerization. To investigate the effect of surface functionality on the conditions for nickel deposition, the polymer particle was functionalized with the thiol group. From morphological observation, it was found that the mode of nickel deposition was greatly dependent on the surface functionality of the polymer particle. © 2002 Wiley Periodicals, Inc. J Appl Polym Sci 87: 420–424, 2003     

Scalable and leaderless Byzantine consensus in cloud computing environments

Traditional Byzantine consensus in distributed systems requires n ≥ 3f + 1, where n is the number of nodes. In this paper, we present a scalable and leaderless Byzantine consensus implementation based on gossip, requiring only n ≥ 2f + 1 nodes. Unlike conventional distributed systems, the network topology of cloud computing systems is often not fully connected, but loosely coupled and layered. Hence, we revisit the Byzantine consensus problem in cloud computing environments, in which each node maintains some number of neighbors, called local view. The message complexity of our Byzantine consensus scheme is O(n), instead of O(n ²). Experimental results and correctness proof show that our Byzantine consensus scheme can solve the Byzantine consensus problem safely in a scalable way without a bottleneck and a leader in cloud computing environments.     

Defect detection using feature point matching for non-repetitive patterned images

Defect detection is an important technology for the quality control in the production process of wafer, TFT-LCD and PCB. Inspection is performed using the finished product’s image. The images are classified into two different groups—images with a repetitive pattern on a regular cycle and images without a repetitive pattern. A standard object for comparison is required, because manual defect detection is not possible for areas without repetitive patterns. In such areas, defect detection occurs through contrasting a reference pattern to the pattern being inspected. Methods of inspection using reference image have been researched but have limitations due to their requirement of precise alignment of the images. This paper proposes a method of defect detection to overcome such limitation using feature point matching. Feature points are extracted using a corner detector and detects defect by finding a correspondence between two feature point sets. Performance of the proposed method is evaluated by using Wafer SEM images and compared with conventional methods. Experiment results demonstrate the proposed method achieves higher detection accuracy than conventional methods and is less sensitive to alignment error and noise.     

Binary blends of nylons with ethylene vinyl alcohol copolymers: Morphological,thermal, rheological,and mechanical behavior

Binary blends of ethylene vinyl alcohol copolymers, containing 62 (EVOH-62) and 71 (EVOH-71) mole percent vinyl alcohols, with nylons (nylon-6, nylon-6/12, and nylon-12) have been prepared from melt mixing in a twin screw compounding machine. Morphological, thermal, rheological, and mechanical properties were determined. EVOH-62/nylon-6 and EVOH-71/nylon-6 blends showed homogeneous phase morphologies in the nylon-6-rich region, and fine phase separations (c.a. 2 × 10^?7 m) in the EVOH-rich region. Melting point depression, positive deviations in viscosity and flexural modulus, and negative deviation in impact strength from the simple additive rule were generally observed. And the results were possibly interpreted in terms of compatibility and increased nylon/EVOH interactions over the nylon/nylon interactions. On the contrary, clean phase separations in large domains were observed from EVOH-71/nylon-6/12 and EVOH-71 /nylon-12 blends. Fibrillation was also obtained from EVOH rich blends. Probably due to the incompatible nature of these blends, yield at low rate of shear and a mechanical property drop were also observed.     

Formation control of mobile robots with obstacle avoidance based on GOACM using onboard sensors

This paper deals with the problem of formation control for nonholonomic mobile robots under a cluttered environment. When the obstacles are not detected, the follower robot calculates its waypoint to track, based on the leader robot’s state. The proposed geometric obstacle avoidance control method (GOACM) guarantees that the robot avoids the static and dynamic obstacles using onboard sensors. Due to the difficulty for the robot to simultaneously get overall safe boundary of an obstacle in practice, a safe line, which is perpendicular to the obstacle surface, is used instead of the safe boundary. Since GOACM is executed to find a safe waypoint for the robot, GOACM can effectively cooperate with the formation control method. Moreover, the adaptive controllers guarantee that the trajectory and velocity tracking errors converge to zero with the consideration of the parametric uncertainties of both kinematic and dynamic models. Simulation and experiment results present that the robots effectively form and maintain formation avoiding the obstacles.     

The effects of Ni and Li doping on the performance of lithium manganese oxide material for lithium secondary batteries

Layered Li_0.7[M_1/6Mn_5/6]O₂ (M=Li, Ni) was synthesized using a sol-gel method. P2-Na_0.7[M_1/6Mn_5/6]O₂ precursor was first synthesized by a sol-gel method, and then O2-Li_0.7[M_1/6Mn_5/6]O₂ was prepared by an ion exchange of Li for Na in P2-Na_0.7[M_1/6Mn_5/6]O₂ precursor. From charge/discharge curves, it was seen that Li_0.7[Li_1/6Mn_5/6]O₂ has two plateaus similar to those observed from a spinel structure, but Li_0.7[Ni_1/6Mn_5/6]O₂ holds a single plateau as observed from a typical layered structure. It was considered that Li_0.7[Li_1/6Mn_5/6]O₂ undergoes a phase transformation from layered to spinel structure during the charge/discharge cycle, but Li_0.7[Ni_1/6Mn_5/6]O₂ maintains O2-layered structure after the cycles. Li_0.7[Ni_1/6Mn_5/6]O₂ was higher in discharge capacity and retention rate than Li_0.7[Li_1/6Mn_5/6]O₂.     

The removal of hydrogen sulfide with manganic sorbent in a high-temperature fluidized-bed reactor

The removal of hydrogen sulfide (H₂S) from simulated gas was carried out in a batch type fluidized-bed reactor using natural manganese ore (NMO), which consists of several metal oxides (MnO_x: 51.85%, FeO_y: 3.86%, CaO: 0.11%). The H₂S breakthrough curves were obtained by changing temperature, gas velocity, initial H₂S concentration, and aspect ratio. Moreover, the effects of the particle size and the particle-mixing fraction on H₂S removal were investigated in a binary system of different particle size. From this study, H₂S removal efficiency increased with increasing temperature but decreased with increasing excess gas velocity. The breakthrough time for H₂S decreased as the gas velocity increased, which leads to reducing gas-solid contacting due to gas bypassing in a fluidized bed reactor. Improvement of H₂S removal efficiency in continuous process can be expected from the results of the binary particle system with different size in a batch experiment. The NMO could be considered as a potential sorbent in H₂S removal.     

Temperature-dependent transparency of poly(HPMA-co-DMA) hydrogels: effect of synthesis parameters

The acrylic comonomers hydroxypropyl methacrylate (HPMA) and N,N-dimethylaminoethyl methacrylate (DMA) have been used in several earlier studies to produce pH-responsive hydrogels. However, these same monomers can also be used to prepare hydrogels that are highly responsive to temperature. One manifestation of this temperature sensitivity is a sharp decrease in hydrogel optical transparency that occurs when the temperature exceeds a critical transition value. For example, a hydrogel that exhibits a swelling transition at the physiological pH value of 7.4 has a transition temperature of about 45 °C when the environmental salt concentration is 0.15 M. The value of the transparency transition temperature is shown to depend on hydrogel synthesis parameters such as comonomer mole ratio, crosslinker mole ratio, and even initiator concentration. By reducing the mole ratio of the crosslinker tetraethylene glycol dimethacrylate (TEGDMA), the transition temperature can be lowered by as much as 15 °C. Environmental salt concentration and solvent polarity are also shown to influence the transition temperature.