Balanced gait generations of a two-legged robot on sloping surface

In this paper, dynamically balanced gait generation problem of a 7-DOF two-legged robot moving up and down through the sloping surface is presented. The gait of the lower links during locomotion is obtained after assuming suitable trajectories for the swing leg and hip joint. The trunk motion is initially generated based on the concept of static balance, which is different from the well-known semi-inverse method and then checked for its dynamic balance calculated using the concept of Zero-Moment Point (ZMP). Lagrange–Euler formulation is attempted for the determination of joint torques. Average power consumption at each joint is then determined based on the computed torques. Moreover, the variations of dynamic balance margin and average power consumption are studied for both ascending and descending through the sloping surface. Both of them are found to be more for the ascending gait generation compared to those for the descending case. The effects of variations of the slope have also been studied on the average dynamic balance margin and power consumption for both the cases.     

Phenotypic and genotypic characterisation of Lactobacilli isolated from camel cheese produced in India

Thirty‐two Lactobacilli strains were isolated from four samples of camel cheese collected from Bikaner, India. These isolates were identified based on phenotypic and genotypic characteristics. Sequencing of 16S rDNA was performed for species identification and diversity analysis. Lactobacillus delbrueckii and Lb. fermentum were found to be dominant species followed by Lb. plantarum and Lb. casei. On evaluation of technological properties of these isolates, 20 isolates were observed to be good acid producers, eight were found positive for citrate utilisation and 11 showed presence of Prtp gene. Isolates obtained can be potential for development of defined strain starter for camel cheese.     

Inclusion of minority charge carriers in the solution of Poisson's equation for a metal semiconductor contact in thermal equilibrium†

A theory of the space-charge capacitance of a metal-semiconductor contact has been developed by solving the Poisson equation for the space-charge region under zero current condition. The space charge is assumed to consist not only of ionized donors and acceptors but also of electrons and holes. An explicit expression for the space-charge capacitance under those general conditions is given. In an appendix a procedure is outlined whereby the theory could be developed for the case of Fermi statistics with partially ionized donors.     

A method for unbalanced transportation problems in fuzzy environment

In this paper, we consider the fully fuzzy unbalanced transportation problem in which the total availability/production is more than the total demand and propose a method to solve it. Such problems are usually solved by adding a dummy destination. Since the dummy destination has no existence in reality, the excess availability is not transported at all and is held back at one or more origins. The method proposed in this paper gives the additional information that to which of the destination(s) the excess availability be transported for future demand at minimum cost. The advantage of the proposed method over the existing method is that the fuzzy optimal solution obtained does not involve the dummy destination. The method has been illustrated with the help of an example.     

ENHANCEMENT OF THE SEDIMENTATION RATES OF FIBROUS SUSPENSIONS

The settling of suspensions of slender rod-like particles with large aspect ratios was studied. The novel technique of enhancement of sedimentation rates by the addition of buoyant particle promoters was applied to such suspensions. The settling rates could be increased by many times by this simple technique. Sedimentation velocity increases of between 5 to 7 times have been observed for fibrous suspensions of concentrations of about 0.5%. A statistical analysis of the experimental data was performed to establish a correlation for the enhancement in settling velocities. The sediment volume was unaffected by the presence of buoyant particles. The buoyant parjticles were found to adsorb some surfactants onto their surfaces.     

BUBBLE TEMPERATURE MEASUREMENTS ON THE BINARY MIXTURES OF 1,4-DIMETHYLBENZENE WITH ISO -, SEC -, AND TERT - BUTANOLS AT 95 kPa

Bubble temperatures at 95 kPa over the entire composition range were measured for the three binary systems formed by 1,4-dimethylbenzene with iso-, sec-, and tert- butanols. A Swietoslawski-type ebulliometer was used for the measurements. The composition versus temperature measurements are well represented by the Wilson model.     

ANALYSIS OF LAMINATE METAL MATRIX COMPOSITES

This article describes an integrated micro/ macro mechanical study of the thermo-elastic-uiscoplastic behavior of unidirectional metal matrix composites. The microme-chanical analysis of the elastic moduli are based on the representative unit cell approach with comparisons also drawn with the composite cylinder assemblage model. These “ homogenization ” results are later incorporated into the vanishing fiber diameter model develop the macroscopic stress-strain relations. The finite element method is employed for the analysis in conjunction with the Bodner and Partom thermoviscoplas-tic constitutive model for the associated macroscopic analysis and a “ smeared” element approach. Comparisons are made against experimental and analytical results available in the literature whenever feasible.     

EFFECT OF PAPAYA PULP ADDITION ON THE GROWTH OF LACTOBACILLUS ACIDOPHILUS

Effect of papaya pulp addition to skim milk on the growth characteristics of five strains of Lactobacillus acidophilus was investigated. All the strains tested exhibited higher viable counts, shorter generation time, increased acid production, greater sugar utilization and fall in pH upon addition of papaya pulp. The generation time, acid production, sugar utilization and pH values at the end of 18 h fermentation of skim milk by different strains were 150–200 min, 0.29–1.73%, 0.39–2.22 g/100 mL and 3.85–6.10, respectively. The corresponding values for 10% papaya pulp added skim milk blend were 120–143 min, 0.51–1.84%, 0.70–2.79 g/100 mL and 3.70–5.10, respectively. Organoleptic evaluation revealed that papaya pulp addition imparted firmness to the coagulum and thus enhanced the acceptability of the product by eliminating the problem of wheying-off and improved flavor.