Improving traversability of quadruped walking robots using body movement in 3D rough terrains

This paper presents a study on improving the traversability of a quadruped walking robot in 3D rough terrains. The key idea is to exploit body movement of the robot. The position and orientation of the robot are systematically adjusted and the possibility of finding a valid foothold for the next swing is maximized, which makes the robot have more chances to overcome the rough terrains. In addition, a foothold search algorithm that provides the valid foothold while maintaining a high traversability of the robot, is investigated and a gait selection algorithm is developed to help the robot avoid deadlock situations. To explain the algorithms, new concepts such as reachable area, stable area, potential search direction, and complementary kinematic margin are introduced, and the effectiveness of the algorithms is validated via simulations and experiments.     

A dual K-Na selective Prussian blue nanotubes sensor

A strategy for dual sensing of Na⁺ and K⁺ ions using Prussian blue nanotubes via selective inter/deintercalation of K⁺ ion and competitive inhibition by Na⁺ ion, is reported. The analytical signal is derived from the cyclic voltammetry cathodic peak position E_pc of Prussian blue nanotubes. Na⁺ and K⁺ levels in a sample solution can be determined conveniently using one Prussian blue nanotubes sensor. In addition, this versatile method can be applied for the analysis of single type of either Na⁺ or K⁺ ions. The dual-ion sensor response towards Na⁺ and K⁺ can be described using a model based on the competitive inhibition effects of Na⁺ on K⁺ inter/deintercalation in Prussian blue nanotubes. Successful application of the Prussian blue nanotubes sensor for Na⁺ and K⁺ determination is demonstrated in artificial saliva.     

Integrated micro Pirani gauge based hermetical package monitoring for uncooled VO x bolometer FPAs

This paper presents the design and fabrication of a micro Pirani gauge using VO _x as the sensitive material for monitoring the pressure inside a hermetical package for micro bolometer focal plane arrays (FPAs). The designed Pirani gauge working in heat dissipating mode was intentionally fabricated using standard MEMS processing which is highly compatible with the FPAs fabrication. The functional layer of the micro Pirani gauge is a VO _x thin film designed as a 100 × 200 μm pixel, suspended 2 μm above the substrate. By modeling of rarefied gas heat conduction using the Extended Fourier’s law, finite element analysis is used to investigate the sensitivity of the pressure gauge. Also the thermal interactions between the micro Pirani gauge and bolometer FPAs are verified. From the fabricated prototype, the measured device TCR is about −0.8% K⁻¹ and the sensitivity about 1.84 × 10⁻³ W K⁻¹ mbar⁻¹.     

A cross-junction channel valveless-micropump with PZT actuation

A gas-jet micro pump with novel cross-junction channel has been designed and fabricated using a Si micromachining process. The valveless micro pump is composed of a piezoelectric lead zirconate titanate (PZT) diaphragm actuator and fluidic network. The design of the valveless pump focuses on a cross-junction formed by the neck of the pump chamber and one outlet and two opposite inlet channels. The structure of cross-junction allows differences in fluidic resistance and fluidic momentum inside the channels during each PZT diaphragm vibration cycle, which leads to the gas flow being rectified without valves. The flow channels were easily fabricated by using silicon etching process. To investigate the effects of the structure of the cross-junction on the gas flow rate, two types of pump with different cross-junction were studied. The design and simulation were done using ANSYS-Fluent software. The simulations and experimental data revealed that the step-nozzle structure is much more advantageous than the planar structure. A flow rate of 5.2 ml/min was obtained for the pump with step structure when the pump was driven at its resonant frequency of 7.9 kHz by a sinusoidal voltage of 50 V_p–p.     

SVM for English semantic classification in parallel environment

Semantic analysis is very important and very helpful for many researches and many applications for a long time. SVM is a famous algorithm which is used in the researches and applications in many different fields. In this study, we propose a new model using a SVM algorithm with Hadoop Map (M)/Reduce (R) for English document-level emotional classification in the Cloudera parallel network environment. Cloudera is also a distributed system. Our English testing data set has 25,000 English documents, including 12,500 English positive reviews and 12,500 English negative reviews. Our English training data set has 90,000 English sentences, including 45,000 English positive sentences and 45,000 English negative sentences. Our new model is tested on the English testing data set and we achieve 63.7% accuracy of sentiment classification on this English testing data set.     

A decision tree using ID3 algorithm for English semantic analysis

Natural language processing has been studied for many years, and it has been applied to many researches and commercial applications. A new model is proposed in this paper, and is used in the English document-level emotional classification. In this survey, we proposed a new model by using an ID3 algorithm of a decision tree to classify semantics (positive, negative, and neutral) for the English documents. The semantic classification of our model is based on many rules which are generated by applying the ID3 algorithm to 115,000 English sentences of our English training data set. We test our new model on the English testing data set including 25,000 English documents, and achieve 63.6% accuracy of sentiment classification results.     

BSPNN: boosted subspace probabilistic neural network for email security

In the modern age of Internet connectivity, advanced information systems have accumulated huge volumes of data. Such fast growing, tremendous amount of data, collected and stored in large databases has far exceeded our human ability to comprehend without proper tools. There has been a great deal of research conducted to explore the potential applications of Machine Learning technologies in Security Informatics. This article studies the Network Security Detection problems in which predictive models are constructed to detect network security breaches such as spamming. Due to overwhelming volume of data, complexity and dynamics of computer networks and evolving cyber threats, current security systems suffer limited performance with low detection accuracy and high number of false alarms. To address such performance issues, a novel Machine Learning algorithm, namely Boosted Subspace Probabilistic Neural Network (BSPNN), has been proposed which combines a Radial Basis Function Neural Network with an innovative diversity-based ensemble learning framework. Extensive empirical analyses suggested that BSPNN achieved high detection accuracy with relatively small computational complexity compared with other conventional detection methods.     

A spreadsheet approach to facilitate visualization of uncertainty in information

Information uncertainty is inherent in many problems and is often subtle and complicated to understand. Although visualization is a powerful means for exploring and understanding information, information uncertainty visualization is ad hoc and not widespread. This paper identifies two main barriers to the uptake of information uncertainty visualization: firstly, the difficulty of modeling and propagating the uncertainty information; and secondly, the difficulty of mapping uncertainty to visual elements. To overcome these barriers, we extend the spreadsheet paradigm to encapsulate uncertainty details within cells. This creates an inherent awareness of the uncertainty associated with each variable. The spreadsheet can hide the uncertainty details, enabling the user to think simply in terms of variables. Furthermore, the system can aid with automated propagation of uncertainty information, since it is intrinsically aware of the uncertainty. The system also enables mapping the encapsulated uncertainty to visual elements via the formula language and a visualization sheet. Support for such low-level visual mapping provides flexibility to explore new techniques for information uncertainty visualization.     

Efficient Multimedia Distribution in Source Constraint Networks

In recent years, the number of peer-to-peer (P2P) applications has increased significantly. One important problem in many P2P applications is how to efficiently disseminate data from a single source to multiple receivers on the Internet. A successful model used for analyzing this problem is a graph consisting of nodes and edges, with a capacity assigned to each edge. In some situations however, it is inconvenient to use this model. To that end, we propose to study the problem of efficient data dissemination in a source constraint network. A source constraint network is modeled as a graph in which, the capacity is associated with a node, rather than an edge. The contributions of this paper include (a) a quantitative data dissemination in any source constraint network, (b) a set of topologies suitable for data dissemination in P2P networks, and (c) an architecture and implementation of a P2P system based on the proposed optimal topologies. We will present the experimental results of our P2P system deployed on PlanetLab nodes demonstrating that our approach achieves near optimal throughput while providing scalability, low delay and bandwidth fairness among peers.     

Seamless handover supported by parallel polling and dynamic multicast group in connected WLAN micro-cells system

WLAN (Wireless Local Area Network) has been seen to be one of the promising access technologies that adapts to 4G cellular network systems in providing very high speed connection with QoS guarantee through the polling function. However, when the handover happens, the contention-based medium access mechanism which is mainly used in WLAN is invoked and introduces unbounded transmission delay due to idle time periods and retransmission because of collision during the handover. If this technique is expanded to use in a microcellular network such as connected WLAN micro-cells, contention-based mechanism, therefore, should not be used to handle the MT’s handover, especially for vehicular users who change access point every few seconds. To overcome these difficulties in handover, we introduce parallel polling scheme in dynamic LMC (Logical Macro Cell) which can reduce delays much and remove packet loss rate. LMC is a virtual single macro cell which is built on a multicast group of adjacent micro-cells. In the same LMC, polling signals are sent from every BS (base station) to give MT (mobile terminal) permission to access one of these BSs. Instead of wasting much time to contend for resources of a new BS during handover, the MT answers the polling as an acknowledgment to connect to that new BS. The polling response is controlled to multicast to all BSs of the same LMC via the core network to synchronize for the next polling cycle. LMC is controlled to dynamically change when the MT comes in a new BS to make polling signals be continuous in a new LMC. Through analytical and simulation results, we show that the parallel polling scheme can achieve no handover latency, no packet loss and maintain mobile users’ throughput stably in the high traffic load condition though it causes overhead on the neighboring cells in both of wired and wireless sections. At speeds of up to70 m/s, the MT can still maintain its stable connection. OMNeT++ simulator with INET project is used to evaluate our proposal.