Multi-contact vertical ladder climbing with an HRP-2 humanoid

We describe the research and the integration methods we developed to make the HRP-2 humanoid robot climb vertical industrial-norm ladders. We use our multi-contact planner and multi-objective closed-loop control formulated as a QP (quadratic program). First, a set of contacts to climb the ladder is planned off-line (automatically or by the user). These contacts are provided as an input for a finite state machine. The latter builds supplementary tasks that account for geometric uncertainties and specific grasps procedures to be added to the QP controller. The latter provides instant desired states in terms of joint accelerations and contact forces to be tracked by the embedded low-level motor controllers. Our trials revealed that hardware changes are necessary, and parts of software must be made more robust. Yet, we confirmed that HRP-2 has the kinematic and power capabilities to climb real industrial ladders, such as those found in nuclear power plants and large scale manufacturing factories (e.g. aircraft, shipyard) and construction sites.     

Shear Stress in Smooth Rectangular Open-Channel Flows

The average bed and sidewall shear stresses in smooth rectangular open-channel flows are determined after solving the continuity and momentum equations. The analysis shows that the shear stresses are function of three components: (1) gravitational; (2) secondary flows; and (3) interfacial shear stress. An analytical solution in terms of series expansion is obtained for the case of constant eddy viscosity without secondary currents. In comparison with laboratory measurements, it slightly overestimates the average bed shear stress measurements but underestimates the average sidewall shear stress by 17% when the width–depth ratio becomes large. A second approximation is formulated after introducing two empirical correction factors. The second approximation agrees very well (R2>0.99 and average relative error less than 6%) with experimental measurements over a wide range of width–depth ratios.     

Improving the availability and cost-effectiveness of guidelines for guideline-users: towards a structured approach

The achievement of design and development solutions can be enhanced through consulting appropriate guidelines Although a wide range exist, frequently their full benefits are not realized by guideline-users because of the costs associated with their use. Guideline-users are people who use guidelines to support purposeful activity. Major cost drivers for guideline-users are the processes of 'selecting' appropriate guidelines and their subsequent 'translation' to an applied setting both of which can be prohibitively expensive. A strategy for producing guidelines is proposed, to minimize these costs, which is illustrated by the use of a case study concerned with the development of guidelines to assist in the production of management and administrative tools which will support project managers concerned with Human Factors Acceptance Testing. A process to support the assessment of guidelines is also proposed.     

The Challenges of Cross-Modal Translation: English-to-Sign-Language Translation in the Zardoz System

The sign languages used by deaf communities around the world represent a linguistic challenge that natural-language researchers in AI have only recently begun to take up. This challenge is particularly relevant to research in Machine Translation (MT), as natural sign languages have evolved in deaf communities into efficient modes of gestural communication, which differ from English not only in modality but in grammatical structure, exploiting a higher dimensionality of spatial expression. In this paper we describe Zardoz, an on-going AI research system that tackles the cross-modal MT problem, translating English text into fluid sign language. The paper presents an architectural overview of Zardoz, describing its central blackboard organization, the nature of its interlingual representation, and the major components which interact through this blackboard both to analyze the verbal input and generate the corresponding gestural output in one of a number of sign variants.     

Physical Maltreatment Victim to Antisocial Child: Evidence of an Environmentally Mediated Process.

The well-documented finding that child physical maltreatment predicts later antisocial behavior has at least 2 explanations: (a) Physical maltreatment causes antisocial behavior, and (b) genetic factors transmitted from parents to children influence the likelihood that parents will be abusive and that children will engage in antisocial behavior. The authors tested these hypotheses in the representative Environmental-Risk cohort of 1,116 twin pairs and their families, who were assessed when the twins were 5 and 7 years old. Mothers reported on children's experience of physical maltreatment, and mothers and teachers reported on children's antisocial behavior. The findings support the hypothesis that physical maltreatment plays a causal role in the development of children's antisocial behavior and that preventing maltreatment can prevent its violent sequelae. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Environmental Fatigue and Static Behavior of RC Beams Strengthened with Carbon-Fiber-Reinforced Polymer

Many countries around the world have tremendous needs to repair and strengthen their transportation infrastructure. Almost everywhere, traffic loads have reached levels largely exceeding design expectations. Northern countries also experience severe winter conditions that are combined with an extensive use of deicing salts and accelerate structural deterioration. In Canada, the extent of deterioration has prompted many authorities, including the federal and provincial governments, to investigate the potential use of fiber-reinforced polymer products to extend the life of their existing structures. However, it is widely recognized that the large-scale implementation of these products is often impaired by the lack of data on their durability. This paper presents an experimental project undertaken in order to assess the durability of reinforced concrete beams externally strengthened with two types of carbon-fiber-reinforced polymer (CFRP). The beams were first exposed to either wet-dry cycles or continuous immersion in water and then were loaded in fatigue. Finally, they were tested quasi-statically under four-point bending up to failure. The test results presented here provide some insights on the potential long-term performance of CFRP-strengthened beams exposed to severe environmental conditions.     

Oxydation De L'alliage De Titane Ta6V4 Par L'oxygene Sec Entre 700°C Et 1000°C—I. Resultats Experimentaux

The oxidation kinetics of the titanium-base alloy Ti4V6Al was studied between 700 and 1000°C at several pressures of pure oxygen. The result shows a difference in oxidation behaviour between the Ti4V6A1 alloy and pure Ti at high temperatures. (The distinct kinetic law reported has numerous stages corresponding to successive accelerations and reductions in corrosion rate.) The study of the products formed (microscopic observation of cross-sections, examination of the distribution of elements with the microprobe) showed a stratified scale structure with several sublayers of A1₂O₃ parallel to the reaction front.     

OLED初具市场规模

We have all heard the hype about OLED displays and that they are going to offer great picture quality as well as energy efficiency in a very thin profile package. The issue at hand is whether they will be priced competitively in the market and overcome some of their shortcomings in the short term.