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.     

Physiological and psychophysical responses in handling maximum acceptable weights under different footwear--floor friction conditions

A study on combined manual materials-handling tasks performed on floors under three friction levels was conducted. Eight male subjects participated in the study. The maximum acceptable weight of handling, including lifting, carrying for 3m, lowering, and walking 3m back at twice per minute was determined. The subject then performed the same tasks for 10 min. Heart rate, Vo2, energy efficiency, perceived sense of slip, and rating of perceived exertion for whole body strain were measured. The results showed that the effects of friction level on the maximum acceptable weights of handling, perceived sense of slip, Vo2, and energy efficiency were statistically significant (p相似文献   

The election problem in asynchronous distributed systems with bounded faulty processes

Determining the “weakest” failure detectors is a central topic in solving many agreement problems such as Consensus, Non-Blocking Atomic Commit and Election in asynchronous distributed systems. So far, this has been studied extensively for several such fundamental problems. It is stated that Perfect Failure Detector P is the weakest failure detector to solve the Election problem with any number of faulty processes. In this paper, we introduce Modal failure detector M and show that to solve Election, M is the weakest failure detector to solve election when the number of faulty processes is less than ⌈n/2⌉. We also show that it is strictly weaker than P.

WWW上路径模式发掘的研究

本文从互连网发展的趋势入手,对路径模式发掘进行了研究。先简要介绍数据库发掘的概况及网上数据发掘的特点,后结合关联法和组合概率法,并以算法和实例详细对之进行分析。     

纳米SiO2材料的应用

本文根据纳米的奇异特性,简要综述纳米ＳｉＯ２在各个领域中的应用。     

Biofouling control by quorum sensing inhibition and its dependence on membrane surface

Biofouling control by quorum sensing (QS) inhibition and the influence of membrane surface characteristics on biofilm formation and QS inhibition were investigated. Pseudomonas putida isolated from the bio-fouled reverse osmosis (RO) membranes in a real plant was used. Acylase was chosen as a model QS inhibitor. Bacteria on the membrane coupons were quantified with the heterotrophic plate count method. Cell distribution was imaged by a confocal laser scanning microscope. Results showed that biofilm formation on the membrane was reduced by acylase as it inhibits the activity of N-acylhomoserine lactone (AHL) which is a signal molecule of QS. It was also shown that membrane surface characteristics were influential factors affecting bacterial adhesion, biofilm formation, and QS inhibition.     

移动台车栏板辅助浇筑系统的设计与应用

蒲石河工程下水库大坝顶部混凝土护栏位于坝顶临空边沿,钢筋绑扎和模板支立作业难度大,施工时存在安全隐患。为此,蒲石河工程设计了移动台车栏板辅助浇筑系统并成功应用。实践表明,作业台车设计可靠、安全稳定、操作简便、定位准确、移动方便,保障了施工人员人身安全,节约了成本,加快了工期,提高了模板支立质量,值得类似工程借鉴并推广使用。     

Producing persistent, high-current, high-duty-factor H- beams for routine 1 MW operation of Spallation Neutron Source (invited)

Since 2009, the Spallation Neutron Source (SNS) has been producing neutrons with ion beam powers near 1 MW, which requires the extraction of ～50 mA H(-) ions from the ion source with a ～5% duty factor. The 50 mA are achieved after an initial dose of ～3 mg of Cs and heating the Cs collar to ～170 °C. The 50 mA normally persist for the entire 4-week source service cycles. Fundamental processes are reviewed to elucidate the persistence of the SNS H(-) beams without a steady feed of Cs and why the Cs collar temperature may have to be kept near 170 °C.