Dynamics modeling and analysis of a biped walking robot actuated by a closed-chain mechanism

We developed a new type of human-sized biped walking robot (BWR) driven by the closed-chain type of joint actuator. Each leg of the robot is composed of three pitch joints and one roll joint. In all, a 15 degree-of-freedom robot including four arm joints and three joints for the head was developed. The BWR was developed to walk autonomously such that all leg joints are actuated by small 90 W dc motors/drivers and dc batteries and controllers which are boarded. The joint actuator for the BWR is composed of the four-bar-link mechanism driven by the ball screw which has high strength and high gear ratio. A dynamics modeling of the developed BWR for forward walking is presented in which the revolute joint dynamics are transformed into the prismatic joint dynamics of the ball screw. Also, an analysis on the four-bar-link mechanism applied to the joint actuator and on the structure of the BWR is shown. The design specification of the actuating motor for the BWR is analyzed through the torque analysis of the four-bar-link actuator. Through walking experiments of the BWR, the walking performance and trajectory tracking ability is shown. © 2004 Wiley Periodicals, Inc.     

Low temperature and strain rate dependence of fracture stress and fracture toughness on thin Fe40Ni40B20 amorphous ribbon

The fracture stress and the critical stress intensity factor of the Fe₄₀Ni₄₀B₂₀ amorphous metallic ribbons 20 μm thick were measured in the temperature range 4.2–300 K and at deformation rates from 3.3×10⁻⁶ to 1.25×10⁻³ m⁻¹ with the aim to obtain more information on the condition for the onset and development of the inhomogeneous plastic deformation and fracture.     

A self-resonant frequency-modulated micromachined passive pressure transensor

In this paper, we report on the design, fabrication, and test of a passive pressure transensor. The sensor uses the self-resonant frequency modulation of an integrated coil to detect the pressure variations. This modulation is generated by the relative displacement of a ferrite core attached to a silicone rubber membrane. This scheme simplifies the packaging of the passive transensor by removing the requirement for a separate capacitor to form the resonator. A 30-turn 1.7-/spl mu/H coil having dimensions of 3/spl times/3 mm/sup 2/ is used in a prototype design yielding a sensitivity of 9.6 kHz/kPa with a cylindrical ferrite core of 0.95-mm diameter and 0.5-mm height. We also present a theoretical model of the sensor that shows good agreement with the experimental data. This model can be a useful tool for further optimization of the senors.     

Data retention characteristics of sub-100 nm NAND flash memory cells

In contrast to the conventional theories, we have revealed that the most distinguished mechanism in the data retention phenomenon after Fowler-Nordheim (FN) stress in sub-100 nm NAND Flash memory cells is the annihilation of interface states. Interface state generation rate increases rapidly as the channel width of NAND flash cell decreases. Comparison of interface states and stress-induced leakage current (SILC) component during retention mode shows that the annihilation of interface states strongly affects data retention characteristics of the programmed cells.     

Adaptive contour smoothing based on inter-region contrast

An adaptive contour smoothing algorithm designed as a preprocessor for shape coders is presented. In the method, the degree of the adaptive smoothing is controlled based on the significance of each contour point, which is quantified according to inter-region contrast in an intensity image. The actual smoothing consists of an expansion operator and a thinning algorithm.     

建(构)筑物机械拆除方法综述

介绍了几种常用的建(构)筑物机械拆除方法,对其工作原理、特点、应用条件及局限性加以分析和说明。     

Vibration control of a flexible structure using a hybrid mount

This paper presents vibration control of a flexible beam structure using a hybrid mount which consists of elastic rubber and piezoelectric stack actuator. After identifying stiffness and damping properties of the rubber and piezoelectric elements, a mechanical model of the hybrid mount is established. The mount model is then incorporated with the beam structure, and the governing equation of motion is obtained in a state space. A sliding mode controller is designed in order to actively attenuate the vibration of the beam structure subjected to high-frequency and small magnitude excitations. The controller is experimentally realized and measured control responses such as acceleration of the beam structure and force transmission through the hybrid mount are evaluated and presented in both frequency and time domains.     

A practical SPICE model based on the physics and characteristics of realistic single-electron transistors

A practical model for a single-electron transistor (SET) was developed based on the physical phenomena in realistic Si SETs, and implemented into a conventional circuit simulator. In the proposed model, the SET current calculated by the analytic model is combined with the parasitic MOSFET characteristics, which have been observed in many recently reported SETs formed on Si nanostructures. The SPICE simulation results were compared with the measured characteristics of the Si SETs. In terms of the bias, temperature, and size dependence of the realistic SET characteristics, an extensive comparison leads to good agreement within a reasonable level of accuracy. This result is noticeable in that a single set of model parameters was used, while considering divergent physical phenomena such as the parasitic MOSFET, the Coulomb oscillation phase shift, and the tunneling resistance modulated by the gate bias. When compared to the measured data, the accuracy of the voltage transfer characteristics of a single-electron inverter obtained from the SPICE simulation was within 15%. This new SPICE model can be applied to estimating the realistic performance of a CMOS/SET hybrid circuit or various SET logic architectures.