Switching and PI control of walking motions of planar biped walkers

A companion paper has addressed the problem of designing controllers that induce exponentially stable, periodic walking motions at a fixed walking rate for a planar, biped robot with one degree of underactuation. This note provides two additional control features: 1) the ability to compose such controllers to obtain walking at several discrete walking rates with guaranteed stability during the transitions; and 2) the ability to regulate the average walking rate to a continuum of values.     

Practical implementation of possibilistic probability mass functions

 Probability assessments of events are often linguistic in nature. We model them by means of possibilistic probabilities (a version of Zadeh's fuzzy probabilities with a behavioural interpretation) with a suitable shape for practical implementation (on a computer). Employing the tools of interval analysis and the theory of imprecise probabilities we argue that the verification of coherence for these possibilistic probabilities, the corrections of non-coherent to coherent possibilistic probabilities and their extension to other events and gambles can be performed by finite and exact algorithms. The model can furthermore be transformed into an imprecise first-order model, useful for decision making and statistical inference.     

Synchronized world embedding in virtual environments

We introduce a novel distributed approach that lets users copy a given CVE section and keep it consistent with all its other copies and its original CVE area. Although 3D world modeling tools such as Alias' Maya and Discreet's 3DS Max already use object embedding, our method is the first to introduce it in a functioning CVE system. We also expand the traditional object-embedding concept by introducing a mutual synchronization function between the source and destination worlds. The mutual synchronization scheme propagates events $such as changes in an object's color, shape, or position - to other copies of a world. This synchronized world embedding thus offers a new way to expand worlds. Our method is built on existing CVE functionality, which lets us deploy it without significantly interfering with existing CVE designs. We've also altered the method so that it's usable when consistency needs are more relaxed.     

A reconfigurable high-frequency phase-locked loop

Reconfigurable phase-locked loops (PLLs) present the advantage of fast-frequency acquisition combined with narrow-noise bandwidth, since their parameters can be dynamically adjusted. High-frequency PLLs are generally implemented by means of analog circuits which are not easily reconfigured during operation. However, the five-port technique allows the discrimination of the phase difference between two microwave signals using a mixed circuit. In this paper the design of a PLL comprising a five-port based phase detector is presented. This system benefits from the phase-detector digital circuit to carry out the loop filtering. Simulation results for different conditions of noise and frequency acquisition are shown. We also present measurement results to confirm the simulations.     

Can porous polymeric scaffolds be functionalized by stem cells leading to osteogenic differentiation? A systematic review of in vitro studies

The aim of this study was to analyze the influence of nanoporous structure of polymeric biomaterials on the in vitro osteogenic induction of human stem cells. An electronic search in three databases (MEDLINE, SCOPUS, and Web of Science) was performed for articles that were published before May 2018. In vitro studies were included if they met the following criteria: (1) the use of polymeric scaffolds (natural or synthetic); (2) the co-culture of human stem cells with the scaffold; and (3) cell viability, proliferation, and osteogenic differentiation assays. The main characteristics of the published studies were summarized, and a quality assessment tool was used to analyze methodological features. Eighty-eight potential articles were firstly retrieved. Thirteen were eligible for qualitative analysis. Only three studies characterized cell stemness. Nanostructure of the scaffolds showed a significant influence on viability, proliferation, and osteogenic differentiation of human stem cells. Combination of porosity between 72 and 93% and a large range diameter between 50 and 224 μm resulted in more remarkable cellular proliferation and differentiation. Porous polymeric scaffolds can be functionalized by stem cells leading to osteogenic induction. High standards of laboratory practice and accurate methodological reporting are essential for the credibility of the results.     

List partitions

By definition, apartition of a list is a division of that list into nonempty contiguous segments. Many programming and operations research problems can be specified in terms of list partitions, and we present a hierarchy of theorems for deriving programs from such specifications. Throughout, reasoning is conducted in an equational style using the calculus for program synthesis developed by Bird and Meertens.Supported by a BP research studentship.     

Cutting edge control by monitoring the tapping torque of new and resharpened tapping tools in Inconel 718

In aerospace industry, tapping is the prime choice for hole threading in jet aero-engine turbine components. Taps are not usually resharpened, unlike other     

Cochannel and adjacent channel interference in actual terrestrial TV scenarios - part II: MATV systems laboratory tests

For pt.I, see Sanchez, M.G. et al., ibid., p.111-15. The results of an extensive study on analog PAL signals interfered with by digital DVB-T signals are presented. The study covers a theoretical evaluation of the interference problems, field and laboratory measurements and a national survey among TV installation companies. Field measurements are reported in part I. These measurements explain the origin of cochannel and some of the adjacent channel interference problems. However, interference was reported in areas where the field measurements showed that the protection ratios for PAL signals interfered with by DVB-T adjacent channel signals were met. As these reports came from multistorey buildings with master antenna TV (MATV) installations, the study was extended to analyze the role of these installations in the interference problems. Part of the interference problems are due to the MATV system amplifiers which are unable to cope with adjacent channel DVB-T signals. The nonlinear amplifiers give rise to intermodulation problems. The ITU-R recommendations (see ITU-R BT.1368, 2000) recognize that such nonlinear amplifiers could be a source of problems and that higher protection ratios may be needed, but no value is given for the increase. Our laboratory tests of commercial amplifiers found that an increase in the protection ratios of between 12 to 16 dB is needed to avoid a significant degradation of the PAL TV signal in the amplifiers. It has also been found that most of the interference situations are not due to the interfering signal being a DVB-T format, but that any significant signal amplitude in the passband of the filter causes interference. Therefore, MATV system distribution needs planning factors associated with the distribution of any signals near the main signal. The results are presented of a survey conducted among companies who install communal telecommunication infrastructures in Spain.     

Adsorption von Elektrolyten an Kartoffelstärke. Wärmeentwicklung,Sedimentvolumen, Kontraktion

Adsorption of Electrolytes on Potato Starch. Heat Development, Swelling and Contraction. On addition of electrolyte solutions to moist potato starch an adsorption takes place, accompanied by the development of heat and by swelling. In alkali salts both phenomena proceed rapidly, usually within a few minutes, and reversible. In potassium salts the evolution of heat depends on the anion (in the sequence of the lyotropic series: rhodanid strongly adsorbed with high thermal effect, sulphate weakly adsorbed with hardly any effect). The amount of swelling on the contrary is hardly different in this case, and the amount of contraction is the same. In this respect there is a contrast with earlier research on the adsorption of water in air-dry starch in which heat development and contraction proved to be proportional. Calcium hydroxyde is adsorbed in much higher quantities than those of the monovalent cations and this adsorption takes a much longer time (up to 50 minutes). The adsorption of hydroxyl ions from monovalent hydroxydes is augmented by the addition of neutral salts. The practical combination NaOH-Na₂SO₄ is studied.