Passive-Based Walking Robot

In this article, we presented our passive-based biped Denise. Using only two foot contact switches as sensors and simple on/off pneumatic muscle action, it walks at 0.4 m/s and can handle floor disturbances up to 6 mm (leg length is 0.7 m). Its simplicity, efficiency, and die natural look of its motions make it a promising lead for the development of commercially viable humanoid robots. The aim of this article is to provide other researchers enough details so that they can reproduce the work or use it as a basis for future research.     

Axisymmetric extrusion through adaptable dies—Part 1: Flexible velocity fields and power terms

An adaptable die is one that not only produces the correct geometrical shape, but also is designed through an adaptable method to impart other desirable properties to the product or process. In this first part of a series of papers, six kinematically admissible velocity fields are developed for use in upper bound models for axisymmetric extrusion through various dies, including extrusion through adaptable dies. Three base velocity fields are presented:

(1) assuming proportional angles in the deformation zone,

(2) assuming proportional areas in the deformation zone, or

(3) assuming proportional distances from the centerline in the deformation zone.

The base velocity is modified by an additional term comprised of two functions. One function allows extra flexibility in the radial direction, and the second function allows extra flexibility in the angular direction. There are two forms of the second function, which meet the required boundary conditions. The flexibility function in the radial direction is represented by a series of Legendre polynomials, which are orthogonal over the deformation region. The power terms derived for these velocity fields for use in upper bound models are also presented.Part 2 of this series compares the results obtained in upper bound models for the six velocity fields for a spherical extrusion die. In Part 3, the use of the best velocity field for extrusion through streamlined dies is developed to determine the adaptable die shape, which minimizes the required extrusion pressure. Additionally, the adaptable die shape is compared with results from Yang and Han for arbitrarily curved and streamlined dies.     

On-body propagation velocity estimation using ultra-wideband frequency-domain spatial correlation analyses

On-body communications around the human torso are considered, using ultra-wideband transmissions. The velocity of the diffracted wave propagating around the body is extracted from frequency- domain spatial correlation analyses.     

Assessment of different techniques for quantification of α-Al(FeMn)Si and β-AlFeSi intermetallics in AA 6xxx alloys

During homogenisation of AA 6xxx aluminium alloys, the platelike β-AlFeSi intermetallic phase will transform to a less Si-rich and more spheroidised α-Al(FeMn)Si phase which is more favourable for extrusion. In this study, several quantitative methods, which determine the relative volume fraction of α-Al(FeMn)Si and β-AlFeSi, are compared and an assessment of each method is made. The methods used are optical microscopy, scanning electron microscopy (SEM) in combination with electron dispersive X-ray (EDX) using polished samples, and X-ray diffraction (XRD) on intermetallics, extracted through selective dissolution of the Al matrix. The highest accuracy is obtained by using SEM/EDX analysis and applying two criteria.     

Biosynthesis and assembly of alcohol oxidase, a peroxisomal matrix protein in methylotrophic yeasts: a review

Alcohol oxidase (AO) catalyses the first step of methanol metabolism in yeasts. In vivo the enzyme is compartmentalized in special cell compartments, called peroxisomes. The enzyme along with the organelles are induced during growth of methylotrophic yeasts on methanol as the sole carbon source. Like all other peroxisomal matrix proteins, AO is encoded by a nuclear gene. Expression of the protein is regulated by a repression/derepression mechanism, but also by induction. Inactive monomeric precursor protein is synthesized in the cytosol and subsequently imported post-translationally into peroxisomes without further processing. Assembly into the active homo-octameric enzyme and binding of the prosthetic group flavin adenine dinucleotide occurs inside the organelle. When enhanced concentration of octameric alcohol oxidase are present in the organelles, the enzyme may form a crystalloid. Oligomerization is not dependent on translocation of AO precursors into their target organelle since octameric, active AO is detected in the cytosol and nucleus of peroxisome-deficient mutants of Hansenula polymorpha: at high expression rates large cytosolic AO crystalloids are formed, which occasionally are also encountered inside the nucleus of such mutants. This paper summarizes recent findings and views on the mechanisms involved in synthesis, import, assembly and crystallization of this important peroxisomal enzyme.     

High modulus of isotactic polypropylene attained by coextrusion with atactic polystyrene

Orientation-induced crystallization of crystallizable polymer melts can occur, under certain conditions, during flow through converging channels. Attempts have been made to achieve this phenomenon in a two-phase system, i.e., during simultaneous extrusion of a continuous concentric core of polypropylene within a polystyrene matrix through a conical duct. On one occasion, using Carlona P SY6100 (MFI = 11.0) with Hostyren N2000-V-01 (MFI = 25.0), a highly oriented polypropylene thread with a modulus of 14.6 GPa and a melting point of 178°C was extruded at a die temperature of approximately 170°C and a pressure lower than 40 MPa. It is, in principle, possible to form highly oriented, fiber-like structures as reinforcing elements in a polymer matrix.     

The Construction of Minimal DNA Expressions

We describe a formal language/notation for DNA molecules that may contain nicks and gaps. The elements of the language, DNA expressions, denote formal DNA molecules. Different DNA expressions may denote the same formal DNA molecule. We analyse the shortest DNA expressions denoting a given formal DNA molecule. We determine lower bounds on their lengths and explain how we construct these minimal DNA expressions.