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61.
Fabien Tâche Wolfgang Fischer Gilles Caprari Roland Siegwart Roland Moser Francesco Mondada 《野外机器人技术杂志》2009,26(5):453-476
This paper describes the Magnebike robot, a compact robot with two magnetic wheels in a motorbike arrangement, which is intended for inspecting the inner casing of ferromagnetic pipes with complex‐shaped structures. The locomotion concept is based on an adapted magnetic wheel unit integrating two lateral lever arms. These arms allow for slight lifting off the wheel in order to locally decrease the magnetic attraction force when passing concave edges, as well as laterally stabilizing the wheel unit. The robot has the main advantage of being compact (180 × 130 × 220 mm) and mechanically simple: it features only five active degrees of freedom (two driven wheels each equipped with an active lifter stabilizer and one steering unit). The paper presents in detail design and implementation issues that are specific to magnetic wheeled robots. Low‐level control functionalities are addressed because they are necessary to control the active system. The paper also focuses on characterizing and analyzing the implemented robot. The high mobility is shown through experimental results: the robot not only can climb vertical walls and follow circumferential paths inside pipe structures but it is also able to pass complex combinations of 90‐deg convex and concave ferromagnetic obstacles with almost any inclination regarding gravity. It requires only limited space to maneuver because turning on the spot around the rear wheel is possible. This high mobility enables the robot to access any location in the specified environment. Finally the paper analyzes the maximum payload for different types of environment complexities because this is a key feature for climbing robots and provides a security factor about the risk of falling and slipping. © 2009 Wiley Periodicals, Inc. 相似文献
62.
J. Dübendorfer R.E. Kunz G. Jobst I. Moser G. UrbanAuthor vitae 《Sensors and actuators. B, Chemical》1998,50(3):210-219
Integrated optical sensor chips suitable for high-resolution pH measurements are presented. The pH-sensitive swelling of a polymer membrane is detected by refractometry using a compact multi-channel sensor module. The signal transduction is achieved by means of chirped grating couplers which allow simple yet high functionality sensor modules to be built. The experiments have been performed with high sensitivity replicated polycarbonate TiO2 waveguide sensor chips coated with an ultrathin photopatterned hydrogel membrane having functional groups which reversibly change from the neutral state to a charged state upon acidification. A resolution δpH <±1.1×10−4 in terms of the pH (at pH 7.5) has been obtained in a dual-channel module with size 10×10×10 cm3. 相似文献
63.
This paper describes the implementation of a combined bachelor of science and master of science degree program in architectural engineering at Kansas State University (KSU). The BS degree in architectural engineering at KSU is a five-year, 162-credit program. Students accepted into the combined BS∕MS program have the potential to reduce their undergraduate program by 15 complementary and free electives and then complete a 30-credit MS program. Availability of the program has contributed to a significant increase in the number and quality of graduate students with the potential to make a significant contribution in the building industry. 相似文献
64.
Wenbing Zhao Moser L.E. Melliar-Smith P.M. 《Parallel and Distributed Systems, IEEE Transactions on》2008,19(2):188-203
With the advent of the new generation of Internet-based technology, in particular, web services, the automation of business activities that are distributed across multiple enterprises becomes possible. Business activities are different from traditional transactions in that they are typically asynchronous, loosely coupled, and long running. Therefore, extended transaction protocols are needed to coordinate business activities that span multiple enterprises. Existing extended transaction protocols typically rely on compensating transactions to handle exceptional conditions. In this paper, we identify a number of issues with compensation-based extended transaction protocols and describe a reservation-based extended transaction protocol that addresses those issues. Moreover, we define a set of properties, analogous to the ACID properties of traditional transactions that are more appropriate for business activities that span multiple enterprises. In addition, we compare our reservation protocol with other extended transaction protocols for coordinating business activities and present performance analyses and results. 相似文献
65.
Y. Moser R. Forti S. Jiguet T. Lehnert M. A. M. Gijs 《Microfluidics and nanofluidics》2011,10(1):219-224
SU-8 photoresist is commonly used in the field of microfabrication as structural material or for molding of microfluidic devices.
One major limitation, however, is the difficulty to process partially freestanding SU-8 structures or monolithic closed cavities
and channels on-chip. We propose here a simple method for the fabrication of suspended structures, in particular of monolithic
SU-8 microchannels. The method is based on the processing of a SU-8 double-layer. Appropriate modification of the optical
properties of the upper layer allows for selective crosslinking in the layer sandwich. This process is suitable for versatile
layouts comprising open and hollow SU-8 structures on the same chip. 相似文献
66.
Integrated Sample Preparation, Reaction, and Detection on a High-frequency Centrifugal Microfluidic Platform 总被引:2,自引:0,他引:2
67.
With youth participation in sports at an all-time high, youths have become more vulnerable to the silent epidemic of concussion. Psychologists should become aware of the alarming frequency of mild concussion and the subtle effects of concussion, which often go unnoticed or result in misdiagnosis. This article provides a basic survey of the research and literature on this topic, a simplified knowledge base for understanding updated assessment and management techniques, and a discussion of the important role psychologists can play in educating the public and their patients. Practitioners can become more aware of this developing practice opportunity. (PsycINFO Database Record (c) 2010 APA, all rights reserved) 相似文献
68.
Energy harvesting has recently emerged as a feasible option to increase the operating time of sensor networks. If each node
of the network, however, is powered by a fluctuating energy source, common power management solutions have to be reconceived.
This holds in particular if real-time responsiveness of a given application has to be guaranteed. Task scheduling at the single
nodes should account for the properties of the energy source, capacity of the energy storage as well as deadlines of the single
tasks. We show that conventional scheduling algorithms (like e.g. EDF) are not suitable for this scenario. Based on this motivation,
we have constructed optimal scheduling algorithms that jointly handle constraints from both energy and time domain. Further
we present an admittance test that decides for arbitrary task sets, whether they can be scheduled without deadline violations.
To this end, we introduce the concept of energy variability characterization curves (EVCC) which nicely captures the dynamics
of various energy sources. Simulation results show that our algorithms allow significant reductions of the battery size compared
to Earliest Deadline First scheduling.
相似文献
Clemens MoserEmail: |
69.
We investigated the influences of odor exposure on performance and on breathing measures. The task was composed of tracking, short-term memory, and peripheral reaction parts. During rest or while performing the task, 12 participants were exposed to 4 different odors in 2 intensities. The higher intensity of the malodors induced a short-term decrement in mean inspiration flow (Vi/Ti) after stimulus onset and impaired performance in the short-term memory task, as compared with control trials; no effect was found for the positively judged odors. The study suggests that a distractor as simple as a bad smell may pull a person off task, however briefly, and may result in a detriment to performance. Actual or potential applications of this research involve designing or securing tasks in such a way that a brief withdrawal of attention does not have fatal consequences. 相似文献