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21.
Yurak Son Takuya Kamano Takashi Yasuno Takayuki Suzuki Hironobu Harada 《Electrical Engineering in Japan》2006,155(1):35-43
This paper describes the generation of adaptive gait patterns using new Central Pattern Generators (CPGs) including motor dynamic models for a quadruped robot under various environments. The CPGs act as the flexible oscillators of the joints and adjust joint angles to required values. The CPGs are interconnected with each other and sets of their coupling parameters are adjusted by a genetic algorithm so that the quadruped robot can realize stable and adequate gait patterns. Generation of gait patterns results in the formation of the CPG networks suitable for the formation of not only a straight walking pattern but also of rotating gait patterns. Experimental results demonstrate that the proposed CPG networks are effective for the automatic adjustment of the adaptive gait patterns for the tested quadruped robot under various environments. Furthermore, the target tracking control based on image processing is achieved by combining the general gait patterns. © 2006 Wiley Periodicals, Inc. Electr Eng Jpn, 155(1): 35–43, 2006; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20225 相似文献
22.
Hida H. Tsukada Y. Ogawa Y. Toyoshima H. Fujii M. Shibahara K. Kohno M. Nozaki T. 《Electron Devices, IEEE Transactions on》1989,36(10):2223-2230
The authors describe a novel design concept for enhancement (E) and depletion (D) mode FET formation using i-AlGaAs/n-GaAs doped-channel hetero-MISFET (DMT) and a novel self-aligned gate process technology for submicrometer-gate DMT-LSIs based on E/D logic gates. 0.5-μm gate E-DMTs (D-DMTs) with a lightly doped drain (LDD) structure show an average V t of 0.18 (-0.46) V, a V t standard deviation of 22.6 (24.9) mV, and a maximum transconductance of 450 (300) mS/mm. The V t shift is less than 50 mV with a decrease in gate length down to 0.5 μm. The gate forward turn-on voltage V f is more than 0.9 V, i.e. about 1.6 times that for MESFETs. This superiority in V f, preserved in the high-temperature range, leads to an improvement in noise margin tolerance by a factor of three. In addition, 31-stage ring oscillators operate with a power consumption of 20 (1.0) mW/gate and a propagation delay of 4.8 (14.5) ps/gate. Circuit simulation based on the experimental data predicts 140 ps/gate and 1 mW/gate for DMT direct-coupled FET logic circuits under standard loading conditions. DMTs and the technology developed here are very attractive for realizing low-power and/or high speed LSIs 相似文献
23.
Hiroyuki Miki Takanori Takeno Toshiyuki Takagi Alexei Bozhko Mikhail Shupegin Hideya Onodera Takao Komiyama Takashi Aoyama 《Diamond and Related Materials》2006,15(11-12):1898
Superconductivity in a tungsten-containing carbon-oxide film was reported. The film with 500 nm thickness was deposited onto polycrystalline silicon oxides using chemical vapor deposition and the co-sputtering of a tungsten metal target. The bonding state of the carbon atoms and the macroscopic and microscopic crystal structure of the film were investigated by Raman spectroscopy, X-ray diffraction and transmission electron microscopy measurements. From the experimental results, we determined that this film essentially had an amorphous structure. The temperature dependence on resistivity was measured in the temperature range of 2–300 K. Resistive superconducting transition was observed at 3.8 K. The dc magnetizations were measured in the temperature range of 1.8–6.5 K. The diamagnetism resulting from a superconductive state was observed below 3.75 K, which is consistent with a resistive superconducting transition. It is thought that the finite sized clusters of the different superconductive transition temperatures cooperatively produce a macroscopic superconducting phenomenon. 相似文献
24.
The photografting of methacrylic acid (MAA) on a linear low‐density polyethylene film (thickness = 30 μm) under air and nitrogen atmospheres was investigated at 60°C in mixed solvents consisting of water and an organic solvent, with xanthone as a photoinitiator. The organic solvents used were acetone, methanol, tetrahydrofuran, and dioxane. A maximum percentage of grafting occurred at a certain concentration of the organic solvent in the mixed solvent. This was observed for the systems under both air and nitrogen. The grafting reaction under air exhibited an induction period, but the rate of grafting after the period was greater than that under nitrogen. The formation of poly(ethylene peroxide)s by photoirradiation seemed to be a factor for the accelerated photografting under air. On the basis of attenuated total reflection infrared spectroscopy and scanning electron microscopy of the grafted film, the MAA‐grafted chains of the sample prepared under air tended to penetrate more deeply inside the film than those of the sample prepared under nitrogen. The resulting grafted films exhibited a pH‐responsive character: the grafted films shrank in an acidic medium but swelled in alkaline medium. This was evaluated from measurements of dimensional changes in the grafted films. © 2003 Wiley Periodicals, Inc. J Appl Polym Sci 89: 992–998, 2003 相似文献
25.
Masahito Matsubayashi Takashi Hibiki Kaichiro Mishima Koji Yoshii Koji Okamoto 《Nuclear instruments & methods in physics research. Section A, Accelerators, spectrometers, detectors and associated equipment》2003,510(3):325-333
A fluorescent converter for fast neutron radiography (FNR) comprising a scintillator and hydrogen-rich resin has been developed and applied to electronic imaging. The rate of the reaction between fast neutrons and the converter is increased by thickening the converter, but its opaqueness attenuates emitted light photons before they reach its surface. To improve the luminosity of a fluorescent converter for FNR, a novel type of converter was designed in which wavelength-shifting fibers were adopted to transport radiated light to the observation end face. The performance of the converter was compared with that of a polypropylene-based fluorescent converter in an experiment conducted at the fast-neutron-source reactor YAYOI in the University of Tokyo. 相似文献
26.
Naoki Takinami Takashi Chino Shotaro Yoshida Isao Miura Kazuo Watanabe Kazuo Amano 《Electrical Engineering in Japan》1994,114(6):1-12
When ground-fault problems occur on a cable line, immediate fault location and restoration are required. Therefore, various new methods to locate the fault point instantaneously have been investigated to replace such conventional methods as the Murray loop method and the pulse radar method [1]. These methods require a long time to locate the fault point. One possible fault location method is to sense the temperature rise following a ground fault using a fiber optic distributed temperature sensor. Application of this method was found feasible through sensing the temperature rise at a ground-fault test using a thermocouple as a temperature sensor with test cables [4]. A power/optical composite cable was prepared experimentally and after verifying its thermal mechanical performance, the temperature rise at an incidence of a fault was determined and the anticipated performance was demonstrated in a ground-fault test. This article describes the outline of the test. 相似文献
27.
Takashi Ishikawa Sunao Sugimoto Masamichi Matsushima Yoichi Hayashi 《Composites Science and Technology》1995,55(4):349-363
Compression-after-impact (CAI) tests have been conducted for quasi-isotropic thick plates with 48 plies by using the NASA method and on plates with 32 plies by using the SACMA method. Specimens are made of CF/PEEK (APC-2) and conventional CF/epoxy for the NASA plates and CF/epoxy for the SACMA plates. In the NASA CAI tests, the sequence of delamination buckling and its propagation is clearly revealed through various experimental techniques. One major technique is moiré topography, and the other is thermo-mechanical stress analysis with a high-accuracy infrared sensor. The arrest of delamination propagation just before catastrophic failure due to high fracture toughness is clearly captured by the moiré camera. This behavior provides good CAI values of CF/PEEK. The initial buckling properties of the delaminated region by the impact are then extensively discussed. Numerical predictions of initial buckling stress have been obtained by modelled geometry of the delaminated region simplified from its precise structure clarified by ultrasonic C-scanning. They agree fairly well with the experimental results. The in-plane stress distribution in the delaminated region before initial buckling is measured by an infrared stress graphic system. This compared favorably with finite element predictions. Two types of symmetric buckling modes with respect to the central plate surface, twin and single peak ones, are experimentally captured. 相似文献
28.
In the case of the wet coal charging process in coke oven chamber, it is known that the coking process is uneven and a local carbonization delay occurs. The reason was investigated through a laboratory-scale experiment and a quantitative estimation. A partial carbonization test in a test coke oven replicated the uneven plastic layer and local carbonization delay. It was revealed that most of the gas generated in the uncarbonized coal layer results from the evaporation of condensed water and that steam can break through the plastic layer in a test coke oven. Moreover, the order estimation implied that steam that generates in the uncarbonized coal layer and breaks through the plastic layer has sufficient heat capacity to cool the heating wall and delay the carbonization. It was also shown that the steam pressure peak measured in a commercial coke oven is much lower than the estimated steam pressure in this study assuming steam not breaking through the plastic layer. The above-mentioned results and quantitative investigation strongly support the ‘steam breaking through the plastic layer’ theory proposed by Dr. Rohde that an uneven carbonization process is caused by vaporized coal moisture breaking through the plastic layer at definite, unforeseeable points, which results in cooling of the wall by the steam flow. 相似文献
29.
Namsin Park Takeyuki Shiraishi Kazuyoshi Kamisugi Yoshitaka Hara Keita Iizuka Takashi Kado Shuzi Hayase 《Journal of Applied Electrochemistry》2008,38(3):371-375
A direct ethanol fuel cell (DEFC), which is less prone to ethanol crossover, is reported. The cell consists of PtRu/C catalyst as the anode, Nafion® 117 membrane, and Ni–Co–Fe (NCF) composite catalyst as the cathode. The NCF catalyst was synthesized by mixing Ni, Co, and Fe complexes into a polymer matrix (melamine-formaldehyde resins), followed by heating the mixture at 800 °C under inert atmosphere. TEM and EDX experiments suggest that the NCF catalyst has alloy structures of Ni, Co and Fe. The catalytic activity of the NCF catalyst for the oxygen reduction reaction (ORR) was compared with that of commercially available Pt/C (CAP) catalyst at different ethanol concentrations. The decrease in open circuit voltage (Voc) of the DEFC equipped with the NCF catalysts was less than that of CAP catalyst at higher ethanol concentrations. The NCF catalyst was less prone to ethanol oxidation at cathode even when ethanol crossover occurred through the Nafion®117 film, which prevents voltage drop at the cathode. However, the CAP catalyst did oxidize ethanol at the cathode and caused a decrease in voltage at higher ethanol concentrations. 相似文献
30.
Yasuro Ikuma Takashi Shigemura Takashi Hirose 《Journal of the American Ceramic Society》1996,79(10):2533-2538
Anatase-TiO2 cylindrical pellets were microwave sintered and partially transformed to rutile-TiO2 .The rutile concentration profile was determined as a function of location within the pellet. The rutile distribution in the microwavesintered pellets was different from that in pellets sintered by conventional fast firing. Temperature profiles within the pellets were estimated using the irreversible nature of the anatase-rutile transformation. The estimated temperature profile within each pellet was not uniform. In the axial direction, maximum temperature occurred in the middle of the pellet. In the radial direction, maximum temperature occurred at 1 mm below the surface of the cylinder wall. Analysis of the temperature profile indicated that, although heat flow occurred in the microwave-sintered pellet, the temperature profile did not change during a microwave exposure of 5–90 min. 相似文献