Generation of adaptive gait patterns for quadruped robot with CPG network including motor dynamic model

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     

浅谈造价工程师的执业能力

我国的工程造价管理体系正在逐步规范，并建立以市场形成价格为主的价格体制；改革现行工程定额管理方式，这些对造价工程师的执业能力和水平提出了更高的要求。造价工程师面临机遇、挑战，必须不断调整知识结构，提高整体素质，拓展个人在专业领域的空间。     

Water quality assessment of a recently refilled reservoir: The case of Bütgenbach Reservoir, Belgium

Bütgenbach Reservoir is situated in the High Ardennes plateau in eastern Belgium (50°25′N; 6°13′E). It is used principally for flood control and for production of hydroelectric energy. It has been subjected to a previous series of studies because of its eutrophication problems and their impacts on the local economy. Bütgenbach Reservoir was emptied during spring 2004 for dam restoration, being refilled in mid‐September of the same year. Selected physicochemical and biological parameters (temperature, dissolved oxygen, pH, inorganic and organic nutrients, chlorophyll‐a) were measured fortnightly during the lake's productive season (mid‐April to mid‐October 2005) at three sampling sites throughout the water column. The water quality conditions after refilling of the lake were compared to previous studies accomplished at the same sampling sites (prior to emptying the lake). The actual trophic status was mesotrophic to eutrophic, based on the combination of total phosphorous and chlorophyll‐a concentrations, as well as water transparency. Bütgenbach Reservoir generally exhibits good water quality, based on the French water quality system SEQ‐eau. A longitudinal decrease in water quality was observed from upstream to downstream, because mainly of the differences in lake bottom morphology and water residence time, and their impacts on nutrient distribution in the lake.     

Energy Saving in Industrial Wood Drying Addressed by a Multiscale Computational Model: Board, Stack, and Kiln

This article proposes a multiscale computational model able to calculate energy consumption in a batch lumber kiln. A dual-scale computational model of wood drying deals with the boards/stack interaction and serves as a basis for the present work. A new module was added here that calculates heat losses through kiln walls (convection, condensation) and the energy used by each kiln component (fans, heating elements, humidifier, vacuum pump, etc.). The corresponding mathematical formulation is presented and then theoretical results are compared to those collected in an industrial vacuum kiln. As application example, the effect of air reversal, air velocity, and kiln insulation are exhibited, which depicts the great potential and prospects of this new tool for energy savings in relation to the product quality.     

Trade-offs for conflicting social objectives in the extraction of finite energy resources

Three social objectives figure prominently in the extraction of finite energy resources, namely income maximization, environmental quality, and inter-generational concern. Owing to lack of complementarity, the pursuit of these objectives often results in conflicts. As a result, extraction strategies should be based on the determination of trade-offs between the objectives. The paper deals with the formulation and illustration of a systems model to determine these trade-offs. The recognition of such trade-offs results in a greater conservation of the finite energy resource, and hence could act as an incentive for the development of alternative energy sources.     

Paste Residence Time in a Spouted Bed Dryer. III: Effect of Paste Properties and Quality Interactions

The aim of this study was to evaluate the effects of paste properties on residence time during drying in a spouted bed dryer with inert bodies. The effect of paste solids content, surface tension, and viscosity on the residence time distribution and the mean residence times were studied using factorial experimental designs. The inert bodies used were glass and polyethylene beads. The mean residence times varied from 13.6 to 16.3 and 12.2 to 17.7 min for drying on glass and polyethylene beads, respectively. The analysis of variance showed that mean residence times significantly depended on solids content and surface tension for glass beads and also on viscosity for polyethylene beads. The residence time distributions for all conditions studied fitted well to the perfect mixing cell when applying the continuous stirred vessels in series model analysis. The powder density, flowability, and particle size depended on paste properties and inert type.     

简易高性能纳秒脉冲发生器

为了实现电子散射飞行时间谱仪电子束的脉冲化及产生时一幅变换器的启动或停止信号。我们利用开关晶体管的雪崩特性研制了一个性能好，成本低的纳秒脉冲发生器。该发生器输出上升时间好于Ｉｎｓ，幅度达１０Ｖ的负尖脉冲，用作时一幅变换器的启动或停止信号；也输出上升时间约３ｎｓ，幅度５－３０Ｖ连续可调和宽度５－２３０ｎｓ可调的正脉冲，用作电子束脉冲化的调制信号，脉冲重复率为１５０×１０＾３ｓ＾－１。它可广泛用于类似     

天线方向图的复射线仿真

根据复射线理论，利用复源点高斯波束场来模拟天线的远场方向图。本文提出三种模拟方法，即主瓣匹配法，峰值匹配法和逐点匹配法，给出了多种方向图的仿真结果。数值分析和优化结果表明，复射线峰值匹配法是一种精确实用的天线方向图仿真技术。     

全双极WTA模型的改进及其实现

提出了一种相似度的新定义，使双极ＷＡＴ模型的实现更加简洁明了。增加一个阈值使系统能判别非存储模式或因其信息量过低而无法鉴定的输入模式，阈值的大小与要求的容错能力有关。双极相似度及阈值通过光学方法实现。阈值的光学实现使系统仍具有照明不变性。通过电路实现取及ＷＴＡ网络的迭代运算。     

Techniques for estimating test length under random test

When a circuit is tested using random or pseudorandom patterns, it is essential to determine the amount of time (test length) required to test it adequately. We present a methodology for predicting different statistics of random pattern test length. While earlier methods allowed estimation only of upper bounds of test length and only for exhaustive fault coverage, the technique presented here is capable of providing estimates of all statistics of interest (including expected value and variance) for all coverage specifications.Our methodology is based on sampling models developed for fault coverage estimation [1]. Test length is viewed as awaiting time on fault coverage. Based on this relation we derive the distribution of test length as a function of fault coverage. Methods of approximating expected value and variance of test length are presented. Accuracy of these approximations can be controlled by the user. A practical technique for predicting expected test length is developed. This technique is based on clustering faults into equal detectability subsets. A simple and effective algorithm for fault clustering is also presented. The sampling model is applied to each cluster independently and the results are then aggregated to yield test lengths for the whole circuit. Results of experiments with several circuits (both ISCAS '85 benchmarks and other practical circuits) are also provided.This work was done while the author was with the Department of Electrical Engineering, Southern Illinois University, Carbondale, IL 62901.