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     

冶金坑内矿多级机站通风系统设计

本文简要论述了冶金坑内矿多级机站通风系统设计的基本原则及计算方法，并给出一个设计实例。     

TRVs and fault clearing stresses in extra-high-voltage radial networks

To cope with the high rate of increase of power demand in the main industrialized districts in Japan, 550-kV transmission systems covering the districts have been reinforced, with most of the main power plants connected directly to these systems. Through 550-/300-kV substations, the majority of power to the districts is supplied by 300-kV systems. To limit the excess short-circuit capacity in the 300-kV systems, they tend to be reconstructed as so-called radial networks. In radial networks with high short-circuit capacity and relatively small number of transmission lines connected to the substation busbars, the rate of rise of TRV can be far higher than standard value. This paper analyzes the transient recovery voltages (TRV) in such extra-high-voltage radial networks in Japan, together with the relevant stresses to circuit-breakers during fault clearings. Future system conditions have also been introduced. As the typical rate of rise of the TRV values, more than twice that of today's standard ones are probable.     

Transformations in machining. Part 1. enhancement of wavelet transformation neural network (WT-NN) combination with a preprocessor

Properly selected transformation methods obtain the most significant characteristics of metal cutting data efficiently and simplify the classification. Wavelet Transformation (WT) and Neural Networks (NN) combination was used to classify the experimental cutting force data of milling operations previously. Preprocessing (PreP) of the approximation coefficients of the WT is proposed just before the classification by using the Adaptive Resonance Theory (ART2) type NNs. Genetic Algorithm (GA) was used to estimate the weights of each coefficient of the PreP. The WT-PreP-NN (ART2) combination worked at lower vigilances by creating only a few meaningful categories without any errors. The WT-NN (ART2) combination could obtain the same error rate only if very high vigilances are used and many categories are allowed.     

Thermodynamic state of reinforced interpenetrating polymer networks

The free energies of mixing of two networks in the interpenetrating polymer network based on crosslinked polyurethane and poly(ester acrylate) have been determined by the vapour sorption method. It was established that the constituent networks in the IPN are not miscible. The introduction of fillers of different chemical nature increases the compatibility. The thermodynamic affinity of the fillers to the individual networks and IPN was estimated. It was established that when the free energy of interaction of one or both components of the IPN with the filler is negative, reinforcement leads to the formation of a compatible and equilibrium system. For fillers having no affinity to the polymers, compatibilization is observed, which is connected with slowing down of phase separation in the system in the presence of filler.     

Development of calibration models for quality control in the production of ethylene/propylene copolymers by FTIR spectroscopy,multivariate statistical tools,and artificial neural networks

Principal component regression (PCR), partial least squares (PLS), StepWise ordinary least squares regression (OLS), and back‐propagation artificial neural network (BP‐ANN) are applied here for the determination of the propylene concentration of a set of 83 production samples of ethylene–propylene copolymers from their infrared spectra. The set of available samples was split into (a) a training set, for models calculation; (b) a test set, for selecting the correct number of latent variables in PCR and PLS and the end point of the training phase of BP‐ANN; (c) a production set, for evaluating the predictive ability of the models. The predictive ability of the models is thus evaluated by genuine predictions. The model obtained by StepWise OLS turned out to be the best one, both in fitting and prediction. The study of the breakdown number of samples to be included in the training set showed that at least 52 experiments are necessary to build a reliable and predictive calibration model. It can be concluded that FTIR spectroscopy and OLS can be properly employed for monitoring the synthesis or the final product of ethylene–propylene copolymers, by predicting the concentration of propylene directly along the process line. © 2008 Wiley Periodicals, Inc. J Appl Polym Sci, 2008     

Influence of polymer modulus on the percolation threshold of latex-based composites

Monodispersed copolymer emulsions with different glass transition temperatures were synthesized to investigate the effect of room temperature polymer matrix modulus on the electrical properties of carbon black (CB) filled segregated network composites. The emulsion with the highest modulus at room temperature produced composites with the lowest percolation threshold. The threshold for a composite made from a copolymer latex containing an equal ratio of butyl acrylate and methyl methacrylate (BA5) is 1.5 vol%, while the percolation threshold for the much lower modulus BA7 (7:3 BA/MMA ratio) is 4.93 vol%. The microstructure of each composite shows significant differences in the level of CB dispersion within the polymer matrix. Higher modulus polymer particles push the CB more efficiently into the interstitial space between them, resulting in a lower percolation threshold. This modulus effect was confirmed by increasing the drying temperature, where the moduli of latexes (BA5, BA5.5, and BA6) were more similar and the percolation thresholds for three composites also become closer to one another.     

Memory of Distributed Computer Systems: Distinctive Features of Their Architectural-Structural Organization and Use

Distinctive features of architectural-structural organization and use of memory networks are considered with the aim of choosing an optimal configuration in designing distributed computer systems.     

永州电力通信交换网集中操作和维护的实现

分析实现永州电力通信交换网集中操作和维护的必要性，介绍了实现程控交换机远程操作和维护的两种方式，总结在实践过程中所得到的经验和教训。     

广播电视发射台技术指标集中自动测试系统

本文介绍了利用计算机技术、网络技术、三遥技术对广播电视发射技术指标进行实时自动测试的系统，以便进一步为安全优质播出提供技术保证。