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     

Phase equilibria of quasi-binary systems consisting of multicomponent polymers 1 and 2. IV: Poly(ethylene oxide)/poly(propylene oxide) systems

To confirm the reliability of the theory of phase equibria of multicomponent polymer 1/multicomponent polymer 2 systems (i.e. quasi-binary systems) and the method of computer experiment based on this theory (Brit. Polym. J., 23 (1990)285; 23 (1990)299; Polym. Int., 29 (1992)219), could point curves (CPC), two-phase volume ratios ( R ) and critical solution points (CSP) have been determined experimentally for the quasi-binary mixtures of poly(ethylene oxide) (M¯_w = 647, M¯_w/M¯_n = 1.15; M¯_w and M¯_n, the weight-average and numberaverage molecular weights, respectively) and poly(propylene oxide) (M¯_w = 2028, M¯_w/M¯_n = 1.08; and M_w = 2987, M_w/M_n = 1.13). The hydroxyl end groups of both polymers were methoxylated in advance by the Cooper & Booth method (Polymer, 18 (1977)164). The thermodynamic interaction parameter between both polymers, χ₁₂, and the concentration dependence parameters for the above quasi-binary systems were determined by the method proposed in a previous paper (Brit. Polym. J., 23 (1990)299). CPC, R and CSP values calculated on the basis of the theory are in good agreement with the values determined experimentally.     

A circuit model for the class E resonant DC-DC converter regulatedat a fixed switching frequency

An averaging circuit model is developed for the class E resonant DC-DC converter regulated at a fixed switching frequency. The regulation is achieved by use of an auxiliary switch. The model is obtained based on the circuit analysis using the Fourier series expansion. Steady-state and small-signal dynamic analysis is presented, which reveals that the DC output is well controlled by the control angle of the auxiliary switch and that there exists a right-half-plane zero in the control-to-output transfer function. The analysis results are verified by the experiments     

Advanced concepts in electric vehicle design

In 1994, the Eco-Vehicle Project was begun to develop an electric vehicle (EV) using a ground-up design approach that incorporates unique designs specific to an EV. The Eco-Vehicle will be a high-performance, but ultrasmall, battery-powered vehicle. New designs for the Eco-Vehicle include an in-wheel motor drive system, a hollow load floor which will house the batteries, and a new battery management system. The Eco-Vehicle may also utilize other advanced concepts suitable especially for EVs, including solar panels for battery charging and intelligent crash avoidance and guidance systems     

Multiobjective dynamic load-dispatching method for optimal operation of power systems

A new practical method is proposed which gives a quasi-optimal solution of the dynamic load-dispatching problem formulated by a multiconstraint multiobjective optimization problem. Here, the multiple constraints are rate reserve constraints and power flow ones, and the multiple objectives are fuel cost and CO₂ emission. The proposed method is an integration of the following three techniques: (1) “Group Dispatch Scheme,” which is developed by the authors, is used to satisfy a violated constraint easily. This scheme consists of three steps. The first step is to classify all generators into two groups. One is the group which should be more loaded to satisfy the violated constraint, and the other is the should-be less loaded group. The second step is to add some load to the former group, and to subtract the same load from the latter. The third step is to dispatch each group load to each groups generators, respectively; (2) the dynamic load-dispatching algorithm is used which provides, in practical time, quasi-optimal generation trajectories; (3) the conventional weighting parametric method is used to obtain a Pareto optimal solution of multiobjective problems. The effectiveness of the method is clarified by a computer simulation on the actual power system of Kansai Electric Power Company.     

Effect of sex hormones on rat liver cytosolic alcohol dehydrogenase activity

A large public service organization was concerned with protection of its customers against hazards associated with furniture tipping in public use concourses. Because no injury experience was available for analysis, hazard patterns for tipping accidents were developed from an observational study of public interaction with the furniture. For each hazard pattern, anthropometric models were used to find the probability of the furniture being safe from tipping, for different age and gender combinations. A safety criterion was developed from this modeling, and used to change the weights of some furniture items to resist tipping. These modifications have now been implemented and are in widespread use. Implications for broader application of these models to the development of valid tipping standards for furniture are discussed.     

Plasma etching durability of poly(methyl methacrylate)

The decomposition of poly(methyl methacrylate) (PMMA), as a positive resist, in CF₄/O₂ plasma etching has been studied in the thin film state in order to clarify the factors influencing the dry etching durability of resists. It becomes clear that the major PMMA decomposition in CF₄/O₂ plasma etching proceeds by the mechanism of random chain scission because very small kinetic chain lengths are estimated from the gel permeation chromatography data. The Arrhenius plots for the plasma etching rate of PMMA bend above about the glass transition temperature (T_g), where rapid increase of the etching rate and remarkable pattern deformation are observed. Activation energy of the PMMA etching rate which is changed by oxygen concentration and rf power indicates various values from 3.1 to 6.5 kcal/mol below about T_g. The result of molecular weight variation in the cross section of the film suggests that the active species permeate into the film with fairly large speed and the PMMA decomposition occurs not only at the film surface but also at deep layer of the film.     

Low temperature synthesis of silver-palladium alloy powders internal electrodes for multilayer ceramic devices

Physical and electrical properties of three types of Ag-Pd pastes, which consist of different metal fine powders, i.e., a coprecipitated powder, an agglomerated alloy powder made by heat treatment and a pulverized alloy powder produced by improved pulverization method, have been studied. The paste prepared from pulverized alloy powder showed a higher film packing density (6.3 g/cm³) than those made of the other powders. The film consisting of pulverized alloy powder showed a lower expansion at around 500 °C, a lower shrinkage from 700 °C to 1100 °C and a lower electric resistivity. The results indicated that the paste which consists of an pulverized Ag-Pd alloy powder was superior in performance to the other two pastes for an internal electrode material of multilayer ceramic device.     

Highly efficient electrochemical valence control of uranium using microfluidic chip equipped with microelectrodes

We have developed a novel microchip equipped with a microchannel and Pt microelectrode array for electrochemically controlling valences of actinide (An) species. The square wave voltammograms of the redox reaction of potassium hexacyanoferrate(II) in the microchannel were measured. We found that the fabricated Pt microelectrode array has superior performances for the detection of the electrochemically active species in the microchannel. Therefore, the potentiostatic electrolysis experiments of uranium ions were carried out in the microchannel, and the concentration changes of uranium ions accompanied by the potentiostatic electrolysis were examined using thermal lens microscope. The results showed that the redox reactions between U(VI) and U(IV) can be performed completely in a microchannel in a few minutes, that is, the microscale reaction is accelerated by a factor of more than 10 compared with the bulk solution reactions taking hours mostly. The developed microchip was found to have enough performances for realizing rapid and highly efficient redox reactions for An species, which are impossible in the bulk reactions.