A novel gait generation method independent of target settling-time adjustment for underactuated limit cycle walking

This paper proposes a novel gait generation method for surely achieving constraint on impact posture in limit cycle walking. First, we introduce an underactuated rimless wheel model without ankle-joint actuation and formulate a state-space realization of the control output using the stance-leg angle as a time parameter through an input–output linearization. Second, we determine a control input that moves the control output to a terminal value at a target stance-leg angle during the single-support phase. Third, we conduct numerical simulations to observe the fundamental gait properties and discuss the relationship between the gait symmetry and mechanical energy restoration. Furthermore, we mathematically prove the asymptotic stability of the generated walking gait by analytically deriving the restored mechanical energy.     

A full‐color eyewear display using planar waveguides with reflection volume holograms

Abstract— A full‐color eyewear display with over 85% see‐through transmittance with a 16° horizontal field of view was developed. Very low color crosstalk, less than 0.008 Δu′v′ uniformity, and 120% NTSC color gamut were achieved. Waveguides with two in‐ and out‐coupling reflection volume hologram elements enabled a simple configuration that has an optical engine beside the user's temples. The reflection volume hologram elements used on the waveguides realized a small thickness of 1.4 mm for each waveguide, and an out‐coupling reflection volume hologram used as an optical combiner contributed a high see‐through transmittance of 85% due to its wavelength selectivity. However, there are technical challenges in achieving a reasonable screen size and quality color images with optics that utilize holographic waveguides because holograms have large chromatic dispersions compared to conventional optical elements such as lenses and mirrors. Approaches to overcome these issues are described.     

High-performance cone beam reconstruction using CUDA compatible GPUs

Compute unified device architecture (CUDA) is a software development platform that allows us to run C-like programs on the nVIDIA graphics processing unit (GPU). This paper presents an acceleration method for cone beam reconstruction using CUDA compatible GPUs. The proposed method accelerates the Feldkamp, Davis, and Kress (FDK) algorithm using three techniques: (1) off-chip memory access reduction for saving the memory bandwidth; (2) loop unrolling for hiding the memory latency; and (3) multithreading for exploiting multiple GPUs. We describe how these techniques can be incorporated into the reconstruction code. We also show an analytical model to understand the reconstruction performance on multi-GPU environments. Experimental results show that the proposed method runs at 83% of the theoretical memory bandwidth, achieving a throughput of 64.3 projections per second (pps) for reconstruction of 512³-voxel volume from 360 512²-pixel projections. This performance is 41% higher than the previous CUDA-based method and is 24 times faster than a CPU-based method optimized by vector intrinsics. Some detailed analyses are also presented to understand how effectively the acceleration techniques increase the reconstruction performance of a naive method. We also demonstrate out-of-core reconstruction for large-scale datasets, up to 1024³-voxel volume.     

Technique for anisotropic extension of organic crystals: application to temperature dependence of electrical resistance

We have developed a technique for the anisotropic extension of fragile molecular crystals. The pressure medium and the instrument, which extends the pressure medium, are both made from epoxy resin. Since the thermal contraction of our instrument is identical to that of the pressure medium, the strain applied to the pressure medium has no temperature dependence down to 2 K. Therefore, the degree of extension applied to the single crystal at low temperatures is uniquely determined from the degree of extension in the pressure medium and thermal contractions of the epoxy resin and the single crystal at ambient pressure. Using this novel instrument, we have measured the temperature dependence of the electrical resistance of metallic, superconducting, and insulating materials. The experimental results are discussed from the viewpoint of the extension (compression) of the lattice constants along the parallel (perpendicular) direction.     

Thermodynamic study and intrinsic type II superconductivity in the A-15 compound V3Si

The specific heat of a single crystal of the A-15-type compound V₃Si in the normal, mixed, and superconducting states has been measured from 4 to 30 K in magnetic fields up to 50 kOe. The analysis has been performed in a self-consistent way based on the second-order phase transition from the normal to the superconducting state. The thermodynamic critical field and then various physical parameters characterizing the superconducting and normal states are almost consistently derived from the thermodynamics and the microscopic BCS-GLAG theory. It is confirmed that V₃Si is an intrinsic type II superconductor with a high intrinsic GL parameter ₀.This work was partially supported by a Grant in Aid for Scientific Research (B) from the Ministry of Education.     

Chemical vapor deposition of SiO2 films by TEOS/O2 supermagnetron plasma

A TEOS/O₂ supermagnetron double electrode plasma system was used to deposit SiO₂ films. Deposition rates were measured as a function of rf power and substrate stage temperature. With an increase of rf power on both electrodes from 40 to 80W, the deposition rate increased; however, with a further increase of rf power from 80 to 120W, the deposition rate ceased to increase or decreased only a small amount. The presence of O-H bonds from bonded water in the film was evaluated using buffered HF (BHF) etching solution. With an increase of rf power from 40 to 120W, the BHF etch rate decreased; i.e., the number of O-H bonds were reduced. A minimum BHF etch rate was observed at a rf phase difference of 180° between the two rf power sources. A SiO₂ film was deposited on a trench-patterned quartz substrate. A flat surface SiO₂ layer with air gaps (voids) was formed on the high-aspect ratio (depth/width=1.5-2) trench area.     

Collision response for deformable models based on hertz's contact theory

This paper presents an animation technique of collision response for deformable models defined as a spring-mass-damper system. Our approach is to calculate impulsive forces to prevent penetration of colliding objects by means of Hertz's contact theory. With this theory, contact duration and deformation in collision are obtained according to physical properties such as mass and elasticity. Animators, therefore, can represent the differences between materials such as rubber and steel in the sequence of collision animations with a few intuitive physical parameters. We also describe a deformation mapping technique which reduces the computational time of dynamic analysis and realizes the effect of global deformation.     

Levels of Vibrio parahaemolyticus and thermostable direct hemolysin gene-positive organisms in retail seafood determined by the most probable number-polymerase chain reaction (MPN-PCR) method

The incidence and levels of Vibrio parahaemolyticus and thermostable direct hemolysin gene (tdh)-positive organisms in retail seafood were determined. The most probable number-polymerase chain reaction (MPN-PCR) method using a PCR procedure targeting the species-specific thermolabile hemolysin gene (tlh) and tdh was used to determine the levels of V. parahaemolyticus and tdh-positive organisms, respectively. In seafood for raw consumption, V. parahaemolyticus was found in four (13.3%) of 30 fish samples, 11 (55.0%) of 20 crustacean samples, and 29 (96.7%) of 30 mollusc samples. Levels of V. parahaemolyticus were below 10(4) MPN/100 g in all fish and crustacean samples tested. However, they were above 10(4) MPN/100 g in 11 (36.7%) of the 30 mollusc samples. In all seafood for raw consumption, the level of tdh-positive organisms was below the limit of detection (< 30 MPN/100 g). In seafood for cooking, V. parahaemolyticus was found in 15 (75.0%) of 20 fish samples, nine (45.0%) of 20 crustacean sample, and 20 (100%) of 20 mollusc samples. Levels of V. parahaemolyticus were above 10(4) MPN/100 g in only three (15.0%) and one (5.0%) of the 20 fish and 20 crustacean samples, respectively. However, they were above 10(4) MPN/100 g in 18 (90.0%) of the 20 mollusc samples. In seven (35.0%) of the 20 mollusc samples, tdh-positive organisms were found and their levels ranged from 3.6x10 to 1.1 x 103 MPN/100 g. From four of seven tdhpositive samples, tdh-positive V. parahaemolyticus was isolated.