Multi-contact vertical ladder climbing with an HRP-2 humanoid

We describe the research and the integration methods we developed to make the HRP-2 humanoid robot climb vertical industrial-norm ladders. We use our multi-contact planner and multi-objective closed-loop control formulated as a QP (quadratic program). First, a set of contacts to climb the ladder is planned off-line (automatically or by the user). These contacts are provided as an input for a finite state machine. The latter builds supplementary tasks that account for geometric uncertainties and specific grasps procedures to be added to the QP controller. The latter provides instant desired states in terms of joint accelerations and contact forces to be tracked by the embedded low-level motor controllers. Our trials revealed that hardware changes are necessary, and parts of software must be made more robust. Yet, we confirmed that HRP-2 has the kinematic and power capabilities to climb real industrial ladders, such as those found in nuclear power plants and large scale manufacturing factories (e.g. aircraft, shipyard) and construction sites.     

Is numerical comparison digital? Analogical and symbolic effects in two-digit number comparison.

Do Ss compare multidigit numbers digit by digit (symbolic model) or do they compute the whole magnitude of the numbers before comparing them (holistic model)? In 4 experiments of timed 2-digit number comparisons with a fixed standard, the findings of J. V. Hinrichs et al (see record 1982-07073-001) were extended with French Ss. Reaction times (RTs) decreased with target-standard distance, with discontinuities at the boundaries of the standard's decade appearing only with standards 55 and 66 but not with 65. The data are compatible with the holistic model. A symbolic interference model that posits the simultaneous comparison of decades and units can also account for the results. To separate the 2 models, the decades and units digits of target numbers were presented asynchronously in Experiment 4. Contrary to the prediction of the interference model, presenting the units before the decades did not change the influence of units on RTs. Pros and cons of the holistic model are discussed. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Effect of flow characteristics on the diffusion-limited current density in an electrodeposition cell

The main parameters characterizing the effect of the turbulent flow of an electrolyte between two planar electrodes, one of which may be in motion, are demonstrated by means of numerical and experimental studies. The analysis is carried out for the case of zinc electrodeposition. A model is proposed, which takes into account the production of hydrogen, to represent the variation of the diffusion limited current density as a function of the flow characteristics and of the solution composition.     

Application of the SIMS Method in Studies of Cr Segregation in Cr-Doped CoO: I, Aspects of Quantitative Analysis

Aspects of calibration of intensities of SIMS secondary ions vs concentration as well as sputtering time vs depth are considered for Cr-doped CoO. Advantages and limitations of the SIMS method in quantitative analysis of segregation-induced concentration profiles in oxide crystals are discussed. The studies indicate a substantial effect due to charging the surface during sputtering. The depth calibration was performed by using the Ta₂O₅/Ta system as a standard. Good depth resolution was revealed. The calibration dependence of Cr intensities on concentration is characterized by a wide scatter of data caused by charging the surface. Very good shape reproducibility of the intensity ratio vs depth profiles was revealed. Therefore, normalized intensity ratios can be used for calibration.     

Screening Approach for the Discovery of New Hybrid Perovskites with Efficient Photoemission

Owing to quantum confinement, low‐dimensional hybrid perovskite materials have recently shown a great potential for applications in optoelectronics. Such compounds can exhibit broad‐ or narrow‐band light emission, low‐temperature solution processability, high thermal stability, and relatively high photoluminescence quantum yields (PLQY). However, the search for efficient phosphors with a specific set of characteristics remains difficult because the family of hybrid perovskites consists in an extremely large chemical system (i.e., different halides, metals, and organic molecules), and optical properties are not predictable prior to material synthesis and characterization. Here, is proposed a simple approach to screen a significant amount of new hybrid lead halide perovskites. The synthetic method by fast crystallization at low temperature enables the rapid identification of the materials exhibiting the targeted photoluminescence properties. This approach is tested for the discovery of hybrid lead halide perovskites with efficient white‐light emission. Among 100 newly synthesized compounds, 5 exhibit intense white emission, and the in‐depth characterization of a selected candidate shows high color rendering index (CRI) = 78 and a PLQY of 9%, which is equivalent to the record reported for hybrid perovskites. This compound exhibits a new structure type for warm white‐light emitting hybrid perovskites with chains of corner‐sharing PbX₆.     

Chemisorption of C3 hydrocarbons on cobalt silica supported Fischer–Tropsch catalysts

Chemisorption of propene and propane was studied in a pulse reactor over a series of cobalt silica-supported Fischer–Tropsch catalysts. It was shown that interaction of propene with cobalt metal particles resulted in its rapid autohydrogenation. The reaction consists in a part of the propene being dehydrogenated to surface carbon and CH_x chemisorbed species; hydrogen atoms released in the course of propene dehydrogenation are then involved in hydrogenation of remaining propene molecules to propane at 323–423 K or in propene hydrogenolysis to methane and ethane at temperatures higher than 423 K. The catalyst characterization suggests that propene chemisorption over cobalt catalysts is primarily a function of the density of cobalt surface metal sites. A correlation between propene chemisorption and Fischer–Tropsch reaction rate was observed over a series of cobalt silica-supported catalysts. No propane chemisorption was observed at 323–373 K over cobalt silica-supported catalysts. Propane autohydrogenolysis was found to proceed at higher temperatures, with methane being the major product of this reaction over cobalt catalysts. Hydrogen for propane autohydrogenolysis is probably provided by adsorbed CH_x species formed via propane dehydrogenation. Propene and propane chemisorption is dramatically reduced upon the catalyst exposure to synthesis gas (H₂/CO = 2) at 323–473 K. Our results suggest that cobalt metal particles are probably completely covered by carbon monoxide molecules under the conditions similar to Fischer–Tropsch synthesis and thus, most of cobalt surface sites are not available for propene and propane chemisorption.     

Synthesis and characterization of polysaccharide-maghemite composite nanoparticles and their antibacterial properties

The aim of this study was to obtain saccharide (dextran and sucrose)-coated maghemite nanoparticles with antibacterial activity. The polysaccharide-coated maghemite nanoparticles were synthesized by an adapted coprecipitation method. X-ray diffraction (XRD) studies demonstrate that the obtained polysaccharide-coated maghemite nanoparticles can be indexed into the spinel cubic lattice with a lattice parameter of 8.35 Å. The refinement of XRD spectra indicated that no other phases except the maghemite are detectable. The characterization of the polysaccharide-coated maghemite nanoparticles by various techniques is described. The antibacterial activity of these polysaccharide-coated maghemite nanoparticles (NPs) was tested against Pseudomonas aeruginosa 1397, Enterococcus faecalis ATCC 29212, Candida krusei 963, and Escherichia coli ATCC 25922 and was found to be dependent on the polysaccharide type. The antibacterial activity of dextran-coated maghemite was significantly higher than that of sucrose-coated maghemite. The antibacterial studies showed the potential of dextran-coated iron oxide NPs to be used in a wide range of medical infections.