Determination of infinite dilution diffusion and activity coefficients of solvents in polystyrene by inverse gas chromatography on a capillary column

Infinite dilution activity and diffusion coefficients of several solvents in polystyrene have been measured by inverse gas chromatographic on a capillary column for temperatures between 110 and 170°C. Chromatographic data have been treated according to Khan's model, evaluating the contribution to the peak broadening due to radial and axial molecular diffusion in the mobile phase, radial diffusion in the stationary phase, and interfacial mass transfer resistance. Four capillary columns have been prepared with coating thickness ranging from 0.5 to 3.3 microns in order to determine the minimum thickness necessary to obtain reliable measurements of the diffusion coefficient of the solvent in the polymer in every possible experimental condition. Our experimental data are in considerable agreement with the data already available in the literature, obtained by static and chromatographic methods. © 1994 John Wiley & Sons, Inc.     

A 2.2 W, 80 MHz superscalar RISC microprocessor

A 28 mW/MHz at 80 MHz structured-custom RISC microprocessor design is described. This 32-b implementation of the PowerPC architecture is fabricated in a 3.3 V, 0.5 μm, 4-level metal CMOS technology, resulting in 1.6 million transistors in a 7.4 mm by 11.5 mm chip size. Dual 8-kilobyte instruction and data caches coupled to a high performance 32/64-b system bus and separate execution units (float, integer, loadstore, and system units) result in peak instruction rates of three instructions per clock cycle. Low-power design techniques are used throughout the entire design, including dynamically powered down execution units. Typical power dissipation is kept under 2.2 W at 80 MHz. Three distinct levels of software-programmable, static, low-power operation-for system power management are offered, resulting in standby power dissipation from 2 mW to 350 mW. CPU to bus clock ratios of 1×, 2×, 3×, and 4× are implemented to allow control of system power while maintaining processor performance. As a result, workstation level performance is packed into a low-power, low-cost design ideal for notebooks and desktop computers     

A fully integrated dual-channel log-domain programmable preamplifier and filter for an implantable cardiac pacemaker

A programmable-gain preamplifier and filter for detection of spontaneous heart activity in an implantable cardiac pacemaker is presented. The system is fully integrated in a standard 0.35-/spl mu/m CMOS technology, including all auxiliary circuits. Two channels are available in order to process both atrial and ventricular signals. CMOS translinear circuits, with particular emphasis on log-domain techniques, have been exploited in order to contain current consumption and to allow correct operation with a reduced supply voltage, due to battery discharging. Indeed, the realized system can operate down to 1.8 V of supply voltage and dissipates at most 1.8 /spl mu/A, granting at least 47 dB of dynamic range (DR) for the atrial chain, which is compatible with advanced digital sensing. Current consumption can be further reduced at the expense of DR if a simpler sensing like peak detection is adopted. All system performance have been verified by measurements results and are compatible with the requirements of cardiac pacemakers. This work, therefore, demonstrates how a proper design approach, exploiting low-power and low-voltage techniques, allows one to optimize performance for the cardiac pacemaker.     

Thixomolded magnesium alloys: Strategic product innovation in automobiles

The research on magnesium alloys for structural lightweight applications is today at an embryonic stage, but these alloys offer great potential. Thixomolding of magnesium alloys for automotive applications is promising since the process can be used to manufacture net-shape parts cost-effectively and with high reliability and repeatability.     

Catalyst pore plugging effects on hydrocracking reactions in an Ebullated bed reactor operation

This paper analyzes the deactivation effects of NiMo/Al₂O₃ catalyst during the operation in an Ebullated bed reactor for Heavy residue hydrocracking. The spent catalysts were characterized by chemical analysis, ¹³C NMR, ESM, DRX, and by using thermal programmed oxidation and diffusion studies in a shallow bed micro-reactor. The deactivations were performed in a 5 l continuously stirred tank reactor, while the spent catalysts were tested in a 0.05 l micro-reactor. The study focused on determining the properties of the external layer of the catalyst and on evaluating the internal coke and metal deposition. The results indicated that initial deactivation is mainly due to coke depositions, while its impact on mass transfer reaction control depends on temperature. In long-term deactivation, the metal deposition plays a more important role in blocking the internal micro- and meso-structures and in building up the external layer of the pellets.     

Skill Memory in Biped Locomotion

Robots must be able to adapt their motor behavior to unexpected situations in order to safely move among humans. A necessary step is to be able to predict failures, which result in behavior abnormalities and may cause irrecoverable damage to the robot and its surroundings, i.e. humans. In this paper we build a predictive model of sensor traces that enables early failure detection by means of a skill memory. Specifically, we propose an architecture based on a biped locomotion solution with improved robustness due to sensory feedback, and extend the concept of Associative Skill Memories (ASM) to periodic movements by introducing several mechanisms into the training workflow, such as linear interpolation and regression into a Dynamical Motion Primitive (DMP) system such that representation becomes time invariant and easily parameterizable. The failure detection mechanism applies statistical tests to determine the optimal operating conditions. Both training and failure testing were conducted on a DARwIn-OP inside a simulation environment to assess and validate the failure detection system proposed. Results show that the system performance in terms of the compromise between sensitivity and specificity is similar with and without the proposed mechanism, while achieving a significant data size reduction due to the periodic approach taken.     

Robotic clusters: Multi-robot systems as computer clusters: A topological map merging demonstration

In most multi-robot systems, an individual robot is not capable of solving computationally hard problems due to lack of high processing power. This paper introduces the novel concept of robotic clusters to empower these systems in their problem solving. A robotic cluster is a group of individual robots which are able to share their processing resources, therefore, the robots can solve difficult problems by using the processing units of other robots. The concept, requirements, characteristics and architecture of robotic clusters are explained and then the problem of “topological map merging” is considered as a case study to describe the details of the presented idea and to evaluate its functionality. Additionally, a new parallel algorithm for solving this problem is developed. The experimental results proved that the robotic clusters remarkably speedup computations in multi-robot systems. The proposed mechanism can be used in many other robotic applications and has the potential to increase the performance of multi-robot systems especially for solving problems that need high processing resources.     

Control-oriented modeling of a three-way catalytic converter with observation of the relative oxygen level profile

The paper presents a novel control-oriented, first-principle model of a three-way catalytic converter (TWC). The model accurately predicts the air–fuel ratio downstream of the catalyst and provides insights into the relative oxygen level (ROL) profile along the catalyst. The reaction mechanism of the TWC model is simplified to only two reactions, with oxygen being the only species stored on the active surface of the catalyst. All the information about the gas composition is taken from the upstream wide-range oxygen sensor. Additional model inputs are the exhaust gas temperature and the exhaust mass flow. The model is parameterized with only a few measurements from an engine test bench. Exact values of gas concentrations are not needed at any point.The ROL profile is a good indicator for the condition of the TWC. It can therefore be used to derive optimal TWC depletion strategies after fuel cut-off phases. Since the model is real-time capable, the ROL profile can even be used for on-line control strategies. Based thereon, a causal strategy is proposed with results that match those of the non-causal strategies found in off-line optimizations.