Reflexive stability control framework for humanoid robots

In this paper we propose a general control framework for ensuring stability of humanoid robots, determined through a normalized zero-moment-point (ZMP). The proposed method is based on the modified prioritized kinematic control, which allows smooth and continuous transition between priorities. This, as long as the selected criterion is met, allows arbitrary joint movement of a robot without any regard of the consequential movement of the ZMP. On the other hand, it constrains the movement when the criterion approaches a critical condition. The critical condition thus triggers a reflexive, subconscious behavior, which has a higher priority than the desired, conscious movement. The transition between the two is smooth and reversible. Furthermore, the switching is encapsulated in a single modified prioritized task control equation. We demonstrate the properties of the algorithm on two human-inspired robots developed in our laboratory; a human-inspired leg-robot used for imitating human movement and a skiing robot.     

Mobile Domain Walls as a Bridge between Nanoscale Conductivity and Macroscopic Electromechanical Response

The interfaces in complex oxides present unique properties exploitable in nanoscale devices. Recent studies on ferroelectric BiFeO₃, BaTiO₃, and Pb(Zr,Ti)O₃ have revealed an unusually high electric conductivity of the domain walls (DWs), adding another degree of freedom for controlling the local properties of these materials. While most of the investigations are focused on thin films for nanoscale applications, many practical devices, including piezoelectric sensors, actuators, and transducers, rely on the macroscopic properties of bulk polycrystalline materials where the average effect of local properties should be small. It is shown that in polycrystalline BiFeO₃ the local domain‐wall conductivity interferes with the dynamics of the DWs within the grains, resulting in an unexpectedly large effect on the macroscopic piezoelectric response. The results thus bridge the local conductivity and the macroscopic piezoelectricity via domain‐wall dynamics, revealing that the domain‐wall conductivity must be considered when interpreting and controlling macroscopic electromechanical properties.     

Electric‐Field‐Induced Domain Switching and Domain Texture Relaxations in Bulk Bismuth Ferrite

Bismuth ferrite, BiFeO₃, is an important multiferroic material that has attracted remarkable attention for potential applications in functional devices. While thin films of BiFeO₃ are attractive for applications in nanoelectronics, bulk polycrystalline BiFeO₃ has great potential as a lead‐free and/or high‐temperature actuator material. However, the actuation mechanisms in bulk BiFeO₃ are still to be resolved. Here we report the microscopic origin of electric‐field‐induced strain in bulk BiFeO₃ ceramic by means of in situ high‐energy X‐ray diffraction. Quantification of intrinsic lattice strain and extrinsic domain switching strain from diffraction data showed that the strain response in rhombohedral bulk BiFeO₃ is primarily due to non‐180° ferroelectric domain switching, with no observable change in the phase symmetry, up to the maximum field used in the study. The origin of strain thus differs from the strain mechanism previously shown in thin film BiFeO₃, which gives a similar strain/field ratio as rhombohedral bulk BiFeO₃. A strong post‐poling relaxation of switched non‐180° ferroelectric domains has been observed and hypothesized to be due to intergranular residual stresses with a possible contribution from the conductive nature of the domain walls in BiFeO₃ ceramics.     

An adaptive IgA-BEM with hierarchical B-splines based on quasi-interpolation quadrature schemes

The isogeometric formulation of the boundary element method (IgA-BEM) is investigated within the adaptivity framework. Suitable weighted quadrature rules to evaluate integrals appearing in the Galerkin BEM formulation of 2D Laplace model problems are introduced. The proposed quadrature schemes are based on a spline quasi-interpolation (QI) operator and properly framed in the hierarchical setting. The local nature of the QI perfectly fits with hierarchical spline constructions and leads to an efficient and accurate numerical scheme. An automatic adaptive refinement strategy is driven by a residual-based error estimator. Numerical examples show that the optimal convergence rate of the Galerkin solution is recovered by the proposed adaptive method.     

Does the performance of wet granulation and tablet hardness affect the drug dissolution profile of carvedilol in matrix tablets?

Wet granulation is mostly used process for manufacturing matrix tablets. Compared to the direct compression method, it allows for a better flow and compressibility properties of compression mixtures. Granulation, including process parameters and tableting, can influence critical quality attributes (CQAs) of hydrophilic matrix tablets. One of the most important CQAs is the drug release profile. We studied the influence of granulation process parameters (type of nozzle and water quantity used as granulation liquid) and tablet hardness on the drug release profile. Matrix tablets contained HPMC K4M hydrophilic matrix former and carvedilol as a model drug. The influence of selected HPMC characteristics on the drug release profile was also evaluated using two additional HPMC batches. For statistical evaluation, partial least square (PLS) models were generated for each time point of the drug release profile using the same number of latent factors. In this way, it was possible to evaluate how the importance of factors influencing drug dissolution changes in dependence on time throughout the drug release profile. The results of statistical evaluation show that the granulation process parameters (granulation liquid quantity and type of nozzle) and tablet hardness significantly influence the release profile. On the other hand, the influence of HPMC characteristics is negligible in comparison to the other factors studied. Using a higher granulation liquid quantity and the standard nozzle type results in larger granules with a higher density and lower porosity, which leads to a slower drug release profile. Lower tablet hardness also slows down the release profile.     

Improving the multicaloric properties of Pb(Fe0.5Nb0.5)O3 by controlling the sintering conditions and doping with manganese

Designing multicaloric single-phase materials with combined electro- and magnetocaloric effects is still at its initial stage and presents a number of challenges. One of the main challenges encountered so far is to reduce the excessive electrical conductivity, which leads to the appearance of Joule heating that might completely degrade the electrocaloric response. In this work, multicaloric Pb(Fe_0.5Nb_0.5)O₃ material was successfully prepared exhibiting pronounced electrocaloric effect above room temperature and maximum magnetocaloric effect at cryogenic temperature. The conductivity was suppressed by controlling the sintering temperature. The ceramic sintered at 1000 °C exhibits maximum electrocaloric effective cooling of 0.88 °C at 28 °C and maximum magnetocaloric effect of 0.14 °C at ?271 °C. The caloric properties can be further improved by doping Pb(Fe_0.5Nb_0.5)O₃ with manganese. In comparison to the undoped sample, Pb(Fe_0.5Nb_0.5)O₃ doped with 0.5 mol% of manganese exhibits three times higher maxima of electrocaloric effective cooling (2.47 °C at 80 °C) and magnetocaloric temperature change (0.44 °C at ?271 °C).     

Integration of a laser interferometer and a CMM into a measurement system for measuring internal dimensions

In order to improve the existing comparative procedure for calibrating internal dimensions, we have developed a new measurement set-up for traceable absolute measurements. It consists of a co-ordinate measuring machine (CMM) and a laser interferometer (LI). The LI serves as a traceable measurement system, while the CMM is only used as a guiding system for the measuring probe. Extended research focused on defining probe parameters such as diameter, bending and indentation, as well as probing head repeatability and other error sources. The final goal of the research was to determine uncertainty of measurement under existing laboratory conditions. The main outcomes of the research and final uncertainty of measurement are presented in this article.