Mobility analysis of the typical gait of a radial symmetrical six-legged robot

Radial symmetrical hexapod robots have attracted the attention of the research community because of their flexibility. There is nonetheless still much to study on their kinematics, dynamics and locomotion. In this paper, initially, full body kinematics of a radial symmetrical six-legged robot with statically stable movements are reviewed. The kinematics analysis is made on cooperated swing legs over supporting legs. Using the robot screw theory and exponential product equations, the velocities and accelerations referring to the object reference frame of each robot part are presented in a compact form. This makes it easy to calculate kinetic energy and so to build the dynamics model using the Lagrangian method. Many ways of walking of six-legged robots have been introduced in specialized literature. However, mobility comparison is still open to research. Two main aspects of mobility are analyzed in detail in this paper. The first one concerns the mobility of three statically stable ways of walking (the insect-wave gait, mammal-kick gait and mixed gait) with the same duty factor on the same radial symmetrical hexapod robot. The stability, energy efficiency, turning flexibility, and terrain or environment adaptability among those gaits have been compared. The mixed gait presents important advantages over the other two, while those two are useful for some special terrain conditions where the mixed gait is limited. The second aspect that has been analyzed focuses on the mobility of the body. The body height, measured from the body bottom to the supporting surface, and the stride optimization factors are proposed according to the obstacles’ configuration and the energy optimization. The results of our study can be used for the intelligent locomotion control of some articulated multi-legged robots for walking statically-stably on a complicated surface.Most of our analyses have been successfully verified on the prototype which has been designed by Politecnico di Milano (POLIMI) and Beijing University of Astronautics and Aeronautics (BUAA) and developed by POLIMI in 2007.     

Ferromagnetic ordering and mobility end-members for impurity diffusion in bcc Fe

Based on the experimental data available in the literature, the mobility end-members for impurity diffusion of twelve elements, i.e. Ag, Al, As, Au, Cu, Mo, Nb, Sb, Sn, Ti, W and Zn, in bcc Fe have been critically studied. The effect of ferromagnetic ordering is taken into consideration, which allows the dramatic change of kinetic behaviors around the Curie temperature to be considered. Comprehensive comparisons between the calculated and experimentally measured impurity diffusion coefficients are made, where the good agreement confirms not only the parameters obtained in this work but also the model developed by Jönsson. This work contributes to the establishment of a general mobility database to computationally study microstructure evolution upon heat treatment and performance prediction during service.     

COMPUTER AIDED ANALYSIS OF CARRIER ENERGY TRANSPORT IN MOSFETs

The two-dimensional numerical simulation of energy transport for MOSFETs ispresented,in which the effect of generation,recombination and temperature gradient of carrierson the characteristics of devices are considered.An improved mobility model is also proposed.The numerical results of micron and submicron MOSFETs show that the present model fitsexperiment very well.     

Nitrogen vacancy scattering in GaN grown by metal–organic vapor phase epitaxy

Electron mobility limited by nitrogen vacancy scattering was taken into account to evaluate the quality of n-type GaN grown by metal–organic vapor phase epitaxy. Two assumptions were made for this potential for the nitrogen vacancy (1) it acts in a short range, and (2) does not diverge at the vacancy core. According to the above assumptions, a general expression to describe the scattering potential U(r)=−U₀exp[−(r/β)ⁿ], (n=1,2,…,∞) was constructed, where β is the potential well width. The mobilities for n=1,2, and ∞ were calculated based on this equation, corresponding to the simple exponential, Gaussian and square well scattering potentials, respectively. In the limiting case of kβ1 (where k is the wave vector), all of the mobilities calculated for n=1,2, and ∞ showed a same result but different prefactor. Such difference was discussed in terms of the potential tail and was found that all of the calculated mobilities have T^−1/2 temperature and β⁻⁶ well width dependences. A mobility taking account of a spatially complicate scattering potential was studied and the same temperature dependence was also found. A best fit between the calculated results and experimental data was obtained by taking account of the nitrogen vacancy scattering.     

Residential Perceptions and Housing Mobility in Scotland: An Analysis of the Longitudinal Scottish House Condition Survey 1991-96

This paper seeks to develop the evidence base for urban, neighbourhood and housing policies, that aim to increase neighbourhood satisfaction and reduce residential instability. Using the longitudinal Scottish House Condition Survey 1991-96, the paper examines whether residential perceptions are generally significant predictors of individual house moving intentions and behaviours, taking into account factors related to life cycle stage, employment, tenure and type of neighbourhood. The effect of specific residential perceptions on overall satisfaction with the home and neighbourhood is traced through moving intentions to actual moves over the 1991-96 period. Using a sample of matching respondents surveyed twice in 1991 and 1996, the paper also examines whether changed residential perceptions affect moving intentions. There is evidence that deteriorating neighbourhood perceptions increase the likelihood that an individual would consider a house move, while greater satisfaction with the home is associated with reduced moving intentions.     

Location-Independent Access in Mobile Systems

In this paper, we report on the design of a protocol for transparent, location-independent access in mobile systems. The protocol, termed by us Mobile Client/Server Protocol (MCSP) is an implementation of a communication layer on a mobile host and a stationary machine within the wireline network, and provides middleware functionality. The MCSP supports communication services through the client/server paradigm to transaction-oriented applications distributed between the mobile and a set of service and information brokers. To support the mobile and the wireless environment, a surrogate process is created within the fixed network to perform operations on behalf of the mobile within the fixed network. The MCSP then loosely couples the communicating entities, thus reducing the overhead associated with handoffs and disconnects, so characteristic of the mobile environment. Of particular interest is the application of the MCSP to location-based services, for example, the Intelligent Vehicle Highway Systems [1].     

As~+、Si~+双注入GaAs瞬态退火的行为

研究了不同能量、剂量As~+、Si~+双注入于SI GaAs中,As~+注入对注Ss~+有源层的影响.首次给出了双注入样品瞬态退火后有源层的激活率和载流子迁移率,退火前后材料的沟道谱.实验表明,As~+、Si~+双注入样品比Si~+单注入样品在较低退火温度下就能激活Si~+,在适当高温下能得到性能良好的有源层.     

Hole Mobility in Poly (N-vinylcarbazole) Thin Film Based on Silicium

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射频溅射CoMnNiO非晶薄膜中空穴的迁移率

测量薄膜的热电动势,很容易确定薄膜中载流子的迁移率。本研究根据CoMnNiO非晶薄膜在200—350K温区的热电动势测量和直流电导,计算了薄膜中空穴的迁移率。结果表明,330K时,薄膜中空穴的迁移率为1.25cm~2v~(-1)(?)~(-1),且具有热激活性质。由此可以推断,射频溅射CoMnNiO非晶薄膜在常温下发生跳跃导电。     

Residential Mobility: Contrasting Approaches in Europe and the United States

Major differences exist in patterns of residential mobility and in theories about them in the US compared with European countries. The divergent histories and institutional arrangements of the two areas foster specific types of mobility and hinder others. To explain the mobility in each setting, theorists have selected methods and variables that make their approaches seem unsuitable when applied to the other area. Variety among European countries is important, but this discussion stresses how a common legacy of housing policies has inclined European observers to the view that everything is more complicated than it seems. By contrast, American analysts tend to see their housing situation in a simplified but strangely dualistic way. For some, real estate markets are already functioning beautifully in fostering timely moves and simply need to be appreciated. For others the barriers to escaping from paralysed inner-city ghettos are almost insurmountable. The barriers to moving out of 'socially excluding' zones, although growing, seem less formidable to European analysts. Are these zones like the rest of markets significantly different, or are they merely perceived with different analytical spectacles? Some of both, naturally.