Humanoid Posture Selection for Reaching Motion and a Cooperative Balancing Controller

Our goal in this research was to develop a motion planning algorithm for a humanoid to enable it to remove an object that is blocking its path. To remove an object in its path, a humanoid must be able to reach it. Simply stretching its arms, which in a humanoid are shorter than its body and legs, is not sufficient to reach an object located at some distance away or on the ground. Therefore, reachability has to be ensured by a combination of motions that include kneeling and orienting the pelvis. However, many posture selection options exist because of the redundancy of a humanoid. In this research, we focused on the optimization of the posture of a humanoid that is reaching toward a point. The posture selected depends on the initial posture, the location of the point, and the desired manipulability of the humanoid’s arms. A cooperative balancing controller ensures the stability of the reaching motion. In this paper, we propose an algorithm for reaching posture selection and a balancing controller for humanoids, and we present the results of several experiments that confirm the effectiveness of the proposed algorithm and controller.     

OmniCon: a Mobile IP‐based vertical handoff system for wireless LAN and GPRS links

Wi‐Fi based hotspots offer mobile users broadband wireless Internet connectivity in public work spaces and corporate/university campuses. Despite the aggressive deployment of these hotspots in recent years, high‐speed wireless Internet access remains restricted to small geographical areas due to the limited physical coverage of wireless LANs. On the other hand, despite their lower throughput, cellular networks have a significantly wider coverage and are thus much more available. Recognizing that 2.5G or 3G cellular networks can effectively complement wireless LANs, we set out to develop a vertical handoff system that allows mobile users to seamlessly fall back to such cellular networks as the general packet radio service (GPRS) or 3G whenever wireless LAN connectivity is not available. The resulting handoff mechanism allows a network connection of a mobile node to operate over multiple wireless access networks in a way that is transparent to end user applications. In this paper, we present the design, implementation, and evaluation of a fully operational vertical handoff system, called OmniCon, which enables mobile nodes to automatically switch between wireless LAN and GPRS, based on wireless LAN availability, by introducing a simple extension to the existing Mobile IP implementation. We discuss the design issues in the proposed vertical handoff system for heterogeneous networks, including connection setup problems due to network address translation, and the disparity in link characteristics between wireless LANs and GPRS. A detailed performance evaluation study of the OmniCon prototype demonstrates its ability to migrate active network connections between these two wireless technologies with low handoff latency and close to zero packet loss. Copyright © 2006 John Wiley & Sons, Ltd.     

An Experimental and Theoretical Approach to Optimize a Three-Dimensional Clinostat for Life Science Experiments

Gravity affects all biological systems, and various types of platforms have been developed to mimic microgravity on the Earth’;s surface. A three-dimensional clinostat (3D clinostat) has been constructed to reduce the directionality of gravitation. In this report, we attempted to optimize a 3D clinostat for a life science experiment. Since a 3D clinostat is equipped with two motors, we fixed the angular velocity of one (primary) motor and varied it for the other (secondary) motor. In this condition, each motor ran constantly and continuously in one direction during the experiment. We monitored the direction of the normal vector using a 3D acceleration sensor, and also performed a computer simulation for comparison with the experimental data. To determine the optimal revolution for our life science experiment (i.e., a revolution yielding the strongest effects), we examined the promoter activity of two genes that were reported to be affected by microgravity. We found that the ratio of velocity of 4:1.8 (0.55) was optimal for our biological system. Our results indicate that changes of the revolutions of a 3D clinostat have a direct impact on the result and furthermore that the revolutions of the two motors have to be separately adjusted in order to guarantee an optimal simulation of microgravity.     

Disclosing the Role of Defect-Engineered Metal–Organic Frameworks in Mixed Matrix Membranes for Efficient CO2 Separation: A Joint Experimental-Computational Exploration

Incorporation of defects in metal–organic frameworks (MOFs) offers new opportunities for manipulating their microporosity and functionalities. The so-called “defect engineering” has great potential to tailor the mass transport properties in MOF/polymer mixed matrix membranes (MMMs) for challenging separation applications, for example, CO₂ capture. This study first investigates the impact of MOF defects on the membrane properties of the resultant MOF/polymer MMMs for CO₂ separation. Highly porous defect-engineered UiO-66 nanoparticles are successfully synthesized and incorporated into a CO₂-philic crosslinked poly(ethylene glycol) diacrylate (PEGDA) matrix. A thorough joint experimental/simulation characterization reveals that defect-engineered UiO-66/PEGDA MMMs exhibit nearly identical filler–matrix interfacial properties regardless of the defect concentrations of their parental UiO-66 filler. In addition, non-equilibrium molecular dynamics simulations in tandem with gas transport studies disclose that the defects in MOFs provide the MMMs with ultrafast transport pathways mainly governed by diffusivity selectivity. Ultimately, MMMs containing the most defective UiO-66 show the most enhanced CO₂/N₂ separation performance—CO₂ permeability = 470 Barrer (four times higher than pure PEGDA) and maintains CO₂/N₂ selectivity = 41—which overcomes the trade-off limitation in pure polymers. The results emphasize that defect engineering in MOFs would mark a new milestone for the future development of optimized MMMs.     

Identifying coronary stenosis using an image-recognition neuralnetwork

The present study represents an attempt to improve the separation of specific high-risk coronary stenosis from lower-risk conditions by employing an image-recognition neural network. The system mimics the visual reading of scintigraphs from raw digitized data, with the added benefit of a computerized classification system. It models the human retina as the sensing organ that processes the image signals and forwards them to the brain, where the outputs from each visual segment are processed to produce a recognition code. In the application described here, the recognition code classifies a scintigraphic image as demonstrating normal myocardial perfusion, or a perfusion pattern consistent with single-vessel, multiple-vessel, or left-anterior descending coronary artery stenosis. The input images are from clinically performed postexercise planar myocardial perfusion scintigraphs as produced in many clinical laboratories     

Highly Efficient Nonvolatile Magnetization Switching and Multi-Level States by Current in Single Van der Waals Topological Ferromagnet Fe3GeTe2

Robust multi-level spin memory with the ability to write information electrically is a long-sought capability in spintronics, with great promise for applications. Here, nonvolatile and highly energy-efficient magnetization switching is achieved in a single-material device formed of van-der-Waals (vdW) topological ferromagnet Fe₃GeTe₂, whose magnetic information can be readily controlled by a tiny current. Furthermore, the switching current density and power dissipation are about 400 and 4000 times smaller than those of the existing spin-orbit-torque magnetic random access memory based on conventional magnet/heavy-metal systems. Most importantly, multi-level states, switched by electrical current are also demonstrated, which can dramatically enhance the information capacity density and reduce computing costs. Thus, the observations combine both high energy efficiency and large information capacity density in one device, showcasing the potential applications of the emerging field of vdW magnets in the field of spin memory and spintronics.     

Real-time humanoid whole-body remote control framework for imitating human motion based on kinematic mapping and motion constraints

In this paper, we propose a whole-body remote control framework that enables a robot to imitate human motion efficiently. The framework is divided into kinematic mapping and quadratic programming based whole-body inverse kinematics. In the kinematic mapping, the human motion obtained through a data acquisition device is transformed into a reference motion that is suitable for the robot to follow. To address differences in the kinematic configuration and dynamic properties of the robot and human, quadratic programming is used to calculate the joint angles of the robot considering self-collision, joint limits, and dynamic stability. To address dynamic stability, we use constraints based on the divergent component of motion and zero moment point in the linear inverted pendulum model. Simulation using Choreonoid and a locomotion experiment using the HUBO2+ demonstrate the performance of the proposed framework. The proposed framework has the potential to reduce the preview time or offline task computation time found in previous approaches and hence improve the similarity of human and robot motion while maintaining stability.     

Monolithic implementation of air-filled rectangular coaxial line

An air-filled rectangular coaxial line has been monolithically fabricated. Coaxial line is a suitable structure for reducing the coupling between two close transmission lines. Over the measurement range (from 4 to 38 GHz), the fabricated coaxial line has very low attenuation (<0.08 dB/mm) and low return loss (<-33 dB). The isolation between the two close lines separated by 40 μm is below -43 dB with 1 mm coupling length     

Amorphous Mn oxide-ordered mesoporous carbon hybrids as a high performance electrode material for supercapacitors

A supercapacitor has the advantages of both the conventional capacitors and the rechargeable batteries. Mn oxide is generally recognized one of the potential materials that can be used for a supercapacitor, but its low conductivity is a limiting factor for electrode materials. In this study, a hybrid of amorphous Mn oxide (AMO) and ordered mesoporous carbon (OMC) was prepared and characterized using X-ray diffraction, transmission electron microscopy, N2/77 K sorption techniques, and electrochemical analyses. The findings indicate that the electrochemical activities of Mn oxide were facilitated when it was in the hybrid state because OMC acted as a pathway for both the electrolyte ions and the electrons due to the characteristics of the ordered mesoporous structure. The ordered mesoporous structure of OMC was well maintained even after hybridization with amorphous Mn oxide. The electrochemical-activity tests revealed that the AMO/OMC hybrid had a higher specific capacitance and conductivity than pure Mn oxide. In the case where the Mn/C weight ratio was 0.75, the composite showed a high capacitance of 153 F/g, which was much higher than that for pure Mn oxide, due to the structural effects of OMC.