Simulation model of general human and humanoid motion

In the last decade we have witnessed a rapid growth of Humanoid Robotics, which has already constituted an autonomous research field. Humanoid robots (or simply humanoids) are expected in all situations of humans’ everyday life, “living” and cooperating with us. They will work in services, in homes, and hospitals, and they are even expected to get involved in sports. Hence, they will have to be capable of doing diverse kinds of tasks. This forces the researchers to develop an appropriate mathematical model to support simulation, design, and control of these systems. Another important fact is that today’s, and especially tomorrow’s, humanoid robots will be more and more humanlike in their shape and behavior. A dynamic model developed for an advanced humanoid robot may become a very useful tool for the dynamic analysis of human motion in different tasks (walking, running and jumping, manipulation, various sports, etc.). So, we derive a general model and talk about a human-and-humanoid simulation system. The basic idea is to start from a human/humanoid considered as a free spatial system (“flier”). Particular problems (walking, jumping, etc.) are then considered as different contact tasks – interaction between the flier and various objects (being either single bodies or separate dynamic systems).     

Dynamic range of coherent analog fiber-optic links

We investigate the performance of coherent analog optical links employing amplitude modulation (AM), phase modulation (PM), and frequency modulation (FM). The performance of these coherent links is compared to that of AM direct-detection (DD) links. The signal-to-noise ratios, nonlinearities, and-spurious-free dynamic ranges (SFDR's) of the foregoing links are evaluated. We calculate the SFDR for links using DFB and Nd:YAG lasers with typical linewidths of 10 MHz and 5 kHz, respectively. The performance of PM and FM links is dominated by phase noise above a critical value of received optical power. For a linewidth of 10 MHz, and SFDR's of PM and FM links are 30 and 31 dB, respectively, for a received optical power above -27 dBm in a 1 GHz bandwidth. For a linewidth of 5 kHz, the corresponding SFDR's above a received power level of 0 dBm are 51 and 53 dB. The performance of DD and AM links is dominated by RIN above a critical value of received optical power. For a RIN level of -155 dB/Hz, the SFDR's of DD and AM links are 49 and 47 dB, respectively, for a received optical power of 10 dBm in a 1 GHz bandwidth. The SFDR's of the DD and coherent links used for transmission of subcarrier-multiplexed (SCM) signals are also derived. We evaluate target laser parameters needed by a number of different applications. For AM video and antenna remoting applications, linewidths of <1 and <3 kHz are required to use PM and FM links, respectively. For FM video, linewidths of <150 and <350 MHz are required to use PM and FM links. For SCM digital applications, linewidths of <80 and <200 MHz are required to use PM and FM links. The paper concludes with a discussion of system implementation issues, including linearization, optical frequency modulation, balanced receivers, and IF issues     

Filament-wound composite soft tissue prostheses:controlling compliance and strength by water absorption and degradation

This paper deals with the effect of water absorption on the mechanical performance of selectively biodegradable filament-wound composite soft tissue prostheses. It shows how the water absorption phenomenon can be utilized as a new concept of material design, in contrast to the current view that associates moisture absorption by composite materials exclusively with damage. Harnessing water absorption to property design of vascular grafts has two advantages. The first is the controlled increase of the compliance of the graft during healing, aiming to reach a final stage of isocompliance with the host artery. The second is the water-induced biodegradation which enables regulation of the mural porosity during healing of an initially impervious graft. Filament-wound composite vascular prostheses comprising partially biodegradable matrices, different compositions and various winding angles are studied. Water absorption and material degradation are expressed in terms of relative weight gain/loss, which in turn is correlated with changes in the compliance and in the ultimate strength of the grafts.     

Compact and localized distributed data structures

This survey concerns the role of data structures for compactly storing and representing various types of information in a localized and distributed fashion. Traditional approaches to data representation are based on global data structures, which require access to the entire structure even if the sought information involves only a small and local set of entities. In contrast, localized data representation schemes are based on breaking the information into small local pieces, or labels , selected in a way that allows one to infer information regarding a small set of entities directly from their labels, without using any additional (global) information. The survey concentrates mainly on combinatorial and algorithmic techniques, such as adjacency and distance labeling schemes and interval schemes for routing, and covers complexity results on various applications, focusing on compact localized schemes for message routing in communication networks.Received: August 2001, Accepted: May 2002, Supported in part by a grant from the Israel Science Foundation.     

Evaluation of RU28318 and RU40555 as selective mineralocorticoid receptor and glucocorticoid receptor antagonists, respectively: receptor measures and functional studies

BACKGROUND: Australia has a high rate of cardiovascular disease mortality and also a significant proportion of migrants. Little is known about the morbidity experience or cardiovascular risk factors among the larger migrant groups, and this is especially true of the Arabic-speaking population. OBJECTIVES: The objectives of the study were to identify the health profile of Arabic-speaking people in Sydney, Australia, to explore the relationship between level of acculturation and health indicators and to identify the morbidity profile of patients presenting to Arabic-speaking general practitioners (GPs). DESIGN: Adult Arabic-speaking patients aged 18-70 years attending 20 Arabic-speaking GPs in Canterbury, Sydney, during the 2-week study period were asked to complete a self-administered questionnaire in Arabic or English while waiting to see the GP. Data on cardiovascular risk factors, level of acculturation and reasons for seeing the GP were collected. RESULTS: Data were collected from 851 patients (62% response rate). Almost three-quarters (73%) of males and 36% of females were considered overweight or obese (body mass index > 25). Of concern, 37% of males and 28% of females were smokers. Females were significantly less likely to have been tested for diabetes (p < .05) or raised blood pressure (p < 0.05) compared with females in NSW. Respondents consumed less bread per day and more fruits than in NSW overall. Respiratory complaints (flu and colds) were the most frequently reported reasons for patient encounters. Except for the youngest age group, males gave more reasons for encounters than females. CONCLUSIONS: Consecutive sampling of ethnic patients attending a GP who speaks their language holds promise as a method of needs assessment with migrant populations. Further, our results suggest that smoking and weight reduction programs are priorities in the Arabic-speaking community. These risk factors are ideal for intervention by GPs speaking the same language.     

Expressing the equivalence of non‐isothermal and isothermal heat sterilization processes

Currently, the sterility of heat‐processed food and pharmaceuticals is assessed in terms of an F₀ value, based on the equivalence of the heat treatment to an isothermal process at a reference temperature. This F₀ value, however, has a meaning if, and only if, the inactivation kinetics of the targeted spores (or cells) follow a first‐order relationship and the temperature dependence of the D value, the reciprocal of the rate constant, is log‐linear. There is growing evidence that these conditions are not satisfied by many spores, including those of Clostridium botulinum and vegetative cells. Consequently, a replacement for the F₀ value is proposed in the form of a momentary equivalent time at the reference temperature based on the actual survival pattern of the spores, which need not be log‐linear. This equivalent time can be calculated together with the theoretical survival ratio in real time, thus enabling an operator to monitor the lethality of ongoing industrial heat processes. The concept is demonstrated with published survival data of C. botulinum, for which the Weibullian and log‐logistic models served as primary and secondary models, respectively. The safety factor according to the proposed method is in the number of added minutes of processing, beyond the theoretical time needed to reduce the survival ratio of the targeted spores or cells to a level that would produce practical (or commercial) sterility. Copyright © 2006 Society of Chemical Industry     

On the use of the WLF model in polymers and foods.

The validity of the WLF model with fixed "universal" coefficients was tested against that of the model original form with variable coefficients using published coefficients of polymers and amorphous sugars crystallization and viscosity data. The disagreement between the two versions of the model is particularly large at temperature ranges starting about 20 to 30 degrees K above the glass transition or reference temperature, excluding the former from being a model of general applicability. Because the WLF model mathematical structure entails the existence of an almost linear region near the reference temperature, establishment of its validity as a kinetic model and meaningful determination of its constants requires data spread over an extended temperature range, especially when the experimental results have a scatter.     

Interfacial tension measurement between immiscible polymers: improved deformed drop retraction method

This paper describes an improvement of the technique to measure interfacial tension in immiscible polymer blends. Our method is based on the droplet retraction method, in which one relates the kinetics of relaxation of a deformed droplet to the interfacial tension between the matrix and droplet. Previously, the problem with this technique has been the difficulty in preparing axisymmetric ellipsoidal droplets. In our work, we demonstrate that perfect axisymmetric ellipsoidal droplets are produced at a later stage of relaxation of short imbedded fibers. With this technique, we utilize the strengths of both the deformed droplet method and the imbedded fiber retraction method while overcoming their shortcomings. The interfacial tension value thus obtained was compared to that by conventional methods. Additionally, the effect of confinement by external walls on the interfacial tension measurement was studied. Confinement affects interfacial tension measurement when the gap between the walls is less than two times the equilibrium drop size.