Continuous Diffraction Patterns from Circular Arrays of Carbon Nanotubes

We report the remarkable diffraction effects produced from circular patterned arrays of multiwalled carbon nanotubes (MWCNTs). Highly ordered circular arrays of multiwalled carbon nanotubes (with inter-nanotube spacings of 633 nm) display optical dispersion effects similar to compact discs. These arrays display remarkable diffraction patterns in the far field which are spatially continuous. High quality diffraction patterns were obtained experimentally which are in excellent agreement with the theoretical calculations. The achieved continuous diffraction patterns pave the way towards the utilization of engineered carbon nanotube arrays in applications like three dimensional holograms.

Effects of exhaust inlet size on the fluid flow patterns created by an Aaberg exhaust hood

The aim of this paper is to investigate the effects of the size of the exhaust inlet on the fluid flow patterns created by an Aaberg exhaust hood. Streamlines and lines of constant speed modelling those created by an Aaberg hood are used to examine the effect of the inlet size on the size and profile of the hood's effective suction area. © 1992.

Modulation of pain ratings by expectation and uncertainty: Behavioral characteristics and anticipatory neural correlates.

Expectations about the magnitude of impending pain exert a substantial effect on subsequent perception. However, the neural mechanisms that underlie the predictive processes that modulate pain are poorly understood. In a combined behavioral and high-density electrophysiological study we measured anticipatory neural responses to heat stimuli to determine how predictions of pain intensity, and certainty about those predictions, modulate brain activity and subjective pain ratings. Prior to receiving randomized laser heat stimuli at different intensities (low, medium or high) subjects (n=15) viewed cues that either accurately informed them of forthcoming intensity (certain expectation) or not (uncertain expectation). Pain ratings were biased towards prior expectations of either high or low intensity. Anticipatory neural responses increased with expectations of painful vs. non-painful heat intensity, suggesting the presence of neural responses that represent predicted heat stimulus intensity. These anticipatory responses also correlated with the amplitude of the Laser-Evoked Potential (LEP) response to painful stimuli when the intensity was predictable. Source analysis (LORETA) revealed that uncertainty about expected heat intensity involves an anticipatory cortical network commonly associated with attention (left dorsolateral prefrontal, posterior cingulate and bilateral inferior parietal cortices). Relative certainty, however, involves cortical areas previously associated with semantic and prospective memory (left inferior frontal and inferior temporal cortex, and right anterior prefrontal cortex). This suggests that biasing of pain reports and LEPs by expectation involves temporally precise activity in specific cortical networks.

Alternating spatial patterns for coordinated group motion

Motivated by recent observations of fish schools, we study coordinated group motion for individuals with oscillatory speed. Neighbors that have speed oscillations with common frequency, amplitude and average but different phases, move together in alternating spatial patterns, taking turns being towards the front, sides and back of the group. We propose a model and control laws to investigate the connections between these spatial dynamics, communication when sensing is range or direction limited, and convergence of coordinated group motions. ©2007 IEEE.

Exploring the use of sensors to measure behavioral interactions: an experimental evaluation of using hand trajectories.

Humans appear to be sensitive to relative small changes in their surroundings. These changes are often initially perceived as irrelevant, but they can cause significant changes in behavior. However, how exactly people's behavior changes is often hard to quantify. A reliable and valid tool is needed in order to address such a question, ideally measuring an important point of interaction, such as the hand. Wearable-body-sensor systems can be used to obtain valuable, behavioral information. These systems are particularly useful for assessing functional interactions that occur between the endpoints of the upper limbs and our surroundings. A new method is explored that consists of computing hand position using a wearable sensor system and validating it against a gold standard reference measurement (optical tracking device). Initial outcomes related well to the gold standard measurements (r = 0.81) showing an acceptable average root mean square error of 0.09 meters. Subsequently, the use of this approach was further investigated by measuring differences in motor behavior, in response to a changing environment. Three subjects were asked to perform a water pouring task with three slightly different containers. Wavelet analysis was introduced to assess how motor consistency was affected by these small environmental changes. Results showed that the behavioral motor adjustments to a variable environment could be assessed by applying wavelet coherence techniques. Applying these procedures in everyday life, combined with correct research methodologies, can assist in quantifying how environmental changes can cause alterations in our motor behavior.

Bipedal walking and running with spring-like biarticular muscles.

Compliant elements in the leg musculoskeletal system appear to be important not only for running but also for walking in human locomotion as shown in the energetics and kinematics studies of spring-mass model. While the spring-mass model assumes a whole leg as a linear spring, it is still not clear how the compliant elements of muscle-tendon systems behave in a human-like segmented leg structure. This study presents a minimalistic model of compliant leg structure that exploits dynamics of biarticular tension springs. In the proposed bipedal model, each leg consists of three leg segments with passive knee and ankle joints that are constrained by four linear tension springs. We found that biarticular arrangements of the springs that correspond to rectus femoris, biceps femoris and gastrocnemius in human legs provide self-stabilizing characteristics for both walking and running gaits. Through the experiments in simulation and a real-world robotic platform, we show how behavioral characteristics of the proposed model agree with basic patterns of human locomotion including joint kinematics and ground reaction force, which could not be explained in the previous models.

An analysis of electrode patterns in capacitive touch screen panels

In the design of capacitive touch-screen panels, electrodes are patterned to improve touch sensitivity. In this paper, we analyze the relationship between electrode patterns and touch sensitivity. An approach is presented where simulations are used to measure the sensitivity of touch-screen panels based on capacitance changes for various electrode patterns. Touch sensitivity increases when the touch object is positioned in close proximity to fringing electric fields generated by the patterned electrodes. Three new electrode patterns are proposed to maximize field fringing in order to increase touch sensitivity by purely electrode patterning means. Simulations showed an increased touch sensitivity of up to 5.4%, as compared with the more conventional interlocking diamonds pattern. Here, we also report empirical findings for fabricated touch-screen panels. © 2005-2012 IEEE.

Bipedal walking and running with compliant legs

Passive dynamics plays an important role in legged locomotion of the biological systems. The use of passive dynamics provides a number of advantages in legged locomotion such as energy efficiency, self-stabilization against disturbances, and generating gait patterns and behavioral diversity. Inspired from the theoretical and experimental studies in biomechanics, this paper presents a novel bipedal locomotion model for walking and running behavior which uses compliant legs. This model consists of three-segment legs, two servomotors, and four passive joints that are constrained by eight tension springs. The self-organization of two gait patterns (walking and running) is demonstrated in simulation and in a real-world robot. The analysis of joint kinematics and ground reaction force explains how a minimalistic control architecture can exploit the particular leg design for generating different gait patterns. Moreover, it is shown how the proposed model can be extended for controlling locomotion velocity and gait patterns with the simplest control architecture. © 2007 IEEE.

Self-stabilization and behavioral diversity of embodied adaptive locomotion

Locomotion is of fundamental importance in understanding adaptive behavior. In this paper we present two case studies of robot locomotion that demonstrate how higher level of behavioral diversity can be achieved while observing the principle of cheap design. More precisely, it is shown that, by exploiting the dynamics of the system-environment interaction, very simple controllers can be designed which is essential to achieve rapid locomotion. Special consideration must be given to the choice of body materials. We conclude with some speculation about the importance of locomotion for understanding cognition. © Springer-Verlag Berlin Heidelberg 2004.