Stability and smoothness improvements for an underactuated biped with a tail

In this work we present an important improvement in our model of biped mechanism that allows the elevation in a stable form of the system's feet during the execution of trajectories. This improvement allows for simpler trajectory planning and also facilitates the reduction of losses in the collision between the feet and the ground. On the other hand, we add to the design phase the study of the displacement of the Zero Moment Point, as well as the variation of the normal component of the ground reaction force during the motion of the system. Consideration of the above mentioned magnitudes in the design phase allows us to design the necessary support area of the system. These magnitudes will be used as a smoothness criterion of the ground contact to facilitate the selection of robot parameters and trajectories.

The IUE INES System: Improved data extraction procedures for IUE

We present the extraction and processing of the IUE Low Dispersion spectra within the framework of the ESA “IUE Newly Extracted Spectra” (INES) System. Weak points of SWET, the optimal extraction implementation to produce the NEWSIPS output products (extracted spectra) are discussed, and the procedures implemented in INES to solve these problems are outlined. The more relevant modifications are: 1) the use of a new noise model, 2) a more accurate representation of the spatial profile of the spectrum and 3) a more reliable determination of the background. The INES extraction also includes a correction for the contamination by solar light in long wavelength spectra. Examples showing the improvements obtained in INES with respect to SWET are described. Finally, the linearity and repeatability characteristics of INES data are evaluated and the validity of the errors provided in the extraction is discussed.