Biologically inspired joint control for a humanoid robot

The GuRm is a 1.2m tall, 23 degree of freedom humanoid consuucted at the University of Queensland for research into humanoid robotics. The key challenge being addressed by the GuRw projcct is the development of appropriate learning strategies for control and coodinadon of the robot’s many joints. The development of learning strategies is Seen as a way to sidestep the inherent intricacy of modeling a multi-DOP biped robot. This paper outlines the approach taken to generate an appmpria*e control scheme for the joinis of the GuRoo. The paper demonsrrates the determination of local feedback control parameters using a genetic algorithm. The feedback loop is then augmented by a predictive modulator that learns a form of feed-fonward control to overcome the irregular loads experienced at each joint during the gait cycle. The predictive modulator is based on thc CMAC architecture. Results from tats on the GuRoo platform show that both systems provide improvements in stability and tracking of joint control.

Indefinite determiner introducing definite referent: a special use of 'yi 'one' + classifier' in Chinese

The indefinite determiner yi 'one'+ classifier' is the most approximate to an indefinite article, like the English a, in Chinese. It serves all the functions characteristic of representative stages of grammaticalization from a numeral to a generalized indefinite determiner as elaborated in the literature. It is established in this paper that the Chinese indefinite determiner has developed a special use with definite expressions, serving as a backgrounding device marking entities as of low thematic importance and unlikely to receive subsequent mentions in ensuing discourse. 'yi+ classifier' in the special use with definite expressions displays striking similarities in terms of semantic bleaching and phonological reduction with the same determiner at the advanced stage of grammaticalization characterized by uses with generics, nonspecifics and nonreferentials. An explanation is offered in terms of an implicational relation between nonreferentiality and low thematic importance which characterize the two uses of the indefinite determiner. While providing another piece of evidence in support of the claim that semantically nonreferentials and entities of low thematic importance tend to be encoded in terms of same linguistic devices in language, findings in this paper have shown how an indefinite determiner can undergo a higher degree of grammaticalization than has been reported in the literature-it expands its scope to mark not only indefinite but also definite expressions as semantically nonreferential and/or thematically unimportant. (C) 2003 Elsevier B.V. All rights reserved.

Adsorption of carbon tetrachloride on graphitized thermal carbon black and in slit graphitic pores: Five-site versus one-site potential models

The performance of intermolecular potential models on the adsorption of carbon tetrachloride on graphitized thermal carbon black at various temperatures is investigated. This is made possible with the extensive experimental data of Machin and Ross(1), Avgul et al.,(2) and Pierce(3) that cover a wide range of temperatures. The description of all experimental data is only possible with the allowance for the surface mediation. If this were ignored, the grand canonical Monte Carlo (GCMC) simulation results would predict a two-dimensional (2D) transition even at high temperatures, while experimental data shows gradual change in adsorption density with pressure. In general, we find that the intermolecular interaction has to be reduced by 4% whenever particles are within the first layer close to the surface. We also find that this degree of surface mediation is independent of temperature. To understand the packing of carbon tetrachloride in slit pores, we compared the performance of the potential models that model carbon tetrachloride as either five interaction sites or one site. It was found that the five-site model performs better and describes the imperfect packing in small pores better. This is so because most of the strength of fluid-fluid interaction between two carbon tetrachloride molecules comes from the interactions among chlorine atoms. Methane, although having tetrahedral shape as carbon tetrachloride, can be effectively modeled as a pseudospherical particle because most of the interactions come from carbon-carbon interaction and hydrogen negligibly contributes to this.