Preloaded hopping with linear multi-modal actuation

For more dexterous and agile legged robot locomotion, alternative actuation has been one of the most long-awaited technologies. The goal of this paper is to investigate the use of newly developed actuator, the so-called Linear Multi-Modal Actuator (LMMA), in the context of legged robot locomotion, and analyze the behavioral performance of it. The LMMA consists of three discrete couplings which enable the system to switch between different mechanical dynamics such as instantaneous switches between series elastic and fully actuated dynamics. To test this actuator for legged locomotion, this paper introduces a one-legged robot platform we developed to implement the actuator, and explains a novel control strategy for hopping, i.e. 'preloaded hopping control'. This control strategy takes advantage of the coupling mechanism of the LMMA to preload the series elasticity during the flight phase to improve the energy efficiency of hopping locomotion. This paper shows a series of experimental results that compare the control strategy with a simple sinusoidal actuation strategy to discuss the benefits and challenges of the proposed approach. © 2013 IEEE.

Change of the dominant luminescent mechanism with increasing current density in molecularly doped organic light-emitting devices

We have fabricated and measured a series of electroluminescent devices with the structure of ITO/TPD/Eu(TTA)(3)phen (x):CBP/BCP/ ALQ/LiF/Al, where x is the weight percentage of Eu(TTA)3phen (from 0% to 6%). At very low current density, carrier trapping is the dominant luminescent mechanism and the 4% doped device shows the highest electroluminescence (EL) efficiency among all these devices. With increasing current density, Forster energy transfer participates in EL process. At the current density of 10.0 and 80.0mA/ cm(2), 2% and 3% doped devices show the highest EL efficiency, respectively. From analysis of the EL spectra and the EL efficiency-current density characteristics, we found that the EL efficiency is manipulated by Forster energy transfer efficiency at high current density. So we suggest that the dominant luminescent mechanism changes gradually from carrier trapping to Forster energy transfer with increasing current density. Moreover, the conversion of dominant EL mechanism was suspected to be partly responsible for the EL efficiency roll-off because of the lower EL quantum efficiency of Forster energy transfer compared with carrier trapping.

Graft chain propagation rate coefficients of acrylic acid in melt graft copolymerization with linear low density polyethylene

Graft chain propagation rate coefficients (k(p.g)) for grafting AA onto linear low density polyethylene (LLDPE) in the melt in ESR tubes have been measured via Fourier transform infrared (FTIR) spectroscopy and electron spin resonance (ESR) spectroscopy in the temperature range from 130 to 170 degrees C. To exclude the effect of homopolymerization on the grafting. the LLDPE was pre-irradiated in the air by electron beam to generate the peroxides and then treated with iodide solution to eliminating one kind of peroxides, hydroperoxide. The monomer conversion is determined by FTIR and the chain propagation free-radical concentration is deduced from the double integration of the well-resolved ESR spectra, consisting nine lines in the melt. The temperature dependence of k(p.g) is expressed:The magnitude of k(p.g) from FTIR and ESR analysis is in good agreement with the theoretical data deduced from ethylene-AA copolymerization, suggesting this method could reliably and directly provide the propagation rate coefficient. The comparison of k(p.g) with the data extrapolated from solution polymerization at modest temperature indicates that the extrapolated data might not be entirely fitting to discuss the kinetics behavior in the melt.

Rossby waves with linear topography in barotropic fluids

Rossby waves are the most important waves in the atmosphere and ocean, and are parts of a large-scale system in fluid. The theory and observation show that, they satisfy quasi-geostrophic and quasi-static equilibrium approximations. In this paper, solitary Rossby waves induced by linear topography in barotropic fluids with a shear flow are studied. In order to simplify the problem, the topography is taken as a linear function of latitude variable y, then employing a weakly nonlinear method and a perturbation method, a KdV (Korteweg-de Vries) equation describing evolution of the amplitude of solitary Rossby waves induced by linear topography is derived. The results show that the variation of linear topography can induce the solitary Rossby waves in barotropic fluids with a shear flow, and extend the classical geophysical theory of fluid dynamics.

Quantum homogenization for continuous variables: Realization with linear optical elements

Recently Ziman et al. [Phys. Rev. A 65, 042105 (2002)] have introduced a concept of a universal quantum homogenizer which is a quantum machine that takes as input a given (system) qubit initially in an arbitrary state rho and a set of N reservoir qubits initially prepared in the state xi. The homogenizer realizes, in the limit sense, the transformation such that at the output each qubit is in an arbitrarily small neighborhood of the state xi irrespective of the initial states of the system and the reservoir qubits. In this paper we generalize the concept of quantum homogenization for qudits, that is, for d-dimensional quantum systems. We prove that the partial-swap operation induces a contractive map with the fixed point which is the original state of the reservoir. We propose an optical realization of the quantum homogenization for Gaussian states. We prove that an incoming state of a photon field is homogenized in an array of beam splitters. Using Simon's criterion, we study entanglement between outgoing beams from beam splitters. We derive an inseparability condition for a pair of output beams as a function of the degree of squeezing in input beams.

On the generation of metal clusters with the electrochemical scanning tunneling microscope

In the present work we consider two aspects of the deposition of metal clusters on an electrode surface. The formation of such clusters with the tip of a scanning tunneling microscope is simulated by atom dynamics. Subsequently the stability of these clusters is investigated by Monte Carlo simulations in a grand-canonical ensemble. In particular, the following systems were considered explicitly: Pd clusters on Au(111), Cu on Au(111), Ag on Au(111), Pb on Au(111) and Cu on Ag(111). The analysis of the results obtained for the different systems leads to the conclusion that optimal systems for nanostructuring are those where the metals participating have similar cohesive energies and negative heats of alloy formation. In this respect, the system Cu-Pd(111) is predicted as a good candidate for the formation of stable clusters. (c) 2005 Elsevier B.V. All rights reserved.

Room Temperature, Electrochemical Generation of Ozone with 50% Current Efficiency in 0.5M Sulfuric Acid at Cell Voltages <3V.

The electrochemical generation of ozone by Ni/Sb-SnO2 anodes immersed in 0.5M H2SO4 was assessed in both flow and recycle systems using the same electrochemical cell. The anodes were found to exhibit current efficiencies of up to 50% for ozone generation under flow conditions at room temperature, with an optimum mole ratio in the precursor solutions of ca. 500:8:3 Sn:Sb:Ni and optimum cell voltage of 2.7V. A comparison of the data obtained under flow and recycle conditions suggests that the presence of ozone in the anolyte inhibits its formation. The minimum electrical energy cost achieved, of 18 kWh kg1 compares favorably with estimated costs for Cold Corona Discharge generally reported in the literature, especially when the very significant advantages of electrochemical ozone generation are taken into account.

Patch antenna with linear polarisation tilt control

The design of a linearly-polarised agile antenna is presented. The antenna is fed by a quasi-lumped coupler which has the ability to tune the magnitude ratio between its two outputs from -30 dB to 15 dB by modifying the bias of two varactor diodes. In this way the relative power fed to each orthogonal port of a patch antenna can be varied. Consequently, tilt control of the radiated linearly-polarised waves is achieved over a range of 90 degrees.

Relativistic breather-type solitary waves with linear polarization in cold plasmas

Linearly polarized solitary waves, arising from the interaction of an intense laser pulse with a plasma, are investigated. Localized structures, in the form of exact numerical nonlinear solutions of the one-dimensional Maxwell-fluid model for a cold plasma with fixed ions, are presented. Unlike stationary circularly polarized solitary waves, the linear polarization gives rise to a breather-type behavior and a periodic exchange of electromagnetic energy and electron kinetic energy at twice the frequency of the wave. A numerical method based on a finite-differences scheme allows us to compute a branch of solutions within the frequency range Ωmin<Ω<ωpe, where ωpe and Ωmin are the electron plasma frequency and the frequency value for which the plasma density vanishes locally, respectively. A detailed description of the spatiotemporal structure of the waves and their main properties as a function of Ω is presented. Small-amplitude oscillations appearing in the tail of the solitary waves, a consequence of the linear polarization and harmonic excitation, are explained with the aid of the Akhiezer-Polovin system. Direct numerical simulations of the Maxwell-fluid model show that these solitary waves propagate without change for a long time.

Antiepileptika bei Frauen im gebärfähigen Alter und in der Schwangerschaft : Vergleich der Fachinformationen in Deutschland und der Schweiz mit dem aktuellen Wissensstand [Antiepileptics in women of childbearing age and during pregnancy : Comparison of specialized information with the current state of knowledge in Germany and Switzerland].

BACKGROUND: Healthcare professionals regularly read the summary of product characteristics (SmPC) as one of the various sources of information on the risks of drug use in women of childbearing age and during pregnancy. The aim of this article is to present an overview of the teratogenic potential of various antiepileptic drugs and to compare these data with the information provided by the SmPCs. METHODS: A literature search on the teratogenic risks of 19 antiepileptic agents was conducted and the results were compared with the information on the use in women of childbearing age and during pregnancy provided by the SmPCs of 38 commercial products available in Switzerland and Germany. RESULTS: The teratogenic risk is discussed in all available SmPCs. Quantification of the risk for birth defects and the numbers of documented pregnancies are mostly missing. Reproductive safety information in SmPCs showed poor concordance with risk levels reported in the literature. Recommendations concerning the need to monitor plasma levels and possibly perform dose adjustments during pregnancy to prevent treatment failure were missing in five Swiss and two German SmPCs. DISCUSSION: The information regarding use in women of childbearing age and during pregnancy provided by the SmPCs is heterogeneous and poorly reflects the current state of knowledge. Regular updates of SmPCs are warranted in order for these documents to be of reliable use for health care professionals.

Chemical Modification of Blends of Poly (Vinyl Chloride) With Linear Low Density Polyethylene

The effects of modifying blends of poly(vinyl chloride) (PVC) with linear low density polyethylene (LLDPE) by means of acrylic acid, maleic anhydride, phenolic resins and p-phenylene diamine were investigated. Modification by acrylic acid and maleic anhydride in the presence of dicumyl peroxide was found to be the most useful procedure for improving the mechanical behaviour and adhesion properties of the blend. The improvement was found to be due mainly to the grafting of the carboxylic acid to the polymer chains; grafting was found to be more effective in LLDPE/PVC blends than in pure LLDPE.