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Asymptotic stability of dynamic bipedal gait with constraint on impact posture

Asymptotic stability of dynamic bipedal gait with constraint...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Fumihiko Asano Zhi-Wei Luo RIKEN Bio-Mimetic Control Research Center Nagoya Japan Department of Computer Science and Systems Engineering Graduate School of Engineering Kobe University Japan

This paper studies the efficiency and asymptotic stability of a dynamic bipedal gait with a constraint on the impact posture. First, we generate a gait by using tracking control to achieve the desired trajectory of the hip-joint angle, and show that there is a trade-off between efficiency and robustness through a numerical simulation. Second, we investigate the asymptotic stability of the gait from the mechanical energy balance viewpoint, and discuss the importance of the control input properties. Furthermore, we point out that there is a feedback in mechanical energy in the discrete walking system, and it is difficult to detect a stable 2-period gait.

关键词： Asymptotic stability Torso Mechanical energy Legged locomotion Limit-cycles Feedback Leg Equations Robot kinematics Robotics and automation

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Synthesis and electrical characteristic of P-type ZnO film on indium-tin-oxide glass substrate by ultrasonic spray pyrolysis

Synthesis and electrical characteristic of P-type ZnO film o...

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IEEE International Nanoelectronics Conference (INEC)

作者： Jing Chen Wei Lei Chi Li Xiaobing Zhang Xiaowei Sun Bo Ling Disply Research and Development Center School of Elctrpnic Science and Engineering South-East University Nanjing China School of Electrical and Computer Engineering Nanyang Technological University Singapore

This paper has present a transparent diode device fabricated by p and n type ZnO films using ultrasonic spray pyrolysis (USP) method. The ammonia is added to the solution to provide the N-source and the P type ZnO can be obtained. I-V curve for the transparent diode can be measured and the turn-on voltage of the diode device is 2.3V.

关键词： Nanoelectronics Conferences

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Program efficiency relying on channel conditions at NOR-type flash memory device based on silicon-on-insulator (SOI)

Program efficiency relying on channel conditions at NOR-type...

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IEEE Conference on Electron Devices and Solid-State Circuits

作者： Seongjae Cho Il Han Park Jung Hoon Lee Jong Duk Lee Byung-Gook Park Inter-university Semiconductor Research Center (ISRC) and School of Electrical Engineering and Computer Science Seoul National University Seoul South Korea

Various types of flash memory devices are fabricated on silicon-on-insulator (SOI) substrate for efficient isolation and higher program efficiency nowadays. Since metal-oxide-semiconductor field effect transistors (MOSFETs) on SOI has a floating body and corresponding effects, it is quite difficult to predict the program efficiency of SOI-based NOR-type flash memory device making use of channel hot electron injection (CHEI) mechanism in program operation. The program efficiency is hard to control by back substrate bias unlike bulk silicon-based memory device, either. In this work, the dependence of program efficiency for SOI-based NOR-type flash memory device on channel conditions with regard to SOI thickness and channel doping concentration is thoroughly investigated by numerical simulation.

关键词： Flash memory Silicon on insulator technology Substrate hot electron injection Doping Channel hot electron injection Tunneling Nonvolatile memory Computational modeling FETs MOSFETs

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Vertical channel double split-gate (VCDSG) flash memory

Vertical channel double split-gate (VCDSG) flash memory

引用

IEEE Silicon Nanoelectronics Workshop (SNW)

作者： Jang-Gn Yun Il Han Park Jung Hoon Lee Se-Hwan Park Yoon Kim Dong Hua Lee Seongjae Cho Doo-Hyun Kim Gil Sung Lee Won Bo Sim Jong-Duk Lee Byung-Gook Park Inter-University Semiconductor Research Center (ISRC) and School of Electrical Engineering and Computer Science Seoul National University Seoul Republic of Korea

ISBN: (纸本)9781424420711

A novel vertical channel double split-gate (VCDSG) flash memory is investigated. As well as the single-level operation, this device is especially useful for the multi-level cell (MLC) to operate as a 4-bit/cell. Operation and fabrication issues related with the 3-dimensional cell structure are addressed. For high density integration, simple contact array scheme is proposed.

关键词： Split gate flash memory cells Flash memory Interference Fabrication SONOS devices Dielectrics Gas insulated transmission lines computer science Character generation Nonvolatile memory

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Interplay of surface plasmon enhancement, absorption, and emission in Au/silica/dye nanoparticles

Interplay of surface plasmon enhancement, absorption, and em...

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Plasmonics and Metamaterials, META_PLAS 2008

作者： Belgrave, A.M. Zhu, G. Noginova, N. Gavrilenko, V.I. Herz, E. Wiesner, U. Bakker, R. Drachev, V.P. Shalaev, V.M. Podolskiy, V.A. Noginov, M.A. Center for Materials Research Norfolk State University Norfolk VA 23504 United States Materials Science and Engineering Department Cornell University Ithaca NY 14850 United States School of Electrical and Computer Engineering Birck Nanotechnology Center Purdue University West Lafayette IN 47907 United States Department of Physics Oregon State University Corvallis OR 97331 United States

We have synthesized and studied hybrid Au/silica/dye nanoparticles. We have demonstrated that the reduction of the thickness of the silica shell separating gold and dye causes the reduction of nanoparticles' absor... 详细信息

ISBN: (纸本)9781557528612

关键词： Silica

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CDMA slotted ALOHA system with successive interference cancellation for inter-vehicle communications

CDMA slotted ALOHA system with successive interference cance...

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2008 IEEE 10th International Symposium on Spread Spectrum Techniques and Applications, ISSSTA2008

作者： Sakata, Atsunori Yamazato, Takaya Okada, Hiraku Katayama, Masaaki Department of Electrical Engineering and Computer Science Graduate School of Engineering Nagoya University Furo-cho Chikusa-ku Nagoya 464-8603 Japan EcoTopia Science Institute Nagoya University Furo-cho Chikusa-ku Nagoya 464-8603 Japan Center for Transdisciplinary Research Niigata University 8050 Ikarashi 2-no-cho Niigata-shi 950-2181 Japan

ISBN: (纸本)9781424422043

This paper compares the throughput performance of orthogonal frequency division multiple access (OFDM) and multicarrier CDMA (MC-CDMA) in inter-vehicle communications (IVC). In particular, we compare the throughputs in a situation where hidden terminals are no longer negligible. We encounter the situation in an intersection where two or more cars are crossing by. Due to the hidden terminal degradation, poor throughput performance is obtained with OFDM scheme. On the other hand, MC-CDMA has a resistance to the hidden terminals as it can support simultaneous packets. However, the transmission data rate is much slow because of the spreading. Thus the total throughput may not be as high as the OFDM. As results, we show that throughput of the OFDM is better than the MC-CDMA in a low traffic region. We found that the OFDM can communicate only with the nearest car. On the contrary, when the traffic is high, the MC-CDMA shows better throughput than the OFDM. In addition, we show that many packets can be received simultaneously in MC-CDMA. These results lead to the conclusion that when we want high-speed communication to a few cars, the OFDM is a good candidate. And when low speed but simultaneous communication with many surrounding cars is our desire, then the MC-CDMA is our choice. As MC-CDMA has a compatibility with an OFDM by setting a spreading factor to one, MC-CDMA system may be the preferable choice for IVC. © 2008 IEEE.

关键词： Throughput

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Pseudo virtual passive dynamic walking and effect of upper body as counterweight

Pseudo virtual passive dynamic walking and effect of upper b...

引用

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Fumihiko Asano Zhi-Wei Luo RIKEN Bio Mimetic Control Research Center Nagoya Japan Department of Computer Science and Systems Engineering Graduate School of Engineering Kobe University Kobe Japan

ISBN: (纸本)9781424420575

This paper investigates the effect of an upper body on efficient dynamic bipedal walking utilizing its natural dynamics. We introduce an upper body as a one-link torso and add it to a simple biped model by means of a bisecting hip mechanism (BHM). We first mathematically analyze the effect of the upper body with the BHM as a counterweight and discuss how it affects natural swinging motion of the swing leg. Second, we propose a simple method for generating efficient dynamic bipedal gait imitating the property of virtual passive dynamic walking, and numerically analyze the gait efficiency. Simulation results show that the walking system exhibits period-doubling bifurcation, and we discuss how the efficiency changes in the multiple-period gait.

关键词： Legged locomotion Robots Mechanical energy Leg Hip Torso Joints

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The Third International Conference on human-robot interaction

The Third International Conference on human-robot interactio...

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作者： Fong, Terry Dautenhahn, Kerstin Scheutz, Matthias Demiris, Yiannis Intelligent Robotics Group NASA Ames Research Center Department of Artificial Intelligence School of Computer Science University of Herfordshire Herfordshire United Kingdom Adaptive Systems Research Group University of Herfordshire Herfordshire United Kingdom Department of Cognitive Science Computer Science and Informatics Cognitive Science Program Indiana University Bloomington IN United States Intelligent Robotics Team Department of Electrical Engineering Imperial College London London United Kingdom

The third international conference on Human-Robot Interaction (HRI-2008) was held in Amsterdam, The Netherlands, March 12-15, 2008. The theme of HRI-2008, "living with robots," highlights the importance of the technical and social issues underlying human-robot interaction with companion and assistive robots for long-term use in everyday life and work activities. More than 250 researchers, practitioners, and exhibitors attended the conference, and many more contributed to the conference as authors or reviewers. HRI-2009 will be held in San Diego, California, from March 11-13, 2009. Copyright © 2008, Association for the Advancement of Artificial Intelligence. All rights reserved.

关键词： Human robot interaction

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Computational nanomechanics and thermal transport in nanotubes and nanowires

Computational nanomechanics and thermal transport in nanotub...

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作者： Srivastava, Deepak Makeev, Maxim A. Menon, Madhu Osman, Mohamed Advanced Aerospace Materials and Devices Group UARC NASA Ames Research Center Moffett Field CA 94035-1000 United States Department of Physics Center for Computational Sciences University of Kentucky Lexington KY 40506 United States School of Electrical Engineering and Computer Science Washington State University Pullman WA 99164-2752 United States

Representative results of computer simulation and/or modeling studies of the nanomechanical and thermal transport properties of an individual carbon nanotube, silicon nanowire, and silicon carbide nanowire systems have been reviewed and compared with available experimental observations. The investigated nanomechanical properties include different elastic moduli of carbon nanotubes, silicon nanowires, and silicon carbide nanowires, all obtained within their elastic limits. Moreover, atomistic mechanisms of elastic to plastic transition under external stresses and yielding of carbon nanotubes under experimentally feasible temperature and strain rate conditions are discussed in detail. The simulation and/or modeling results on thermal properties, presented in this work, include vibrational modes, thermal conductivity and heat pulse transport through single carbon nanotubes, and thermal conductivity of silicon nanowires. Copyright © 2008 American Scientific Publishers All rights reserved.

关键词： Carbon nanotubes

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Evaluation of Si wire waveguide fabricated by parallel plate RIE process using double layered EB resist containing C60

Evaluation of Si wire waveguide fabricated by parallel plate...

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2008 International Nano-Optoelectronics Workshop, iNOW 2008 in Cooperation With International Global-COE Summer school (Photonics Integration-Core Electronics: PICE) and 31st International Symposium on Optical Communications

作者： Inoue, Keita Nishiyama, Nobuhiko Enomoto, Haruki Tamura, Shigeo Maruyama, Takeo Arai, Shigehisa Dept. of Electrical and Electronic Engineering Tokyo Institute of Technology Meguro-ku Tokyo 152-8552 Japan Technical Department Tokyo Institute of Technology Meguro-ku Tokyo 152-8552 Japan Quantum Nanoelectronics Research Center Tokyo Institute of Technology Meguro-ku Tokyo 152-8552 Japan School of Electrical and Computer Engineering College of Science and Engineering Kanazawa University Kakuma-machi Kanazawa Ishikawa 920-1192 Japan

ISBN: (纸本)9781424426560

By applying a double layered EB resist containing C60, we could form fine vertical shaped rectangular wire waveguide on silicon on insurator (SOl) by parallel plate reactive-ion-etching (RIE). The propagation loss single-mode Si wire waveguide for TE mode was obtained to be 4.5 dB/cm at 1550 nm, which is the lowest value those fabricated by parallel plate RIE. ©2008 IEEE.

关键词： Reactive ion etching

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