When balancing, a humanoid robot can be easily subjected to unexpected disturbances like external pushes. In these circumstances, reactive movements as steps become a necessary requirement in order to avoid potentially harmful falling states. In this paper we conceive a Model Predictive Controller which determines a desired set of contact wrenches by predicting the future evolution of the robot...

We report a convenient method to create a three-dimensional micro-rotational fluidic platform for biological applications in the direction of a vertical plane (out-of-plane) without contact in an open space. Unlike our previous complex fluidic manipulation system, this method uses a micro-rotational flow generated near a single orifice when the solution is pushed from the orifice by using a sin...

A linear pole-placement technique is presented for magnetic momentum removal of Earth-pointing spacecraft. First probed are the twomost commonly used momentum removal schemes, linear and bang-bangH £ B schemes (whereH is the excess angularmomentumvector andB is the geomagneticŽ eld vector), bothbased on a comparison between a constant disturbance torque and an averaged magnetic control torque a...

Over the last decade microfluidics has created a versatile platform that has significantly advanced the ways in which micro-scale organisms and objects are controlled, processed and investigated, by improving the cost, compactness and throughput aspects of analysis. Microfluidics has also expanded into optics to create reconfigurable and flexible optical devices such as reconfigurable lenses, l...

A major challenge in fluidic assembly is the dynamically programmable fabrication of arbitrary geometries from basic components. Current approaches require predetermination of either the assembly machinery or the component interfaces for the specific target geometries. We present an alternative concept that exploits self-assembly forces locally but directs these forces globally, allowing fabric...

Fluidic chevrons use injected air near the trailing edge of a nozzle to emulate mixing and jet noise reduction characteristics of mechanical chevrons. While previous investigations of “first generation” fluidic chevron nozzles showed only marginal improvements in effective perceived noise levels when compared to nozzles without injection, significant improvements in noise reduction characterist...

Recently, the polymeric micro-fluidic biochip, often called LOC (lab-on-a-chip), has been focused as a cheap, rapid and simplified method to replace the existing biochemical laboratory works. It becomes possible to form miniaturized lab functionalities on a chip with the development of MEMS technologies. The micro-fluidic chips contain many micro-channels for the flow of sample and reagents, mi...

In this study, we investigated a fluidic system that adheres to new concepts of energy production. To improve efficiency, cost, and ease of manufacture, a millimetrically scaled device that employs a droplet-based co-axial fluidic system was devised to complete alkali-catalyzed transesterification for biodiesel production. The large surface-to-volume ratio of the droplet-based system, and the i...

Micro-spiral inductor dedicated to microbeads manipulation in a fluidic channel had been optimized by analytical modelling correlated to multi physics fem numerical Maxwell®3D L software. Main advantage of the analytical model described below is time analysis calculus decrease of and the capability offered to optimize geometrical and electrical parameters of the inductor. First experimental res...

In the recent works either the obstacle avoidance of robot in the 2-D unconstrained environment or the wall following behavior of mobile robot in constrained motion has been discussed. In some of them target alignment behavior has been discussed. Also the integration of some but not sufficient behaviors have been discussed in some research works. But all of the behaviors have not yet been integ...