We are developing a general quadrupedal locomotion controller by using a neural model involving a CPG (Central Pattern Generator) utilizing normal ground reaction force (leg loading) sensory feedback for both rolling motion (posture) and gait (rhythmic motion) control. In this abstract, we report the results of experiments using a quadruped robot “Kotetsu” in order to verify the results of our ...

The structures of the reaction products are the basis for novel polymerase assays using the atomic force microscope (AFM). Polymerases are the enzymes involved in transcription and replication of DNA. Rapid semiquantitative estimates of the activity of DNA polymerases such as Sequenase, Taq polymerase, and AMV reverse transcriptase and RNA polymerases (RNAP) such as Escherichia coli RNAP were o...

This paper presents a framework for optimizing both the shape and the motion of a planar rigid end-effector to satisfy a desired manipulation task. We frame this design problem as a nonlinear optimization program, where shape and motion are decision variables represented as splines. The task is represented as a series of constraints, along with a fitness metric, which force the solution to be c...

In multi-stand cold rolling mills an accurate synchronization of the mill drives is necessary for a good product quality and for a safe process operation. During the standard commissioning procedure the control performance of each drive is optimized individually. However, in normal operation mode the performance is then not always optimal due to the coupling of the drives by the strip being rol...

As NASA’s exploration missions on planetary terrains become more aggressive, a focus on alternative modes of locomotion for rovers is necessary. In addition to climbing steep slopes, the terrain in these extreme environments is often unknown and can be extremely hard to traverse, increasing the likelihood of a vehicle or robot becoming damaged or immobilized. The conventional driving mode in wh...

By theoretically analyzing dynamic behavior of the crankshaft, the rolling piston and the blade inrolling-piston rotary compressors, constraint forces and sliding speed at each pair of movable machine elements were obtained, and unbalanced inertia forces and compressor vibrations were evaluated. It was concluded that theoretical results have a goodagreement with experimental ones. Moreover, it ...

Abstract The friction force on a circular object rolling without sliding down an inclined plane is due to static friction. If the commences in mode at top of incline, and if incline angle small, then small additional arises reduce speed contact point zero sufficiently long. While sliding, total equal plus force. effect described theoretically supported by measurements linear angular velocities ...

Developing artificial neural network (ANN), a model to make a correct prediction of required force and torque in ring rolling process is developed for the first time. Moreover, an optimal state of process for specific range of input parameters is obtained using Genetic Algorithm (GA) and Particle Swarm Optimization (PSO) methods. Radii of main roll and mandrel, rotational speed of main roll, pr...

Lubricant is vital to improve energy efficiency and workpiece durability for the moving counterpart. High-temperature lubricants are important hot rolling process reduce force protect roller strips. The current paper concerns eco-friendly sodium metasilicate as a high-temperature lubricant. A mill employed evaluate lubrication effect of metasilicate. influence crucial factors concentration lubr...