Problem statement: In snake robot research, one of the most efficient forms of locomotion is the lateral undulation. However, lateral undulation, also known as serpentine locomotion, is illsuited for narrow spaces, as the body of the snake must assume a certain amount of curvature to propel forward. Approach: To overcome the inability to adapt to narrow spaces, a novel type of a gait was introd...

Colloidal suspensions of buoyancy neutral particles flowing in circular pipes focus into narrow distributions near the wall due to lateral migration effects associated with fluid inertia. In curving flows, these distributions are altered by Dean currents and the interplay between Reynolds and Dean numbers is used to predict equilibrium positions. Here, we propose a new description of inertial l...

*Prepared in the Program Division, B u reau of Employment Security. D U R I N G 1946, employers subject to State unemployment insurance laws were taxed at an estimated average rate of 1.4 percent of taxable pay rolls (table l ) 1 —the lowest average rate since the first year of the program (1936) when the Federal tax rate was only 1 percent. The 1.4percent revenue rate is expected to yield $828...

The restriction of Pipe, a potential glycosaminoglycan-modifying enzyme, to ventral follicle cells of the egg chamber is essential for dorsoventral axis formation in the Drosophila embryo. pipe repression depends on the TGFalpha-like ligand Gurken, which activates the Drosophila EGF receptor in dorsal follicle cells. An analysis of Raf mutant clones shows that EGF signalling is required cell-au...

Several literatures presented automated systems for detecting or classifying sewer pipe defects based on morphological features of pipe defects. In those automated systems, however, the morphologies of the darker center or some uncertain objects on CCTV images are also segmented and become noises while morphology-based pipe defect segmentation is implemented. In this paper, the morphology-based...

CRA-lined pipelines, i.e. pipes with an inner pipe of a corrosion resistant alloy inside of a ferritic steel pipe carrying the hoop stress, pose a challenge to inspect with conventional in-line inspection technologies. Existing UT technology is not able to inspect through the interface of a CRA and a ferritic steel component. Additionally, current MFL technology is not able to sufficiently magn...

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To evolve structured programs we introduce H-PIPE, a hierarchical extension of Probabilistic Incremental Program Evolution (PIPE). Structure is induced by \hierarchi-cal instructions" (HIs) limited to top-level, structuring program parts. \Skip nodes" (SNs) allow for switching program parts on and oo. They facilitate synthesis of certain structured programs. In our experiments H-PIPE outperform...