Locomotion Control of a Compliant Legged Robot from Slow Walking to Fast Running Regular Paper

In this paper, we propose a locomotion control method for a compliant legged robot from slow walking to fast running. We also examine the energy efficiency of the compliant legged robot controlled by the proposed locomotion control method. Experimentally, we obtain the robot running speed of about 4.3m/s with the initial compliant leg length of 0.1m. In addition, we obtain very good energy efficiency. In the best case, the mechanical cost of transport(Cmt), known as an energy efficiency measure, is obtained at about 0.2. Comparing with the other energy efficient robots, our robot exhibits very good energy efficiency. © 2012 Kim et al.; licensee InTech.1

Development of real-time investigation technique for nonpoint pollution source distribution using programming interface

Currently both central and local governments that are aware of the importance of conserving rivers, are making continuous efforts to solve the problem of non-point pollution sources (NPS) flowing into rivers. This study established a reactive web service app with a mobile application, to accommodate the need for systematic and scientific investigation and management of NPS. The developed investigation and management techniques incorporate all the PC-based administrative features, thereby improving development efficiency. A prototype of mobile GIS platform for a survey, inspection, and input was proposed, in which data related to pollution source locations and attributes can be effectively collected, stored, updated, and adjusted. To demonstrate, we conducted a quantitative analysis of river pollution source using GPS and GIS to show further details of the framework, which provides geographic information required to develop management technique of NPS flowing into rivers and related parameters in the form of a map. Furthermore, based on the interpolated maps and various environmental factors, the prediction of NPS as well as other parameters can be done. The research will not only improve the efficiency of investigation and management of NPS but also contribute to establishing a management policy, which covers quick decision-making and reaction to inflow accidents

H2 pressure swing adsorption for IGCC power plant and techno-economic analysis of integrating PSA to IGCC with carbon capture

Carbon capture and sequestration technologies emerge as the effectual remediation processes to reduce CO2 emissions from coal power plants. Integrated gasification combined cycle (IGCC) is a representative technology for utilizing coal as feedstock and is consequently playing a more important role to cover the global energy demand. The IGCC produces H2-rich mixture at high pressures (30-35 bar) after capturing CO2. It is reported that the high purity H2 recovered from the IGCC process can be economically supplied to a hydrogen turbine or fuel cell. And a PSA process is a strong candidate to produce high purity H2 from the IGCC effluent gas. However, due to higher operating pressure than the present H2 PSA processes, reducing the operating costs and efficiency has emerged as one of the key issues. Please click Additional Files below to see the full abstract

Intensified impact of tropical Atlantic SST on the western North Pacific summer climate under a weakened Atlantic thermohaline circulation

The tropical North Atlantic (TNA) sea surface temperature (SST) has been identified as one of regulators on the boreal summer climate over the western North Pacific (WNP), in addition to SSTs in the tropical Pacific and Indian Oceans. The major physical process proposed is that the TNA warming induces a pair of cyclonic circulation anomaly over the eastern Pacific and negative precipitation anomalies over the eastern to central tropical Pacific, which in turn lead to an anticyclonic circulation anomaly over the western to central North Pacific. This study further demonstrates that the modulation of the TNA warming to the WNP summer climate anomaly tends to be intensified under background of the weakened Atlantic thermohaline circulation (THC) by using a water-hosing experiment. The results suggest that the weakened THC induces a decrease in thermocline depth over the TNA region, resulting in the enhanced sensitivity of SST variability to wind anomalies and thus intensification of the interannual variation of TNA SST. Under the weakened THC, the atmospheric responses to the TNA warming are westward shifted, enhancing the anticyclonic circulation and negative precipitation anomaly over the WNP. This study supports the recent finding that the negative phase of the Atlantic multidecadal oscillation after the late 1960s has been favourable for the strengthening of the connection between TNA SST variability and WNP summer climate and has important implications for seasonal prediction and future projection of the WNP summer climate

Laparoscopic Removal of a Broken Sewing Needle in a Patient with Irritative Bladder Symptoms

A foreign body near the bladder is rare. Although foreign bodies in the bladder can be easily found and removed by endoscopic transurethral removal, extravesical foreign bodies may require the use of an open or laparoscopic procedure. Here, we report a case of a patient complaining of frequency and urgency in whom an extravesical sewing needle was successfully removed by a laparoscopic approach. A 4.5 cm rusty sewing needle was found between the bladder and the left external iliac vessels and was removed through a 5 mm trocar port by use of endo forceps with no complications

A Planetary lensing feature in caustic-crossing high-magnification microlensing events

Current microlensing follow-up observations focus on high-magnification events because of the high efficiency of planet detection. However, central perturbations of high-magnification events caused by a planet can also be produced by a very close or a very wide binary companion, and the two kinds of central perturbations are not generally distinguished without time consuming detailed modeling (a planet-binary degeneracy). Hence, it is important to resolve the planet-binary degeneracy that occurs in high-magnification events. In this paper, we investigate caustic-crossing high-magnification events caused by a planet and a wide binary companion. From this study, we find that because of the different magnification excess patterns inside the central caustics induced by the planet and the binary companion, the light curves of the caustic-crossing planetary-lensing events exhibit a feature that is discriminated from those of the caustic-crossing binary-lensing events, and the feature can be used to immediately distinguish between the planetary and binary companions. The planetary-lensing feature appears in the interpeak region between the two peaks of the caustic-crossings. The structure of the interpeak region for the planetary-lensing events is smooth and convex or boxy, whereas the structure for the binary-lensing events is smooth and concave. We also investigate the effect of a finite background source star on the planetary-lensing feature in the caustic-crossing high-magnification events. From this, we find that the convex-shaped interpeak structure appears in a certain range that changes with the mass ratio of the planet to the planet-hosting star.Comment: 14 pages, 4 figures. Accepted for publication in Ap