Velocity control of a 2D dynamic walking robot

In this abstract we introduce velocity control for our 2D dynamic walking robot Dribbel [1] (figure 1) and show that, by ‘closing the loop’, this automatically leads to increased robustness

Geometric dynamics analysis of humanoids - locked inertia

The advantage of geometric dynamics analysis over most classical 3D analysis is that the equations are coordinate- neutral: as long as all quantities are expressed in the same coordinate frame, the equations are correct

The reduction of the critical current in Nb3Sn cables under transverse loads

The degradation of the critical current of impregnated Rutherford type Nb3Sn cables was investigated as a function of the applied transverse load and magnetic field. The cable is made of modified jelly-roll-type strand material and has a keystone angle of 1.0°. The voltage-current characteristics were determined for the magnetic field ranging from 2 to 11 T and transverse pressure up to 250 MPa on the cable surface. It was found that the 48-strand cable, made of strands with six elements in the matrix, showed a larger critical current degradation than the 26-strand cable with 36 elements per strand. The global degradation of the 48-strand cable was 63% at 150 MPa, and 40% at 150 MPa for the 26-strand cable. Microanalysis of the cross-section before and after compression is presented, showing significant permanent damage to the superconducting strands

Astrometric Microlensing Constraints on a Massive Body in the Outer Solar System with Gaia

A body in Solar orbit beyond the Kuiper belt exhibits an annual parallax that exceeds its apparent proper motion by up to many orders of magnitude. Apparent motion of this body along the parallactic ellipse will deflect the angular position of background stars due to astrometric microlensing ("induced parallax"). By synoptically sampling the astrometric position of background stars over the entire sky, constraints on the existence (and basic properties) of a massive nearby body may be inferred. With a simple simulation, we estimate the signal-to-noise for detecting such a body -- as function of mass, heliocentric distance, and ecliptic latitude -- using the anticipated sensitivity and temporal cadences from Gaia (launch 2011). A Jupiter-mass (M_Jup) object at 2000 AU is detectable by Gaia over the whole sky above 5-sigma, with even stronger constraints if it lies near the ecliptic plane. Hypotheses for the mass (~3M_Jup), distance (~20,000 AU) and location of the proposed perturber ("Planet X") which gives rise to long-period comets may be testable.Comment: 17 pages, 6 figures. Figures revised, new figure added, minor text revisions. Accepted to ApJ, to appear in the Dec 10, 2005 issue (v635

WHAM Observations of H-alpha Emission from High Velocity Clouds in the M, A, and C Complexes

The first observations of the recently completed Wisconsin H-Alpha Mapper (WHAM) facility include a study of emission lines from high velocity clouds in the M, A, and C complexes, with most of the observations on the M I cloud. We present results including clear detections of H-alpha emission from all three complexes with intensities ranging from 0.06 R to 0.20 R. In every observed direction where there is significant high velocity H I gas seen in the 21 cm line we have found associated ionized hydrogen emitting the H-alpha line. The velocities of the H-alpha and 21 cm emission are well correlated in every case except one, but the intensities are not correlated. There is some evidence that the ionized gas producing the H-alpha emission envelopes the 21 cm emitting neutral gas but the H-alpha "halo", if present, is not large. If the H-alpha emission arises from the photoionization of the H I clouds, then the implied Lyman continuum flux F_{LC} at the location of the clouds ranges from 1.3 to 4.2 x 10^5 photons cm^{-2} s^{-1}. If, on the other hand, the ionization is due to a shock arising from the collision of the high-velocity gas with an ambient medium in the halo, then the density of the pre-shocked gas can be constrained. We have also detected the [S II] 6716 angstrom line from the M I cloud and have evidence that the [S II] to H-alpha ratio varies with location on the cloud.Comment: 32 pages, 18 figures, to appear in ApJ (Sept. 10, 1998