The walking robot project

A walking robot was designed, analyzed, and tested as an intelligent, mobile, and a terrain adaptive system. The robot's design was an application of existing technologies. The design of the six legs modified and combines well understood mechanisms and was optimized for performance, flexibility, and simplicity. The body design incorporated two tripods for walking stability and ease of turning. The electrical hardware design used modularity and distributed processing to drive the motors. The software design used feedback to coordinate the system and simple keystrokes to give commands. The walking machine can be easily adapted to hostile environments such as high radiation zones and alien terrain. The primary goal of the leg design was to create a leg capable of supporting a robot's body and electrical hardware while walking or performing desired tasks, namely those required for planetary exploration. The leg designers intent was to study the maximum amount of flexibility and maneuverability achievable by the simplest and lightest leg design. The main constraints for the leg design were leg kinematics, ease of assembly, degrees of freedom, number of motors, overall size, and weight

Clumpy Ultracompact HII Regions I: Fully Supersonic Wind-blown Models

We propose that a significant fraction of the ultracompact HII regions found in massive star-forming clouds are the result of the interaction of the wind and ionizing radiation from a young massive star with the clumpy molecular cloud gas in its neighbourhood. Distributed mass loading in the flow allows the compact nebulae to be long-lived. In this paper, we discuss a particularly simple case, in which the flow in the HII region is everywhere supersonic. The line profiles predicted for this model are highly characteristic, for the case of uniform mass loading. We discuss briefly other observational diagnostics of these models.Comment: To appear in Monthly Notices of the Royal Astronomical Society. 5 pages LaTeX (uses mn.sty and epsf.sty macros) + 4 PS figures. Also available via http://axp2.ast.man.ac.uk:8000/Preprints.htm

The metal absorption systems of the Hubble Deep Field South QSO

The Hubble Deep Field South (HDFS) has been recently selected and the observations are planned for October 1998. We present a high resolution (FWHM $\simeq 14$ \kms) spectrum of the quasar J2233--606 ($z_{em}\simeq2.22$) which is located 5.1 arcmin East of the HDFS. The spectrum obtained with the New Technology Telescope redward of the Lyman--$\alpha$ emission line covers the spectral range 4386--8270 \AA. This range corresponds to redshift intervals for CIV and MgII intervening systems of $z=1.83-2.25$ and $z=0.57-1.95$ respectively. The data reveal the presence of two complex intervening CIV systems at redshift $z=1.869$ and $z=1.943$ and two complex associated ($z_{abs} \approx z_{em}$) systems. Other two CIV systems at $z=1.7865$ and $z=2.077$, suggested by the presence of strong Lyman--$\alpha$ lines in low resolution ground based and Hubble Space Telescope (HST) STIS observations (Sealey et al. 1998) have been identified. The system at $z=1.943$ is also responsible for the Lyman limit absorption seen in the HST/STIS spectrum. The main goal of the present work is to provide astronomers interested in the Hubble Deep Field South program with information related to absorbing structures at high redshift, which are distributed along the nearby QSO line of sight. For this purpose, the reduced spectrum, obtained from three hours of integration time, has been released to the astronomical community.Comment: revisited version accepted for publication by Astronomical Journal; minor changes; typographical errors corrected; results and discussion unchange

Responses of Coccidia-Vaccinated Broilers to Essential Oil Blends Supplementation up to Forty-Nine Days of Age

Coccidiosis control may become a greater problem as the use of growth-promoting antibiotics (GPA) and ionophores declines. Vaccination with live oocysts may turn into a popular alternative to the use of coccidiostats in broilers, although cocci vaccination is frequently linked to temporary lower performance in young flocks. This experiment evaluates the dietary supplementation of 2 specific essential oil (EO) blends (Crina Poultry and Crina Alternate), either as alternatives to GPA and ionophores (BMD + Coban) or as feed additives that help to improve the performance of cocci-vaccinated broilers. Live performance and lesion scores were observed. These 2 specific EO blends differ in their efficacy to promote growth. Chickens that were not cocci vaccinated and were fed Crina Poultry had better feed conversion ratio (FCR) than the unmedicated control treatment in the starter period. The same EO improved FCR in cocci-vaccinated birds in the finisher period in comparison to the negative control group, but those responses were not significantly different from other treatments or significant at 49 d of age. No significant differences were observed in lesion scores at 37 d. Diets supplemented with a GPA-ionophore combination consistently supported the best BW gain and FCR in each period and the entire grow-out period. No significant beneficial or deleterious effects on live performance were observed due to these specific EO blends in cocci-vaccinated broilers

3D printing of cement composites

The aims of this study were to investigate the feasibility of generating 3D structures directly in rapid-hardening Portland cement (RHPC) using 3D Printing (3DP) technology. 3DP is a Additive Layer Manufacturing (ALM) process that generates parts directly from CAD in a layer-wise manner. 3D structures were successfully printed using a polyvinylalcohol: RHPC ratio of 3:97 w/w, with print resolutions of better than 1mm. The test components demonstrated the manufacture of features, including off-axis holes, overhangs / undercuts etc that would not be manufacturable using simple mould tools. Samples hardened by 1 day post-build immersion in water at RT offered Modulus of Rupture (MOR) values of up to 0.8±0.1MPa, and, after 26 days immersion in water at RT, offered MOR values of 2.2±0.2MPa, similar to bassanite-based materials more typically used in 3DP (1-3 MPa). Post-curing by water immersion restructured the structure, removing the layering typical of ALM processes, and infilling porosity

Digital control of magnetic bearings supporting a multimass flexible rotor

The characteristics of magnetic bearings used to support a three mass flexible rotor operated at speeds up to 14,000 RPM are discussed. The magnetic components of the bearing are of a type reported in the literature previously, but the earlier analog controls were replaced by digital ones. Analog-to-digital and digital-to-analog converters and digital control software were installed in an AT&T PC. This PC-based digital controller was used to operate one of the magnetic bearings on the test rig. Basic proportional-derivative control was applied to the bearings, and the bearing stiffness and damping characteristics were evaluated. Particular attention is paid to the frequency dependent behavior of the stiffness and damping properties, and comparisons are made between the actual controllers and ideal proportional-derivative control