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Many biped robots deploy a form of gait that follows the zero moment point (ZMP) approach, that is, the robot is in a stable position at any point in time. This requires the robot to be fully actuated. While very stable, the draw-backs of this approach are a fairly slow gait and high energy consumption. An alternative approach is the so-called passive-dynamic walking, where the gait makes use of the inertia and dynamic stability of the robot. In this paper we describe our ongoing work of combining the principles of passive-dynamic walking on the fully-actuated biped robot Nao, which is also deployed for robotic soccer applications. We present a simple controller that allows the robot to stably rock sidewards, showing a closed limit-cycle. We discuss first results of superimposing a forward motion on the sidewards motion. Based on this we expect to endow the Nao with a fast, robust, and stable passive-dynamic walk on the fully-actuated Nao in the future.
Chemische Sensoren mit Bariumstrontiumtitanat als funktionelle Schicht zur Multiparameterdetektion
(2013)
An application of a scanning light-addressable potentiometric sensor for label-free DNA detection
(2013)
Wing weight estimation methodology for highly non-planar lifting systems during conceptual design
(2013)
Optical coherence tomography : a potential tool to predict premature rupture of fetal membranes
(2013)
Size unlimited markerless deletions by a transconjugative plasmid-system in Bacillus licheniformis
(2013)
The response of Bacillus licheniformis to heat and ethanol stress and the role of the SigB regulon
(2013)
Architecture for platform- and hardware-independent mesh networks : how to unify the channels
(2013)
This paper will prove that mesh networks among different platforms and hardware channels can help to channel valuable information even if public telecommunication infrastructure is not available due to arbitrary reasons. Therefore, results of a simulation for mesh networks on mass events will be provided, followed by the developed architecture and an outlook on future research. The developed architecture is currently being implemented and field tested on mass events.
Our world is well ordered in measurement and number : or why natural constants are as they are
(2013)
All the important natural constants can be logically explained with and derived from the first four ordinal numbers, 1, 2, 3 and 4, its addition to ten and finally the standard values for obviously maximal feasibility Ω and the optimum in our world, the Golden Section (GS), i.e. the number sequences 273 and 618. They both are the first three numbers of irrational results by an arithmetical transformation of simple geometrical relationships by creating multiplicity out of singularity. Both of them show that the infinite is inherent in finiteness and explain in a simple way the smallest deviations and fluctuations between the physical AS-IS state and the obvious spiritual ideal behind: Wherever we look in this world, and especially in important key-positions, we regularly find these sequences. All of the above mentioned numbers so seem to be key players in our world, what can be demonstrated by the derivation of natural constants.
Digitale Mobilfunksysteme
(2013)
Introduction of RePriCo’13
(2013)
The chemical imaging sensor is a device to visualize the spatial distribution of chemical species based on the principle of LAPS (light-addressable potentiometric sensor), which is a field-effect chemical sensor based on semiconductor. In this study, the chemical imaging sensor has been applied to investigate the ion profile of laminar flows in a microfluidic channel. The chemical images (pH maps) were collected in a Y-shaped microfluidic channel while injecting HCl and NaCl solutions into two branches. From the chemical images, it was clearly observed that the injected solutions formed laminar flows in the channel. In addition, ion diffusion across the laminar flows was observed, and the diffusion coefficient could be derived by fitting the pH profiles to the Fick's equation.
The concept of an injective affine embedding of the quantum states into a set of classical states, i.e., into the set of the probability measures on some measurable space, as well as its relation to statistically complete observables is revisited, and its limitation in view of a classical reformulation of the statistical scheme of quantum mechanics is discussed. In particular, on the basis of a theorem concerning a non-denseness property of a set of coexistent effects, it is shown that an injective classical embedding of the quantum states cannot be supplemented by an at least approximate classical description of the quantum mechanical effects. As an alternative approach, the concept of quasi-probability representations of quantum mechanics is considered.
"To assess the habitability of the icy environments in the solar system, for example, on Mars, Europa, and Enceladus, the scientific analysis of material embedded in or underneath their ice layers is very important. We consider self-steering robotic ice melting probes to be the best method to cleanly access these environments, that is, in compliance with planetary protection standards. The required technologies are currently developed and tested."