Dynamic Walking of a Legged Robot in Underwater Environments.

In this research, the dynamic walking of a legged robot in underwater environments is proposed. For this goal, the underwater zero moment point (Uzmp) is proposed in order to generate the trajectory of the centre of the mass of the robot. Also, the underwater zero moment point auxiliary (Uzmp aux.) is employed to stabilize the balance of the robot before it undergoes any external perturbations. The concept demonstration of a legged robot with hydraulic actuators is developed. Moreover, the control that was used is described and the hydrodynamic variables of the robot are determined. The results demonstrate the validity of the concepts that are proposed in this article, and the dynamic walking of the legged robot in an underwater environment is successfully demonstrated.

Ultrasonic velocity assay of extracellular invertase in living yeasts.

The use of a low-intensity ultrasonic technique (noninvasive, nondestructive, on-line, and able to assess opaque samples) to monitor the kinetics of invertase hydrolysis is presented. Adiabatic compressibility has been shown to be sensitive to sugar species: ultrasonic velocity increasing as saccharose is transformed into glucose and fructose. The influence of initial sucrose mass concentration (2-60%), temperature (25-55 degrees C), pH (3.5-6.5), and number of microorganisms (10(5)-10(9) yeasts/ml) on the reaction rate, catalyzed by the extracellular invertases of intact Saccharomyces cerevisiae cells, has been measured. The results were proven to be in strict agreement with the optimal kinetic parameters of the enzyme. Ultrasonic velocity variations are explained in terms of changes of the solute concentrations in the mixture water-saccharose-glucose/fructose and calculated from the velocity of ultrasound in the corresponding pure sugar solutions. A linear relationship between the initial rate of ultrasonic velocity and the number of yeasts (enzymes) is pointed out.

Electro-acoustical characterization procedure for cMUTs.

A procedure for the electro-acoustical characterization in air of cMUTs is reported. First, the measured input electrical impedance of the transducer is used to calculate the transducer parameters at different bias voltages by fitting it with the Mason model. Then, the single membrane equivalent circuit can be calculated. Second, the cMUT impulse response is obtained through a send-and-receive experiment to be compared with the one predicted by the Mason model. In order to minimize the influence of the emitter in the obtained impulse response an ad hoc broadband piezoelectric transducer centered at the resonant frequency of the cMUT was fabricated. Using this transducer, no deconvolution of the impulse response of the emitter in the cMUT reception pulse is necessary. The procedure is tested for two cMUTs with silicon-rich nitride as structural layer and different membrane diameters (60 and 70 microm).