ABSTRACT
We report on the development of a software program named iQuant2 which creates visual images from two-dimensional signal intensity data obtained by a laser ablation-ICP-mass spectrometry (LA-ICPMS) technique. Time-resolved signal intensity profiles can be converted to position resolved signal intensity data based on the rastering rate (µm s-1) of the laser ablation. Background signal intensities obtained without laser ablation (gas blank) are used as the background, and all of the blank-subtracted intensity data can be used for the imaging analysis. With this software, deformation of the created image can be corrected visually on a PC screen. The line profile analysis between the user-selected points can be observed using the iQuant2 software. To accomplish this, data points on the profile line were automatically calculated based on the interpolation between the analysis points. The resulting imaging data can be exported and stored as JPEG, BMP or PNG formats for further processing. Moreover, a semi-quantitative analysis can be made based on the coupling of the external correction of the RSF (relative sensitivity factor) using NIST SRM610 with normalization of the corrected signal intensity data being 100%. The calculated abundance data for major elements are in reasonable agreement with the values obtained by electron probe micro analyzer (EPMA). With the software developed in this study, both the rapid imaging and semi-quantitative determinations can be made.
ABSTRACT
This paper describes a walking stabilization control for a biped humanoid robot with narrow feet. Most humanoid robots have larger feet than human beings to maintain their stability during walking. If robot's feet are as narrow as humans, it is difficult to realize a stable walk by using conventional stabilization controls. The proposed control modifies a foot placement according to the robot's attitude angle. If a robot tends to fall down, a foot angle is modified about the roll axis so that a swing foot contacts the ground horizontally. And a foot-landing point is also changed laterally to inhibit the robot from falling to the outside. To reduce a foot-landing impact, a virtual compliance control is applied to the vertical axis and the roll and pitch axes of the foot. Verification of the proposed method is conducted through experiments with a biped humanoid robot WABIAN-2R. WABIAN-2R realized a knee-bended walking with 30 mm breadth feet. Moreover, WABIAN-2R mounted on a human-like foot mechanism mimicking a human's foot arch structure realized a stable walking with the knee-stretched, heel-contact, and toe-off motion.
