Titre: Control of a Robot Dinosaur Auteur:Papantoniou, V.; Avlakiotis, P. Sujet:Medicine ; Sciences (General) ; Biology; Description:
The Palaiomation Consortium, supported by the European Commission, is building a robot Iguanodon atherfieldensis for museum display that is much more sophisticated than existing animatronic exhibits. The current half-size (2.5 m) prototype is fully autonomous, carrying its own computer and batteries. It walks around the room, choosing its own path and avoiding obstacles. A bigger version with a larger repertoire of behaviours is planned. Many design problems have had to be overcome. A real dinosaur would have had hundreds of muscles, and we have had to devise means of achieving life-like movement with a much smaller number of motors; we have limited ourselves to 20, to keep the control problems manageable. Realistic stance requires a narrower trackway and a higher centre of mass than in previous (often spider-like) legged robots, making it more difficult to maintain stability. Other important differences from previous walking robots are that the forelegs have to be shorter than the hind, and the machinery has had to be designed to fit inside a realistically shaped body shell. Battery life is about one hour, but to achieve this we have had to design the robot to have very low power consumption. Currently, this limits it to unrealistically slow movement. The control system includes a high-level instructions processor, a gait generator, a motion-coordination generator, and a kinematic model.
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Philosophical Transactions: Biological Sciences, 29 May 1999, Vol.354(1385), pp.863-868
Titre: Physico‐chemical Characteristics of Thermopylae Natural Hot Water Springs in Central Greece: Chemical Geothermometry Auteur:Verros, G. D.; Latsos, T.; Anagnostou, K. E.; Avlakiotis, P.; Chaikalis, C.; Liolios, C.; Antoniou, D.; Kotsopoulos, S.; Arsenos, P. Sujet:Atomic, Molecular, and Optical Physics Description:
In this work, the temperature of the subsurface reservoir in the Thermopylae natural hot water springs in Central Greece is estimated using chemical geothermometry. For this purpose, a novel computational methodology is proposed. This methodology is based on the selection of the minerals which might be in equilibrium with the subsurface water in the reservoir. The selection of minerals is achieved by comparing for a given tempearture the well established equilibrium constants of various minerals with the estimated values from the water chemical analysis. Finally, an optimization techique was applied to estimate the optimal temperature of the water in the reservoir by minimizing the deviation from equilibrium. The estimated temperature for the Thermopylae reservoir was in satisfactory agreement with experimental findings from geological exploration.
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Computation In Modern Science And Engineering: Proceedings of the International Conference on Computational Methods in Science and Engineering 2007 (Iccmse 2007): Volume 2, Parts A and B, Corfu (Greece) (25–30 September 2007):
- AIP Conference Proceedings, 26 December 2007, Vol.963(2), pp.412-415
978-0-7354-0478-6 (ISBN); 0094-243X (ISSN); 1551-7616 (E-ISSN); 10.1063/1.2836100 (DOI)