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Controlling a lamprey-based robot with an electronic nervous system
A Westphal,J Ayers,N.F. Rulkov,D Brady,M Hunt 국제구조공학회 2011 Smart Structures and Systems, An International Jou Vol.8 No.1
We are developing a biomimetic robot based on the Sea Lamprey. The robot consists of a cylindrical electronics bay propelled by an undulatory body axis. Shape memory alloy (SMA) actuators generate propagating flexion waves in five undulatory segments of a polyurethane strip. The behavior of the robot is controlled by an electronic nervous system (ENS) composed of networks of discrete-time map-based neurons and synapses that execute on a digital signal processing chip. Motor neuron action potentials gate power transistors that apply current to the SMA actuators. The ENS consists of a set of segmental central pattern generators (CPGs), modulated by layered command and coordinating neuron networks, that integrate input from exteroceptive sensors including a compass, accelerometers, inclinometers and a short baseline sonar array (SBA). The CPGs instantiate the 3-element hemi-segmental network model established from physiological studies. Anterior and posterior propagating pathways between CPGs mediate intersegmental coordination to generate flexion waves for forward and backward swimming. The command network mediates layered exteroceptive reflexes for homing, primary orientation, and impediment compensation. The SBA allows homing on a sonar beacon by indicating deviations in azimuth and inclination. Inclinometers actuate a bending segment between the hull and undulator to allow climb and dive. Accelerometers can distinguish collisions from impediment to allow compensatory reflexes. Modulatory commands mediate speed control and turning. A SBA communications interface is being developed to allow supervised reactive autonomy.
Controlling a lamprey-based robot with an electronic nervous system
Westphal, A.,Rulkov, N.F.,Ayers, J.,Brady, D.,Hunt, M. Techno-Press 2011 Smart Structures and Systems, An International Jou Vol.8 No.1
We are developing a biomimetic robot based on the Sea Lamprey. The robot consists of a cylindrical electronics bay propelled by an undulatory body axis. Shape memory alloy (SMA) actuators generate propagating flexion waves in five undulatory segments of a polyurethane strip. The behavior of the robot is controlled by an electronic nervous system (ENS) composed of networks of discrete-time map-based neurons and synapses that execute on a digital signal processing chip. Motor neuron action potentials gate power transistors that apply current to the SMA actuators. The ENS consists of a set of segmental central pattern generators (CPGs), modulated by layered command and coordinating neuron networks, that integrate input from exteroceptive sensors including a compass, accelerometers, inclinometers and a short baseline sonar array (SBA). The CPGs instantiate the 3-element hemi-segmental network model established from physiological studies. Anterior and posterior propagating pathways between CPGs mediate intersegmental coordination to generate flexion waves for forward and backward swimming. The command network mediates layered exteroceptive reflexes for homing, primary orientation, and impediment compensation. The SBA allows homing on a sonar beacon by indicating deviations in azimuth and inclination. Inclinometers actuate a bending segment between the hull and undulator to allow climb and dive. Accelerometers can distinguish collisions from impediment to allow compensatory reflexes. Modulatory commands mediate speed control and turning. A SBA communications interface is being developed to allow supervised reactive autonomy.
Westphal, Brian,Tolman, David,Tolman, Kevin,Frank, Steven,Herrmann, Steve,Warmann, Stephen,Marsden, Kenneth,Patterson, Michael Korean Radioactive Waste Society 2020 방사성폐기물학회지 Vol.18 No.2
An options study was performed for the treatment of residual elemental sodium in driver plenums following the chopping operation during the pyroprocessing of used nuclear fuel. Given the pending availability of a multi-function furnace for distillation and consolidation operations in the Fuel Conditioning Facility, the furnace was considered for the processing of driver plenums. Although two options (oxidation and distillation) could be performed in the multi-function furnace, neither option has been developed sufficiently to date to warrant the use of the furnace for treatment operations. Thus, it was decided to defer the treatment of elemental sodium from driver plenums in the multi-function furnace until more developed technologies and/or furnaces become available. In the interim, storage of the plenums and characterization efforts are recommended.
Westphal, Brian R.,Marsden, Kenneth C.,Price, John C.,Laug, David V. Korean Nuclear Society 2008 Nuclear Engineering and Technology Vol.40 No.3
As part of the spent fuel treatment program at the Idaho National Laboratory, a vacuum distillation process is being employed for the recovery of actinide products following an electrorefining process. Separation of the actinide products from a molten salt electrolyte and cadmium is achieved by a batch operation called cathode processing. A cathode processor has been designed and developed to efficiently remove the process chemicals and consolidate the actinide products for further processing. This paper describes the fundamentals of cathode processing, the evolution of the equipment design, the operation and efficiency of the equipment, and recent developments at the cathode processor. In addition, challenges encountered during the processing of irradiated spent nuclear fuel in the cathode processor will be discussed.
BRIAN R. WESTPHAL,KENNETH C. MARSDEN,JOHN C. PRICE,DAVID V. LAUG 한국원자력학회 2008 Nuclear Engineering and Technology Vol.40 No.3
As part of the spent fuel treatment program at the Idaho National Laboratory, a vacuum distillation process is being employed for the recovery of actinide products following an electrorefining process. Separation of the actinide products from a molten salt electrolyte and cadmium is achieved by a batch operation called cathode processing. A cathode processor has been designed and developed to efficiently remove the process chemicals and consolidate the actinide products for further processing. This paper describes the fundamentals of cathode processing, the evolution of the equipment design, the operation and efficiency of the equipment, and recent developments at the cathode processor. In addition, challenges encountered during the processing of irradiated spent nuclear fuel in the cathode processor will be discussed.
Reflections on the Political Economy of Planning: The Case of Korea
Adelman Irma,Westphal Larry E. 연세대학교 동서문제연구소 1973 東西硏究 JOURNAL OF EAST AND WEST STUDIES Vol.2 No.1
The ultimate goal of planning is more efficient resource allocation through improved decision making. In the short and intermediate run, the activity of planning can contribute to this goal by accomplishing two different purposes: It can improve the quality of economic decisions actually made by helping formulate consistent and/or efficient economic policies. Or, it can help improve the attitudes and institutions which enhance the capacity for good decision making. The plan which is good by the first criterion is not necessarily good by the second, and vice-versa.
Phoenix from the Ashes: Dortmund's Cluster Policy and Urban Development Since 2000
Rollinghoff, Stefan,Westphal, Thomas World Technopolis Association 2016 World Technopolis Review Vol.5 No.2
This paper discusses Dortmund's municipal economic development policy, in particular during the period 2000-2010 in the context of the "Dortmund-project", a strategic concept designed at the end of the last millennium. Its core elements and key projects are presented in the following. We draw much attention to the interplay of cluster policy and urban development. In an earlier paper, Becker and Hermann (2013) had discussed some of other important milestones reached in the context of structural change in Dortmund, with a particular focus on the development of the TechnologieZentrum (=Technology Center) and the TechnologiePark (=Technology Park) Dortmund from its beginning in 1984. The "dortmund-project" was not addressed in detail. This present article and their paper are complementing one another.
Phoenix from the Ashes: Dortmund´s Cluster Policy and Urban Development Since 2000
Stefan Röllinghoff,Thomas Westphal 세계과학도시연합 2016 World Technopolis Review Vol.5 No.2
This paper discusses Dortmund’s municipal economic development policy, in particular during the period 2000-2010 in the context of the “Dortmund-project”, a strategic concept designed at the end of the last millennium. Its core elements and key projects are presented in the following. We draw much attention to the interplay of cluster policy and urban development. In an earlier paper, Becker and Hermann (2013) had discussed some of other important milestones reached in the context of structural change in Dortmund, with a particular focus on the development of the TechnologieZentrum (=Technology Center) and the TechnologiePark (=Technology Park) Dortmund from its beginning in 1984. The “dortmund-project” was not addressed in detail. This present article and their paper are complementing one another.