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With 3D (3-dimensional) movement's ability and rhythmic locomotion mode, a nature snake makes itself survive in rugged terrains. The rhythmic activities of most creatures are generated by the CPG (Central Pattern Generator). Based on this fact, the sustained-type neuron has been adopted to construct a cyclic inhibitory CPG model for a snake-like robot whose joints are perpendicularly connected in series. Having compared with the sustained-type neuron and the mutual inhibitory CPG, the cyclic inhibitory CPG was proven to generate capably rhythmic output with the least number of differential equations. In this paper, we introduce the neuron network organized by the cyclic inhibitory CPGs connected in line with unilateral excitation to control the 3D locomotion of a snake-like robot, and present the necessary condition for the CPG neuron network to sustain a rhythmic output. By implementing this control architecture to a simulator with consideration of mechanical dynamics of a real snake-like robot "Perambulator", preliminary parameter setting of the CPG neuron network for its 3D locomotion is obtained. Moreover, it is shown that "Perambulator" can successfully exhibit 3D locomotion by using the output of the proposed CPG network. The obtained results have also provided a bran new approach to understand the unknown neuron network of nature snakes.
The author discusses the problem of n-dimensional (nD) structure diffraction tomography using nD plane waves as the excitation. It provides algorithms in the frequency and spatial domains for diffraction tomographic imaging of a rotating nD object for an arbitrary but fixed transmitter-receiver arrangement. Conventional 2D and 3D structure diffraction tomographies are its special cases. The algorithms presented here are valid for general transforms, including Born and Rytov transforms.
The exchange anisotropy in NiFe/NiMn bilayers was studied by using the planar Hall effect. The sputtered NiFe/NiMn films were patterned into strips of 1 mm in length and 200 μm in width and with six terminals for anisotropy magnetoresistance and planar Hall voltage measurements by a photolithographic process. It is shown that the planar Hall effect is an effective method to characterize the exchange anisotropy in ferromagnetic/antiferromagnetic (AF) systems. It can be used to accurately determine the exchange field and describe the magnetization reversal processes. The effective uniaxial anisotropy field HK eff, the effective unidirectional anisotropy field Hud, and AF domain wall energy Hw can be obtained by fitting the experimental results. We found that in the NiFe/NiMn bilayer system, the parameters HK eff, Hud, and Hw have the same values in reversible and irreversible measurements, and the domain wall energy in AF layer is larger than interfacial unidirectional anisotropy.
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