Pub Date : 2012-01-01DOI: 10.1142/S0219843612500193
Jean-Christophe Palyart Lamarche, O. Bruneau, J. Fontaine
This paper describes a methodology translating human spatial coordination in a humanoid robots context. Once the human locomotion is captured, we highlight coordination relations describing motions. Relations and inverse kinematics are applied to a virtual humanoid, which is a tradeo® between human (anthropomorphic proportions) and robot (joints con ̄guration). Further, we quantify all required adaptations for a real humanoid, such as scaling and equilibrium. Finally, this methodology is applied to a speci ̄c humanoid robot (called NAO) in order to illustrate and compare some preliminary results.
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An analysis of the origin and passivation of interface states in (100)Si/SiOx/HfO2/TiN capacitor structures is presented. For high-k gate/metal gate capacitors which exhibit relatively high interface state densities (> 1x1011cm-2) the dominant interfacial defects are silicon dangling bond (Pbo) centres. For (100)Si/SiOx/HfO2/TiN capacitors which experience no high temperature thermal budget following HfO2/TiN gate formation (T<600{degree sign}C), the devices exhibit instabilities, where the interface state densities are modified during electrical measurements. The origin of this instability is studied. The response of the interface state density to rapid thermal annealing (30s) in N2 over the temperature range 600-900{degree sign}C is presented. In addition, results are presented for interface state passivation in forming gas (0.5H2/0.95N2) from 350-550{degree sign}C for (100)Si/SiOx/HfO2/TiN gate stacks with no post deposition annealing following TiN gate formation and for devices following a 900{degree sign}C, 30s N2 RTA.
{"title":"Electrically Active Interface Defects in the (100)Si/SiOx/HfO2/TiN System: Origin, Instabilities and Passivation","authors":"P. Hurley, K. Cherkaoui, A. Groenland","doi":"10.1149/1.2355702","DOIUrl":"https://doi.org/10.1149/1.2355702","url":null,"abstract":"An analysis of the origin and passivation of interface states in (100)Si/SiOx/HfO2/TiN capacitor structures is presented. For high-k gate/metal gate capacitors which exhibit relatively high interface state densities (> 1x1011cm-2) the dominant interfacial defects are silicon dangling bond (Pbo) centres. For (100)Si/SiOx/HfO2/TiN capacitors which experience no high temperature thermal budget following HfO2/TiN gate formation (T<600{degree sign}C), the devices exhibit instabilities, where the interface state densities are modified during electrical measurements. The origin of this instability is studied. The response of the interface state density to rapid thermal annealing (30s) in N2 over the temperature range 600-900{degree sign}C is presented. In addition, results are presented for interface state passivation in forming gas (0.5H2/0.95N2) from 350-550{degree sign}C for (100)Si/SiOx/HfO2/TiN gate stacks with no post deposition annealing following TiN gate formation and for devices following a 900{degree sign}C, 30s N2 RTA.","PeriodicalId":50319,"journal":{"name":"International Journal of Humanoid Robotics","volume":"1 1","pages":""},"PeriodicalIF":1.5,"publicationDate":"2006-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1149/1.2355702","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"64096871","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2004-03-01DOI: 10.1142/S0219843604000071
R. Bischoff, V. Graefe
A large number of functionalities have been integrated into a single fully autonomous humanoid robot, HERMES. To evaluate the dependability of this extremely complex machine, and its ability to interact with strangers, HERMES was exhibited in a museum, far away from its home laboratory, for more than six months. During this period the robot and its skills were regularly demonstrated to the public by non-expert presenters up to 12 hours per day. Also, HERMES interacted with the visitors, chatted with them in English, French and German, answered questions and performed services as requested by them. Only three major failures occurred during the 6-month period, all of them caused by failures of commercially available modules that could easily be replaced. The key to this success was the dependability that had been originally designed into HERMES. During the design process certain design principles were followed in both hardware and software. These principles are introduced, and some long- and short-term experiments carried out with the real robot in real environments are presented. In fact, by demonstrating HERMES in the museum, at trade fairs and in TV studios — besides our institute environment — we have learned valuable lessons, especially regarding the interaction of a complex robotic assistant with unknown humans. Although we did not quantitatively evaluate the robot’s performance or acceptance by the non-expert users, several qualitative results are given in this paper, and many videos highlighting these results can be downloaded from the HERMES homepage.
{"title":"Design Principles for Dependable Robotic Assistants","authors":"R. Bischoff, V. Graefe","doi":"10.1142/S0219843604000071","DOIUrl":"https://doi.org/10.1142/S0219843604000071","url":null,"abstract":"A large number of functionalities have been integrated into a single fully autonomous humanoid robot, HERMES. To evaluate the dependability of this extremely complex machine, and its ability to interact with strangers, HERMES was exhibited in a museum, far away from its home laboratory, for more than six months. During this period the robot and its skills were regularly demonstrated to the public by non-expert presenters up to 12 hours per day. Also, HERMES interacted with the visitors, chatted with them in English, French and German, answered questions and performed services as requested by them. Only three major failures occurred during the 6-month period, all of them caused by failures of commercially available modules that could easily be replaced. The key to this success was the dependability that had been originally designed into HERMES. During the design process certain design principles were followed in both hardware and software. These principles are introduced, and some long- and short-term experiments carried out with the real robot in real environments are presented. In fact, by demonstrating HERMES in the museum, at trade fairs and in TV studios — besides our institute environment — we have learned valuable lessons, especially regarding the interaction of a complex robotic assistant with unknown humans. Although we did not quantitatively evaluate the robot’s performance or acceptance by the non-expert users, several qualitative results are given in this paper, and many videos highlighting these results can be downloaded from the HERMES homepage.","PeriodicalId":50319,"journal":{"name":"International Journal of Humanoid Robotics","volume":"1 1","pages":"95-125"},"PeriodicalIF":1.5,"publicationDate":"2004-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1142/S0219843604000071","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"63928479","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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