Here are the few specimen entries for the Android Makers
Encyclopedia "E" topics:
...
E .
The following is a WordPerfect "Subdoc" from the printed editions...
ELECTRORHEOLOGICAL FLUIDS:
The reason that this material topic is here is because the
actuating units, "muscles," may be formed using electrorheological fluids. This is assumed to be a pivotal point of research
because without a good, reasonable form of actuation, there basically are no Hatfield Type Androids.
Frank E. Filisko and William Armstrong, Transportation Research Institute, University of Michigan: "Changes from liquid to
soft solid. " Insight, 23 April 1990, page 51.See footnote 1
Nine references were found September 10, 1993, using the
InfoTrac system at a local public library. Some salient facts
from the "rip" are:
1. They are not a product (yet).
2. "...do not function well outside of conventional
situations."
3. Require a "strong electric field."
4. Their actual properties do not seem well understood.
More research is needed using this "rip." A separate project
evaluating electrorheological fluids may be in order as of September 21, 1993. Articles that may be helpful are:
Ruthen, Russell, Fickle Fluids in Scientific American, July
`92, p.111.
Pennisi, E. New suspension may smooth MagLev ride, [SN(?)
25 Jan. `92, p.55.]
Boggs, Robert N., `Smart' materials bolster helicopter blade
design, in Design News, 4-22-91, p.28.
Tessler, Sandra Rubin, Smart Materials, in Technology
Review, Apr. `89, p.8.
, ER fluids: The plot thickens, [SN, v.133, p.364].
Electrorheological fluids technology is not discussed very
much in literature and thus is the most speculative. In fact, a
great amount of research was accomplished in order to get any
parameters like the motor-less motion.
Admittedly, this area needs more engineering work. There
are too many weak and unknown areas about this technology. More
library resources or other information sources would help do the
engineering.
However, this is the most promising technology. Instead of
being current driven, like "muscle wires," the literature suggest
that it is the presence of the electrostatic field that causes
the electrorheological material's shape to change.
Unfortunately, there are no descriptions on how to make the
materials, let alone some "kitchen " formula. There is not even a
hint of the nature of the quantity of the static field although
it may be in the hundreds to thousand volts. Standard PVC insulation is good for 600 volts, suggesting that the power lead specifications could be a major concern.
Electrorheological or electrostatic attraction of certain
materials: This potential muscle making technology also
does not have the advantage of being conventional. Like
magnetostriction, this too is rarely discussed in
literature.
Like magnetostriction, this technology has the benefit of
being electronically controlled. The little available literature
suggests that this responds to electrostatic fields instead of
passing current. Controlling the high voltages with operational
amplifiers appears to be the design demands.
Hopefully there will be a more suitable technology for major
muscles.
en An anthropometric point of the face used by Farkas to describe the geometry. This is the innermost point of the eye
opening over the sclera (see ex).
The coordinates of these two points are; since the exact
functions may not be determined as of :
[fnX(en(R)), fnY(en(R)), fnZ(en(R))] and
[fnX(en(L)), fnY(en(L)), fnZ(en(L))]
WHERE:
fnX(en(R)) and fnX(en(L)) are the functions left and right spacings of the face expressed in a plus (+) and minus (-)
dimensions for the respective side of the face. This is
about ½ of the measurement or determination of en_en for the
spacing. Of course, inequality between the absolute values
of the right and left side could simulate human asymmetry.
fnY(en(R)) and fnY(en(L)) are functions using the desired body
overall height ( mm ) as a factor. Some of the other facial
height ratios and measurements are expected to be terms or
factors within the final function yet to be determined as of
. Of course, inequality between the right and
left side could simulate human asymmetry.
fnZ(en(R)) and fnZ(en(L)) are functions using certain factors,
among them being head depth calculations, measurements, or
other determinations. The exact expression is undetermined
as of . Of course, inequality between the right
and left side could simulate human asymmetry.
Enarthrosis or ball-and-socket like in the hip and shoulder, is a
type of joint. [Gray, p.221] Ball and sockets are common in
mechanical or automotive things; tie rod ends, ball joints,
trailer hitches, etc.
Energy Sources: This topical entry does not merely list
potential energy sources and related supports, but does a
brief compare and contrast of them. For more particular
information, see the respective encyclopedia entry.
BATTERY: Is a common, probably as well developed source of
energy as in this list. Any drawbacks are size, shape, and
weight of the battery and its electrical limitations.
"CAPATTERY:" Is a relatively new concept. It involves
storativity like a battery, but the surge capacity of a
capacitor. Many research organizations are developing this
technology; hopefully soon to affordable products.
CHEMICAL CONVERSION: Would allow an android to "eat and/or
drink" for a life-like source of energy. Unfortunately,
this would be the best or most reasonable, it is also
probably the least investigated.
FUEL CELLS: Are a specific form of Chemical Conversion and as
such, deserve a listing.
FUSION: Especially Cold Fusion, is pure "pipe dream" as of
September 16, 1995. However, it may be the highest source
if practical.
GLAD HAND COUPLING: Would supply recharging and close electrical
(most likely) support of an android.
INDUCTIVE RECHARGE: Clearly, a battery charging possibility at
rest-time.
PIEZOELECTRICS: May not supply much power, but subcutaneous
transducer filmy elements could provide some battery
charging current while an android is walking, being stroked,
etc.
Energy storage usually relates to batteries. Until and even
then, androids can get energy from some other method, batteries may be the most reliable energy source for power
articulation or activation of androtic muscles.
E
ngineering the Pelvis: The order of these notes are undefined
as of March 28, 1994 writings, but these seem to be like
other "engineering" subsections. They are related to determining the dimensions of the pelvic assembly:
Assumptions:
There are no known assumptions, yet.
Definitions:
There are no known applicable definitions known as of
March 28, 1994.
Desired Attributes of Subjects (Same as a previous discussions about the femur and tibia lengths for consistency):
Findings (from [Hatfield, February 18, 1994]):
SAMPLE =========================================
Anterior view aspects where H and W are measured
using the engineer's 60 scale for resolution:
| Sex | Reference. | H: | W: | H/W |
| Male | [Gray, Fig. 123] | 170 | 214 | 0.79 |
| Female | [Gray, Fig. 124] | 155 | 213 | 0.73 |
| undefined | [Alexander, 146] | 50 | 70 | 0.71 |
Other given:
European women have the "roomiest" pelves. Gray
describes other races (p.182) too.
Gray's distinction between the "true" and "false"
pelvis' is not likely to be applicable for dolls
and androids.
Diameters (extrapolated for desired android)
[Gray, p.180, Fig.s 124 &125]:
Inlet:
Antero-posterior (A.P.)."from sacro-vertebral angle to the symphysis
pubis"
Transverse.between the sides of the brim
Oblique.(Still trying to determine what is this vector.)
Cavity [Gray, Fig.125]:
At Symphysis
middle
posteriorly
Outlet: Defined by the point of the coccyx
and the two tuberosities of the ischia.
A.P.."from the tip of the coccyx to
the lower part of the symphysis
pubis"
Transverse.between the ischiatic tuberosities
Position.
Angle: 60° with ground. The range went to
65°, but Gray's text suggest that 60° is more
appropriate for the female pelvis. However,
this does not account for the female lordosis
as suggested by Ducroquet.
"...the base of the sacrum in well-formed female bodies being nearly four inches above
the upper border of the symphysis pubis, and
the apex of the coccyx a little more than
half an inch above its lower border."
Need a construction line "transversely
through the middle of the heads of the
thigh.bones." [Gray, p.181] This is an
anterior-posterior plane tangent to what?
how far from what?
Hip joint center transverse space (appears or
estimated percent of overall height from
[Alexander, Fig. 13.1b]):
Male
Female
Differences between male and female, the female's
is:
Bones more delicate.
Wider.
Shallower.
Crest of the Ilium is longer.
Of constituent bones:
The Os Innominatum ("the acetabulum, situated
near the middle of the outer surface of the
bone;" [Gray, p.171])
The Ilium
The Ischium
The Os Pubis
Sacrum.
The acetabulum is directed down, out, and
forward.
CONCLUSION:
Some of the Given Findings are usable as-is.
A Height-to-Width ratio of about 75% appears to be an
initial boundary between the sexes.
eu An anthropometric point of the face used by Farkas to describe the geometry. This is the widest part of head, appears
above the ear and ear opening. There are two of these because of the right and left sides. These measure the head
width.
The coordinates of these two "eu" points are; since the exact functions are not determined as of :
[fnX(eu(R)), fnY(eu(R)), fnZ(eu(R))] and
[fnX(eu(L)), fnY(eu(L)), fnZ(eu(L))]
WHERE:
fnX(eu(R)) and fnX(eu(L)) are the functions left and right spacings of the face expressed in a plus (+) and minus (-) dimensions for the respective side of the face. This is about
½ of the measurement or determination for the head width.
Of course, inequality between the absolute values of the
right and left side could simulate human asymmetry.
fnY(eu(R)) and fnY(eu(L)) are functions using the desired body
overall height ( mm ) as a factor. Some of the other facial
or head height ratios and measurements are expected to be
terms or factors within the final function yet to be determined as of .
In the interim:
fnY(eu(R)) = mm - .429 * eu_eu = fnY(eu(L)). The constant
.429 must be replaced with a determinable variable or
function. Of course, inequality between the right and left
side could simulate human asymmetry.
fnZ(eu(R)) and fnZ(eu(L)) are functions using certain factors,
among them being head depth calculations, measurements, or
other determinations. The exact expression is undetermined
as of .
An interim function:
fnZ(eu(R)) = mm - .953 * eu_eu = fnZ(eu(L)). The constant
.953 must be replaced with a functional variable or function
also. Of course, inequality between the right and left side
could simulate human asymmetry.
ex An anthropometric point of the face used by Farkas to describe the geometry. This is the outermost point of the eye
opening over the sclera. There are two of these because of
the right and left sides.
The coordinates of these two "ex" points are; since the exact functions are not determined as of :
[fnX(ex(R)), fnY(ex(L)), fnZ(ex(L))] and
[fnX(ex(L)), fnY(ex(L)), fnZ(ex(L))]
WHERE:
fnX(ex(R)) and fnX(ex(L)) are the functions left and right spacings of the face expressed in a plus (+) and minus (-) dimensions for the respective side of the face. This is about
½ of the measurement or determination for the spacing. Of
course, inequality between the absolute values of the right
and left side could simulate human asymmetry.
fnY(ex(R)) and fnY(ex(L)) are functions using the desired body
overall height ( mm ) as a factor. Some of the other facial
or head height ratios and measurements are expected to be
terms or factors within the final function yet to be determined as of . Of course, inequality between the
right and left side could simulate human asymmetry.
fnY(ex(L.R)) may be slightly less than, equal to, or
slightly greater than fnY(en(R.L)). This relates to the eye
fissure shapes and the nature of the shape or slant of the
eyes.
fnZ(ex(R)) and fnZ(ex(L)) are functions using certain factors,
among them being head depth calculations, measurements, or
other determinations. The exact expression is undetermined
as of . Of course, inequality between the right
and left side could simulate human asymmetry.
Admittedly, this looks a bit tedious if two similar entries
are so close within this encyclopedia. At least they will serve
until the applicable formulas are finalized. Then there will be
some more apparent variation of these Farkas point entries.
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