Abstract
This paper studies periodic gaits of multi-legged robot locomotion systems based on dynamic models. The purpose is to determine the system performance during walking and the best set of locomotion variables that minimizes the optimization indices. For that objective the prescribed motion of the robot is completely characterized in terms of several locomotion variables such as gait, duty factor, body height, step length, stroke pitch, foot clearance, leg links length, foot-hip offset, body and legs mass and cycle time. In this perspective, we formulate four performance measures of the walking robot namely, the foot locomobility index, the mean absolute power, the mean power dispersion and the mean power lost in the joint actuators per walking distance. A set of model-based experiments reveals the influence of the locomotion variables in the proposed indices. Copyright © 2002 IFAC.

Abstract
Total order multicast greatly simplifies the implementation of fault-tolerant services using the replicated state machine approach. The additional latency of total ordering can be masked by taking advantage of spontaneous ordering observed in LANs: A tentative delivery allows the application to proceed in parallel with the ordering protocol. The effectiveness of the technique rests on the optimistic assumption that a large share of correctly ordered tentative deliveries offsets the cost of undoing the effect of mistakes. This paper proposes a simple technique which enables the usage of optimistic delivery also in WANs with much larger transmission delays where the optimistic assumption does not normally hold. Our proposal exploits local clocks and the stability of network delays to reduce the mistakes in the ordering of tentative deliveries. An experimental evaluation of a modified sequencer-based protocol is presented, illustrating the usefulness of the approach in fault-tolerant database management.

Abstract
A bulk interferometric configuration for electrical current remote sensing in high voltage environments based on the Faraday effect is described. The combination of Sagnac's reciprocal properties with a Mach-Zehnder processing interferometer in the same sensing head is used to implement serrodyne processing for current sensing. A theoretical analysis based on the Jones matrix is presented. Experimental results that validate the exploited concept are obtained, showing linearity up to 1800 A(rms) and waveform. reproduction at 50 Hz. The possibility of using the proposed interferometric concept to simultaneously fulfil the requirements associated with metering and relaying applications is also addressed.

Abstract

Abstract
Spectronephelometric measurement techniques are :in the order of the day. We can apply these techniques to monitor the production of consumable fluids and to verify their quality. Products like Wine, Beer and Olive Oil for instance, are widely consumed over the world. These products do have a major role in people's dietary habits and their quality is of greater concern from day to day. If we can make use of a monitoring system that is able to perform measurements in situ, on line and in real time, then we will obviously have the capacity to improve quality. Particles that are suspended in consumable fluid samples interact with radiation by scattering it in almost all directions. If we can detect this scattered radiation, then we have information on the suspended particles. Making use on some Physical relations, we can transpose this information to physical parameters like Color and Turbidity.

Abstract
This paper presents a new meta-heuristic (EPSO) built putting together the best features of Evolution Strategies (ES) and Particle Swarm Optimization (PSO). Examples of the superiority of EPSO over classical PSO are reported. The paper also describes the application of EPSO to real world problems, including an application in Opto-electronics and another in Power Systems.