Meßtechnik zur Charakterisierung von Gas/Flüssigkeits-Reaktoren

Measuring techniques for characterizing gas/liquid reactors . The article considers measuring techniques for the characterization of the phases in gas/liquid reactors. These include the velocity profile and turbulence in the continuous phase as well as holdup, size, and velocity of the dispersed phase. Also, methods for the determination of the specific interfacial area and the volumetric mass transfer coefficients are discussed. Measuring methods have made enormous advances in recent years. In spite of this, there is a lack of reliable methods, especially for use during reactions without disturbing the state of the reactor. It is suspected that probe technique will gradually fall into disuse and more and more attention will be focussed on contractless methods. This calls for further development of ultrasonic methods and methods relying on emission of light.     

Review on testers for measuring flow properties of bulk solids

 The author was asked by the International Fine Particle Research Institue (IFPRI) to write a critical review on shear testers for IFPRI-members. The review was delivered to IFPRI in summer 1999. Following the contract with IFPRI it was not allowed to publish the review elsewhere for at least two years. Granular Matter invited the author to submit the review in the original form; during the refereeing process (besides other changes) it turned out that some remarks should be added here for clarification: - Since 1999, the author is not aware of a really new device for testing bulk solid properties, which could lead to a change of the general comments and conclusions provided in the review. It was argued, that the review is referring too much to the work of Jenike, while the works of Johanson and Peschl were not adequately cited. Both are excellent engineers with a lot of experience, but their basic ideas are not available in published form, and if, they are not set in relation to alternative approaches so that an objective comparison in detail would be a future research issue rather than a topic in this report. A discussion on the influence of electrostatic charges was missing. There hardly is an influence, since the particles are in continuous contact. Only with non-conducting plastic particles electrostatic charges could cause problems. But no relevant experiments and results are known. In closed systems, the effect of electric charges is thus mainly neglected, but it is clear that electrostatic forces are eminent in flows with a free surface – an issue not addressed in this review. Received: 1 November 2002     

Multiple object semilinear motion planning

We present a method based on extended linear real quantifier elimination for multiple object semilinear motion planning, i.e. finding collision-free trajectories for several robots in a time dependent environment. For practical applicability the method is limited to polygonal objects and linear trajectories. It can, however, deal with situations involving even non-convex objects.     

The stiffness matrix in elastically articulated rigid-body systems

Discussed in this paper is the Cartesian stiffness matrix, which recently has received special attention within the robotics research community. Stiffness is a fundamental concept in mechanics; its representation in mechanical systems whose potential energy is describable by a finite set of generalized coordinates takes the form of a square matrix that is known to be, moreover, symmetric and positive-definite or, at least, semi-definite. We attempt to elucidate in this paper the notion of “asymmetric stiffness matrices”. In doing so, we show that to qualify for a stiffness matrix, the matrix should be symmetric and either positive semi-definite or positive-definite. We derive the conditions under which a matrix mapping small-amplitude displacement screws into elastic wrenches fails to be symmetric. From the discussion, it should be apparent that the asymmetric matrix thus derived cannot be, properly speaking, a stiffness matrix. The concept is illustrated with an example.     

Characterization and optimization of linearly tapered slot antenna pattern

A parametric study of linearly tapered slot antenna (LTSA) in air and a method for optimization of its pattern are presented. A method of moments code is utilized to investigate the behavior of LTSA’s as the length, height and the taper angle varies. It is shown that the antenna pattern can be improved using a top layer of dielectric material with varying permittivity.     

Einsatzmöglichkeiten neuronaler Netze in der Industrierobotik

Zusammenfassung Es werden die prinzipiellen Einsatzm?glichkeiten neuronaler Netwwerke zur Modellbildung, Steuerung und Regelung von Robotern sowie zur Unterstützung sensomotorischer Aktionen dargelegt. Einige ausgew?hlte neuronale Regelungskonzepte werden vorgestellt und auf ihre Stabilit?t, Robustheit, Genauigkeit sowie Echtzeitf?higkeit hin untersucht. Ferner wird gezeigt, wie sich neuronale Regelungskonzepte in industrielle Robotersteuerungen integrieren lassen.     

The Continuous Interpolating Self-organizing Map

The self-organizing map (SOM) [5] provides a general data approximation method which is suitable for several application domains. The topology preservation is an important feature in data-analysis and may also be advantageous for the evaluation of the data in a function approximation or regression task. For this reason the interpolated self-organizing map (I-SOM) adds an output layer to the SOM architecture which computes a real valued output vector. This paper presents an extension of I-SOM towards a continuous interpolation. It is compared to RBF and to the parametrized self-organizing map.     

Developmental and light-dependent changes of the cytosolic chaperonin containing TCP-1 (CCT) subunits in maize seedlings, and the localization in coleoptiles

The cytosolic chaperonin containing TCP-1 (CCT) is known to keep fold cytoskeletal proteins and is involved in the proper organization of the cytoskeleton. These studies are based on the assumption that growth responses linked to structural rearrangement of the plant cytoskeleton include the action of CCT and the need for newly synthesized tubulin. The presence of the alpha- and epsilon-subunits of CCT was investigated in soluble fractions of protein extracts from maize mesocotyls and coleoptiles at distinct growth stages. The CCT-subunits, tubulins and actin decreased in the coleoptile in response to far-red light. In addition, independent from light treatment, the amount of CCT epsilon abundance declined with age in coleoptiles and mesocotyls between 2 and 4.5 days after sowing. In contrast to CCT epsilon, no significant light regulation of CCT alpha was found in the mesocotyl. In two day old, light-grown rapidly elongating coleoptiles part of the CCT alpha subunit and the bulk of actin and tubulin was found shifted into fractions of high molecular weight complexes when compared to slowly elongating, dark grown coleoptiles. In 4.5 day old, etiolated and elongating coleoptiles, part of both CCT-subunits and cytoskeleton proteins were found in fractions of high molecular weight. A complete disappearance of these polypeptides was observed in old far-red irradiated growth-arrested coleoptiles. CCT epsilon was found to be colocalized to microtubular structures and to the nucleus. We conclude from our data that abundance of CCT-subunits in soluble extracts is dependent on age and light treatment, but independent from the growth stage of mesocotyl and coleoptile.