Self-stabilizing somersaults

We investigate the open-loop stability of a planar biped robot performing a periodic motion of forward somersaults with alternating single-leg contacts. The robot has a trunk and two actuated telescopic legs with point feet which are coupled to the trunk by actuated hinges. There is compliance and damping in the hip and in the legs. The concept of open-loop control implies that all actuators of the system receive predetermined inputs that are never altered by any feedback interference. Only with the right choice of model parameters and actuator inputs is it possible to create such self-stabilizing motions exploiting the natural stability properties of the system. These unknowns have been determined using special-purpose stability-optimization methods. The resulting motion is not only stable, but also a more efficient form of forward motion than running for the investigated robot.     

Chemical and nutritional evaluation of two amaranth (Amaranthus cruentus)-based infant formulas

The objective of this study was to calculate, prepare and evaluate the Protein Efficiency Ratio (P.E.R.) and Net Protein Utilization (N.P.U.) of two infant formulas made with amaranth (Amaranthus cruentus). Both formulas were formulated to match a previously developed and tested soy-oats infant formula. No significant differences were found between the three formulas with respect to corrected Protein Efficiency Ratio (P.E.R.) and Net Protein Utilization (N.P.U.) values. Only the product made with the 1-R fraction of amaranth was found to have a significantly lower P.E.R. than casein.     

Zoonotic Brugian lymphadenitis. An unusual case with florid monocytoid B-cell proliferation

Human infection with a zoonotic Brugia species in the United States is uncommon. Positive identification of the filarial nematode is required for histopathologic diagnosis. Many cases may go unrecognized because of the nonspecific clinical manifestations and the nondiagnostic histologic changes occurring in involved lymph nodes. A case of zoonotic Brugia lymphadenitis is described in a patient from Rhode Island, in which a small nongravid female worm was identified in a lymph node biopsy specimen. The lymph node also showed a spectrum of reaction changes including the presence of florid monocytoid B-cell proliferation, which has not been described in association with zoonotic Brugian filariasis.     

Darstellung komplexer Betriebsschlacken des LD-Verfahrens im Quasidreistoffsystem

Aus der Darstellung der Schlackenzusammensetzungen im Quasidreistoffsystem ist die Lage der Schlacken zur Kalksättigungslinie deutlich zu erkennen. Die Sublanzenschlacken lassen den Schlackenweg während der letzten Blasminuten erkennen, durch Bodenspülung und Nachspülen wird eine geringe Annäherung an die Kalksättigungslinie erreicht. Aus der Lage der Schlacken im Quasidreistoffsystem läßt sich der Einfluß der Temperatur auf den Verlauf der Kalksättigung entlang unterschiedlicher T-X-Schnitte bestimmen.     

New high-temperature copper alloys

New high-strength, high-temperature Cu-Ni-Si alloys have been developed using additions of Cr, Zr, and/or Ti. These new alloys remain as precipitation hardenable as the base alloy, but the main strengthening phase may be different than Ni₂Si (e.g., Cr₂Ti). Substantial increases in mechanical strength were observed at both room and high temperature (773 K) when additions of Cr+Zr+Ti and Cr+Zr were made. Industrial testing of these alloys indicated a sevenfold increase in the lifetime of lateral blocks in continuous casting equipment of copper alloys.     

Carbon Aerogels as Electrode Material in Supercapacitors

Due to their large specific surface area and their high electrical conductivity carbon aerogels are promising materials for electrodes in electrochemical double-layer capacitors (supercapacitor). The carbon aerogels were made via pyrolysis of resorcinol formaldehyde aerogels. The latter were prepared by supercritical and subcritical drying as well. The important findings of our investigation were, that the highest capacities of 46 F/cm³ were measured for samples with a density of about 800 kg/m³ pyrolyzed at 800°C. Also it was shown that RF-gels with molar resorcinol/catalyst ratios 1000 or higher can be dried subcritically without cracking or significant shrinkage. Carbon aerogels derived from these RF-aerogels have a small mesopore surface area, however an especially large micropore area. They provide electrical capacities which are most suitable for their use in supercapacitors.     

The role of the WO x ad-component to Pt and PtRu catalysts in the electrochemical CH3OH oxidation reaction

High surface area carbon-supported platinum-based catalysts, Pt/C, PtWO _x /C, PtRu/C and PtRuWO _x /C, were prepared via a chemical reduction route using single metal precursor salts. The catalyst particles were found to be in the nanoscale range, and the addition of Ru clearly decreased the particle size. The Ru was found to be partially incorporated into the face centered cubic lattice of Pt and to form a single Ru catalyst component. X-ray diffraction and X-ray photon spectroscopy did not provide evidence for electronic interactions between WO _x and Pt as well as WO _x and Ru. However, the addition of tungsten to the PtRuWO _x /C catalyst resulted in a high degree of catalyst particle agglomeration. Both Ru containing catalysts showed significantly higher activities for the CH₃OH oxidation reaction in terms of Pt + Ru mass as well as electroactive Pt + Ru surface area than the Pt/C and PtWO _x /C catalysts. The addition of tungsten appeared to mainly result in some ‘physical’ modification of the catalytically active Pt and Ru surface components such as differences in electroactive surface area rather than promotion of the CH₃OH oxidation reaction via a true catalytic mechanism.     

DIN-Norm-orientierte Standard-Spezifikationen für Rührwerke

DIN Standard-Oriented Specifications for Stirring Systems. Stirring as a unit operation is characterised by universal application possibilities for material and energy transmission in process industries. DIN standards provide an overview of the wide variety of equipment in technical use and define the conditions for low-cost, exchangeable standard stirring systems. In many cases important process parameters are fixed only for a limited time. Possible operation time should be long, therefore performance reserves are justified; they will be useful for later tasks as well as for improving safety of existing processes. Engineering of such stirring systems requires definition of standard stirring tasks. This article deals with economic aspects, defines standard stirring tasks as well as design conditions and shows the principal engineering data of standard stirring systems for stainless steel vessels up to 20 m³ by means of pictures, tables and nomograms. In conclusion, adequate processing of construction materials as well as surface finishing and practical work with standard specifications for stirring systems are discussed.