Kinematic motor learning

This paper focuses on adaptive motor control in the kinematic domain. Several motor-learning strategies from the literature are adopted to kinematic problems: ‘feedback-error learning’, ‘distal supervised learning’, and ‘direct inverse modelling’ (DIM). One of these learning strategies, DIM, is significantly enhanced by combining it with abstract recurrent neural networks. Moreover, a newly developed learning strategy (‘learning by averaging’) is presented in detail. The performance of these learning strategies is compared with different learning tasks on two simulated robot setups (a robot-camera-head and a planar arm). The results indicate a general superiority of DIM if combined with abstract recurrent neural networks. Learning by averaging shows consistent success if the motor task is constrained by special requirements.     

Gallium gradients in Cu(In,Ga)Se2 thin‐film solar cells

The gallium gradient in Cu(In,Ga)Se₂ (CIGS) layers, which forms during the two industrially relevant deposition routes, the sequential and co‐evaporation processes, plays a key role in the device performance of CIGS thin‐film modules. In this contribution, we present a comprehensive study on the formation, nature, and consequences of gallium gradients in CIGS solar cells. The formation of gallium gradients is analyzed in real time during a rapid selenization process by in situ X‐ray measurements. In addition, the gallium grading of a CIGS layer grown with an in‐line co‐evaporation process is analyzed by means of depth profiling with mass spectrometry. This gallium gradient of a real solar cell served as input data for device simulations. Depth‐dependent occurrence of lateral inhomogeneities on the µm scale in CIGS deposited by the co‐evaporation process was investigated by highly spatially resolved luminescence measurements on etched CIGS samples, which revealed a dependence of the optical bandgap, the quasi‐Fermi level splitting, transition levels, and the vertical gallium gradient. Transmission electron microscopy analyses of CIGS cross‐sections point to a difference in gallium content in the near surface region of neighboring grains. Migration barriers for a copper‐vacancy‐mediated indium and gallium diffusion in CuInSe₂ and CuGaSe₂ were calculated using density functional theory. The migration barrier for the In_Cu antisite in CuGaSe₂ is significantly lower compared with the Ga_Cu antisite in CuInSe₂, which is in accordance with the experimentally observed Ga gradients in CIGS layers grown by co‐evaporation and selenization processes. Copyright © 2014 John Wiley & Sons, Ltd.     

Investigation on 3-dimensional carbon foams/LiFePO4 composites as function of the annealing time under inert atmosphere

The morphological and electrochemical investigation of 3-dimensional (3D) carbon foams coated with olivine structured lithium iron phosphate as function of the annealing time under nitrogen atmosphere is reported. The LiFePO₄ as cathode material for lithium ion batteries was prepared by a Pechini-assisted sol-gel process. The coating has been successfully performed on commercially available 3D-carbon foams by soaking in aqueous solution containing lithium, iron salts and phosphates at 70 °C for 2-4 h. After drying-out, the composites were annealed at 600 °C for different times ranging from 0.4 to 10 h under nitrogen. The formation of the olivine-like structured LiFePO₄ was confirmed by X-ray diffraction analysis performed on the powder prepared under similar conditions. The surface investigation of the prepared composites showed the formation of a homogeneous coating by LiFePO₄ on the foams. The cyclic voltammetry curves of the composites show an enhancement of electrode reaction reversibility by increasing the annealing time. The electrochemical measurements on the composites showed good performances delivering a discharge specific capacity of 85 mAh g⁻¹ at a discharging rate of C/25 at room temperature after annealing for 0.4 h and 105 mAh g⁻¹ after annealing for 5 h.     

Redistribution of internal forces in the lateral bracing system / Schnittgrößenumlagerungen bei der Gebäudeaussteifung

The lateral bracing system of a building should ensure the stability of the building, in terms of the usability and the total load capacity. The governing loads for the lateral bracing system are horizontal loads due to wind and earthquake. The horizontal loads are traditionally distributed to the bracing elements according to the uncracked elastic state dependent on the bending stiffness in the elastic (uncracked) state. This method does not allow consideration of non‐linear effects and load redistribution. Within the framework of the PRB Research Cooperation – Improving the Practical Use of Structural Design Standards through pre‐normative work – Subcontract 5: Masonry Construction, Subproject 3: “Large Shear Walls” [7], the cracked or plastic state can be taken into account through a displacement based approach. A matrix formulation for both the linear and cracked states has been derived and implemented.     

Avalanche‐Discharge‐Induced Electrical Forming in Tantalum Oxide‐Based Metal–Insulator–Metal Structures

Oxide‐based metal–insulator–metal structures are of special interest for future resistive random‐access memories. In such cells, redox processes on the nanoscale occur during resistive switching, which are initiated by the reversible movement of native donors, such as oxygen vacancies. The formation of these filaments is mainly attributed to an enhanced oxygen diffusion due to Joule heating in an electric field or due to electrical breakdown. Here, the development of a dendrite‐like structure, which is induced by an avalanche discharge between the top electrode and the Ta₂O_5‐x layer, is presented, which occurs instead of a local breakdown between top and bottom electrode. The dendrite‐like structure evolves primarily at structures with a pronounced interface adsorbate layer. Furthermore, local conductive atomic force microscopy reveals that the entire dendrite region becomes conductive. Via spectromicroscopy it is demonstrated that the subsequent switching is caused by a valence change between Ta⁴⁺ and Ta⁵⁺, which takes place over the entire former Pt/Ta₂O_5‐x interface of the dendrite‐like structure.     

Formation of Oxamic Acid During Drinking Water Treatment

Although oxamic acid has been identified as an ozone oxidation product from several precursor compounds, concentrations for drinking water have not been published previously. This study shows results from a full-scale drinking water treatment plant, noting that the mean concentrations for oxamic acid reached 21.3 μg/L after ozonation and prior to filtration. Subsequent multiple-layer filtration removed 85% of oxamic acid on average, and mean concentrations in drinking water were 2 μg/L. Up to 5.9% of the oxamic acid found in ozone-treated groundwater may be formed from Chloridazon metabolites.     

Introducing a Semi-Coated Model to Investigate Antibacterial Effects of Biocompatible Polymers on Titanium Surfaces

Peri-implant infections from bacterial biofilms on artificial surfaces are a common threat to all medical implants. They are a handicap for the patient and can lead to implant failure or even life-threatening complications. New implant surfaces have to be developed to reduce biofilm formation and to improve the long-term prognosis of medical implants. The aim of this study was (1) to develop a new method to test the antibacterial efficacy of implant surfaces by direct surface contact and (2) to elucidate whether an innovative antimicrobial copolymer coating of 4-vinyl-N-hexylpyridinium bromide and dimethyl(2-methacryloyloxyethyl) phosphonate (VP:DMMEP 30:70) on titanium is able to reduce the attachment of bacteria prevalent in peri-implant infections. With a new in vitro model with semi-coated titanium discs, we were able to show a dramatic reduction in the adhesion of various pathogenic bacteria (Streptococcus sanguinis, Escherichia coli, Staphylococcus aureus, Staphylococcus epidermidis), completely independently of effects caused by soluble materials. In contrast, soft tissue cells (human gingival or dermis fibroblasts) were less affected by the same coating, despite a moderate reduction in initial adhesion of gingival fibroblasts. These data confirm the hypothesis that VP:DMMEP 30:70 is a promising antibacterial copolymer that may be of use in several clinical applications.