Reconfigurable handling system

The demand for more versatile assembly and handling systems to facilitate customized production is gaining in importance, especially with regard to the constantly-increasing cost pressure, to expansion of the range of product versions and the shortening of innovation cycles. As a cost-effective approach for frequently changing assembly tasks, a novel manipulation concept has been developed by combining given robot technologies. This new handling system has a modular and adaptable layout, which consists of several mobile arms to manipulate the object in six-dimensional Cartesian space. After grasping, when the arms are attached to the object, the mechanical architecture is similar to parallel manipulators or cooperating robots. As the mounting and gripping points of the arms can easily be changed, the manipulator can be reconfigured so as to match the user’s preferences and needs. In addition to the kinematic adaption the regarding task, the hardware and new functions can be reconfigured as well. Contact elements, measurement and assembly devices as well as testing modules can easily be in integrated in the concept. A modular automatic control concept combined with a self-optimizing planning tool helps the user to find the optimal configuration and realize it in an economic way.     

An asymptotic analysis of dynamic crack growth in rubber

Asymptotic analyses of the mechanical fields in front of stationary and propagating cracks are important for several reasons. For example, they facilitate the understanding of the mechanical and physical state in front of crack tips, and they enable prediction of crack growth. Furthermore, efficient modelling of arbitrary crack growth by use of XFEM (extended finite element method) requires accurate knowledge of the asymptotic crack tip fields. The present study focuses on the asymptotic fields in front of a crack that propagates dynamically in rubber. Static analyses of this type of problem have been made in previous studies. In order to be able to compare the present results with these earlier studies, the constitutive model from Knowles and Sternberg (J. Elast. 3:67–107, 1973) was adopted. It is assumed that viscoelastic stresses become negligible compared with the singular elastic stresses close to the crack tip. The present analysis shows that in materials with a significant hardening, the inertia term in the equations of motion becomes negligible in the asymptotic analysis. However, for a neoHookean type of model, inertia comes into play and causes a maximum theoretical crack speed that equals the shear wave speed.     

A Brief Survey of our Contribution to Stable Carbene Chemistry

This personal account summarizes our work, beginning with the discovery of the first stable carbene in 1988 up until the recent isolation of mesoionic carbenes. It explains why we have moved our focus from acyclic to cyclic carbenes, and shows that these stable species are not limited to the role of ligand for transition metals, but that they are also powerful agents for the activation of small molecules, and for the stabilization of highly reactive diamagnetic and paramagnetic species.     

采用单独碳化室压力调节系统减少焦炉排放

PROven(R)系统的开发为了减少焦炉的排放,过去已进行了多种技术的开发.但是从焦炉炉门、装料孔边缘等处逸散物的减少,已受到工艺技术的制约.一个基本的制约因素是,在集气总管内的压力和联接到总管的所有碳化室内的压力之间有着密不可分的关系.     

Distributed redundancy and robustness in complex systems

The uptake and increasing prevalence of Web 2.0 applications, promoting new large-scale and complex systems such as Cloud computing and the emerging Internet of Services/Things, requires tools and techniques to analyse and model methods to ensure the robustness of these new systems. This paper reports on assessing and improving complex system resilience using distributed redundancy, termed degeneracy in biological systems, to endow large-scale complicated computer systems with the same robustness that emerges in complex biological and natural systems. However, in order to promote an evolutionary approach, through emergent self-organisation, it is necessary to specify the systems in an ‘open-ended’ manner where not all states of the system are prescribed at design-time. In particular an observer system is used to select robust topologies, within system components, based on a measurement of the first non-zero Eigen value in the Laplacian spectrum of the components' network graphs; also known as the algebraic connectivity. It is shown, through experimentation on a simulation, that increasing the average algebraic connectivity across the components, in a network, leads to an increase in the variety of individual components termed distributed redundancy; the capacity for structurally distinct components to perform an identical function in a particular context. The results are applied to a specific application where active clustering of like services is used to aid load balancing in a highly distributed network. Using the described procedure is shown to improve performance and distribute redundancy.     

Evaluation of a chemical munition dumpsite in the Baltic Sea based on geophysical and chemical investigations

This paper discusses the results of geophysical and chemical investigations carried out in a chemical munition dumpsite in the southern Baltic Sea, east of the island of Bornholm. After WW2 over 32,000 tons of chemical war material was dumped here including shells and bombs as well as small drums and containers. The geophysical investigations combined very-high-resolution seismics and gradiometric measurements. The results indicate the presence of a large number of objects buried just below the seafloor. The size of the objects and their distribution, with a marked increase in density towards the center of the dumpsite, suggests that we are dealing with dumped war material. Sediment and near-bottom water samples, taken within the dumpsite and in the surrounding area, were analysed for the presence of various chemical warfare agents (CWA) including Adamsite, Clark, sulphur mustard, tabun, chlorobenzene and arsine oil. The results indicate a widespread contamination that reaches far beyond the dumpsite boundary. CWA degradation products were found in most of the sediment samples. The contamination was mostly related to arsenic containing compounds; only one sample indicated the presence of sulfur mustard. Although the correlation between detected objects and CWA concentrations is not always straightforward, the overall results suggest that a lot of the dumped war material is leaking and that over the years the contamination has reached the seafloor sediments.     

Dual-band infrared detectors made on high-quality HgCdTe epilayers grown by molecular beam epitaxy on CdZnTe or CdTe/Ge substrates

In this paper, we present all the successive steps for realizing dual-band infrared detectors operating in the mid-wavelength infrared (MWIR) band. High crystalline quality HgCdTe multilayer stacks have been grown by molecular beam epitaxy (MBE) on CdZnTe and CdTe/Ge substrates. Material characterization in the light of high-resolution x-ray diffraction (HRXRD) results and dislocation density measurements are exposed in detail. These characterizations show some striking differences between structures grown on the two kinds of substrates. Device processing and readout circuit for 128×128 focal-plane array (FPA) fabrication are described. The electro-optical characteristics of the devices show that devices grown on Ge match those grown on CdZnTe substrates in terms of responsivity, noise measurements, and operability.