Magnebike: A magnetic wheeled robot with high mobility for inspecting complex‐shaped structures

This paper describes the Magnebike robot, a compact robot with two magnetic wheels in a motorbike arrangement, which is intended for inspecting the inner casing of ferromagnetic pipes with complex‐shaped structures. The locomotion concept is based on an adapted magnetic wheel unit integrating two lateral lever arms. These arms allow for slight lifting off the wheel in order to locally decrease the magnetic attraction force when passing concave edges, as well as laterally stabilizing the wheel unit. The robot has the main advantage of being compact (180 × 130 × 220 mm) and mechanically simple: it features only five active degrees of freedom (two driven wheels each equipped with an active lifter stabilizer and one steering unit). The paper presents in detail design and implementation issues that are specific to magnetic wheeled robots. Low‐level control functionalities are addressed because they are necessary to control the active system. The paper also focuses on characterizing and analyzing the implemented robot. The high mobility is shown through experimental results: the robot not only can climb vertical walls and follow circumferential paths inside pipe structures but it is also able to pass complex combinations of 90‐deg convex and concave ferromagnetic obstacles with almost any inclination regarding gravity. It requires only limited space to maneuver because turning on the spot around the rear wheel is possible. This high mobility enables the robot to access any location in the specified environment. Finally the paper analyzes the maximum payload for different types of environment complexities because this is a key feature for climbing robots and provides a security factor about the risk of falling and slipping. © 2009 Wiley Periodicals, Inc.     

The hierarchical Tobit model: A case study in Bayesian computing

In this paper we discuss the potentials of a new Bayesian inference tool, called the Gibbs sampler, for the analysis of the censored regression or Tobit model. Tobit models have a wide range of applications in empirical sciences, like econometrics and biometrics. The estimation results of the simple Tobit model will be compared to a hierarchical Tobit model, and the Gibbs sampling approach to the related classical algorithm of expectation-maximisation (EM). The underlying botanical example of this paper is concerned with the censoring mechanism in plant reproduction and proposes the Bayesian Tobit model for the growth relationship between the reproductive part and the rest of the plant.     

Analysis of dithiocarbamate fungicides. Second-derivative UV-spectroscopic determination of CS2, COS, and thiram (TMTD)

The application of second-derivative UV-spectroscopy offers a highly sensitive and selective method for the determination of CS₂ and COS, as acid hydrolysis products of dithiocarbamate und thiuram disulphide fungicides, using a methanolic amine absorption reagent (ethylenediamine, piperidine). With standard concentrations of 0.08–1.1 g CS₂/ml and 0.3 to 2.0 g COS/ml, respectively, calibration curves with good correlation coefficients (r>0.999) were obtained. In comparison to the official method of the Deutsche Forschungsgemeinschaft (DFG method S15) the proposed alternative is at least 100 times more sensitive to CS₂. Using the second derivative method it is possible not only to clearly differentiate between CS₂ and COS but also to quantify both gases without resorting to tedious background corrections as compared to the direct photometric methods. Additionally, second derivative spectroscopy allows the direct determination of thiram in the concentration range 1–10 g/ml after its extraction with chloroform. For example, thiram in water (10 g/l) and in thiram/talc standards (10 mg/g) were determined with good precision (±2.0%).

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Analytik der Dithiocarbamat-Fungicide. Bestimmung von CS₂, COS sowie Thiram (TMTD) mittels Derivativ-UV-Spektroskopie

Zusammenfassung Die Anwendung der Derivativ-UV-Spektroskopie (2. Ableitung) erlaubt eine sehr empfindliche Bestimmung von CS₂ und COS als Hydrolyseprodukte der Dithiocarbamat- und Thiuramdisulfid-Fungicide nach Absorption in einem methanolischem Amin-Reagens (Ethylendiamin, Piperidin). Mit Standard-Konzentrationen von 0,08–1,1 g CS₂/ml bzw. 0,3–2,0 g COS/ml zeigten die Eichgeraden gute Korrelationskoeffizienten (r<0,999). Im Vergleich zur DFG-Methode S15 zeichnet sich die vorgeschlagene Alternative durch eine um zwei Zehnerpotenzen höhere Empfindlichkeit bei der CS₂-Bestimmung aus. In der 2. Ableitung wird nicht nur die Unterscheidung von COS und CS₂ eindeutig, sondern auch deren Quantifizierung ohne rechnerische Untergrundkorrekturen ermöglicht. Mit Hilfe der Derivativspektroskopie konnte außerdem Thiram (TMTD) in Konzentrationen von 1–10 g/ml direkt erfaßt werden. So ließen sich nach Extraktion mit Chloroform 10 g/L Thiram in Wasser mit einer Präzision von ±2,0% direkt bestimmen oder Thiram/Talkum-Standards (10 mg/g) überprüfen.

     

Fungicides and photochemistry: Photodegradation of the azole fungicide penconazole

In order to examine the photostability of the fungicide penconazole (1-(2,4-dichloro--propylphenethyl)-1H-1,2,4-triazole,1) in the field, model experiments with organic solvents were performed. Photodegradation (>280 nm) of penconazole was found to be more efficient in isopropanol and cyclohexane solution than in the presence of cyclohexene. Photolysis in isopropanol and cyclohexane resulted in considerable formation of 1-(4-chloro--propylphenethyl)-1H-1,2,4-triazole (2) and 5H,6H-(1,2,4-triazolo)-[5,1-a]-9-chloro-6-propyl-isoquinoline (3). Furthermore, photodehalogenation of3 yielded traces of 5H,6H-(1,2,4-triazolo)-[5,1-a]-6-propyl-isoquinoline (4) and, in the presence of isopropanol 5H,6H-(1,2,4-triazolo)-[5,1-a]-9-(2-hydroxy-2-methylethyl)-6-propyl-isoquioline (5). Additionally, a lot of polar products were found in high yields which could not be isolated and characterized individually. In the presence of cyclohexene, on the other hand, photodecomposition and photodehalogenation to photoproduct2 were found to be the main degradation pathways and photoproduct3 was only detected as a trace component.

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Fungicide und Photochemie: Photoabbau des Azol-Fungicides Penconazol

Zusammenfassung Zur Voruntersuchung der Photostabilität des Fungicides Penconazol (1-(2,4-Dichlor--propylphenethyl)-1H-1, 2,4-triazol,1) wurden Modellexperimente in organischen Lösungsmitteln durchgeführt. Der Photoabbau (>280 nm) nimmt von Cyclohexen zu Cyclohexan und Isopropanol hin deutlich zu. Bei Bestrahlung in Isopropanol oder Cyclohexan entstehen als Hauptprodukte (1-(4-Chlor--propylphenethyl)-1H-1, 2,4-triazol (2) und 5H,6H-(1,2,4-Triazolo)-[5,1,-a]-9-chlor-6-propyl-isochinolin (3). Photodehalogenierung von 3 führt in geringem Umfang zu 5H,6H-(1,2,4-Triazo-lo)-[5, 1-a]-6-propyl-isochinolin(4) und in Gegenwart von Isopropanol zu 5H,6H-(1,2,4-Triazolo)-[5,1-a]-9-(2-hydroxy-2-methylethyl)-6-propyl-isochinolin (5) als Photoadditionsprodukt. Daneben entsteht in hohem Ausmaß eine komplexe Fraktion polarer Komponenten, die einer Einzelisolierung und -charakterisierung nicht mehr zugänglich waren. In Cyclohexen hingegen erfolgte neben Photodehalogenierung zu2 hauptsächlich Photolyse zu polaren Komponenten, während Photoprodukt3 nur in Spuren entstand.

     

Efficient numerical methods for the large‐scale,parallel solution of elastoplastic contact problems

Quasi‐static elastoplastic contact problems are ubiquitous in many industrial processes and other contexts, and their numerical simulation is consequently of great interest in accurately describing and optimizing production processes. The key component in these simulations is the solution of a single load step of a time iteration. From a mathematical perspective, the problems to be solved in each time step are characterized by the difficulties of variational inequalities for both the plastic behavior and the contact problem. Computationally, they also often lead to very large problems. In this paper, we present and evaluate a complete set of methods that are (1) designed to work well together and (2) allow for the efficient solution of such problems. In particular, we use adaptive finite element meshes with linear and quadratic elements, a Newton linearization of the plasticity, active set methods for the contact problem, and multigrid‐preconditioned linear solvers. Through a sequence of numerical experiments, we show the performance of these methods. This includes highly accurate solutions of a three‐dimensional benchmark problem and scaling our methods in parallel to 1024 cores and more than a billion unknowns. Copyright © 2015 John Wiley & Sons, Ltd.     

Cytosolic Calcium Concentration Changes in Neuronal Cells Under Clinorotation and in Parabolic Flight Missions

All life on earth has been established under conditions of stable gravity of 1g. Nevertheless, in numerous experiments the direct gravity dependence of biological processes has been shown on all levels of organization, from single molecules to humans. To study the effects especially of microgravity on biological systems, a variety of platforms are available, from drop towers to the ISS. Due to the costs of these platforms and their limited availability, as an alternative, numerous simulators have been developed for so called “simulated” microgravity. A classical systems is a clinostat, basically rotating a sample around one axis, and by integration of the gravity vector for 360° arguing that thus the effects of gravity are depleted. Indeed, a variety of studies has shown that taking out the direction of gravity from a biological system often results in consequences similar to the exposure of the system to real microgravity. Nevertheless, the opposite has been shown, too, and as a consequence the relevance of clinostats in microgravity research is still under discussion. To get some more insight into this problem we have constructed a small fluorescence clinostat and have studied the effects of clinorotation on the cytosolic calcium concentration of neuroglioma cells. The results have been compared to experiments with identical cells in real microgravity, utilizing parabolic flight missions. Our results show that in case of a cell suspension used in a small florescence clinostat within a tube diameter of 2mm, the effects of clinorotation are comparable to those under real microgravity, both showing a significant increase in intracellular calcium concentration.     

Kältemittel‐Schnüffler

Testing refrigerant sniffers The technical generation of coldness is typically done by machines based on a closed thermodynamic process using a refrigerant. As refrigerants usually halogenated hydrocarbons are used since these have good thermodynamic properties. Unfortunately, the halogens are harmful to the environment: They destroy the ozone layer. Therefore, the machines must be tight and must not loose the refrigerant. To check a machine for leakage, mobile leak sniffers are available which can be reliably and quantitatively controlled by test leaks.     

A Perspective on Emerging and Future Sintering Technologies of Ceramic Materials

Novel sintering methods have emerged in the recent past years, which have raised great interest in the scientific community. Relying on electric field effects, high heating rates, the use of mechanical pressure, or hydrothermal conditions, they offer fundamental advantages compared to conventional sintering routes like minimizing the energy consumption and enhancing the process efficiency. This perspective aims at explaining these effects in a general way and presenting the status quo of using them for the processing of high-performing ceramic materials. In detail, this work focuses on flash sintering, ultrafast high-temperature sintering, spark plasma sintering, cold sintering, and photonic sintering methods based on different light sources. The specificities, potentials, and limitations of each method are compared, especially in the light of a possible industrialization.     

Infrastructure Federation Through Virtualized Delegation of Resources and Services

Infrastructure federation is becoming an increasingly important issue for modern Distributed Computing Infrastructures (DCIs): Dynamic elasticity of quasi-static Grid environments, incorporation of special-purpose resources into commoditized Cloud infrastructures, cross-community collaboration for increasingly diverging areas of modern e-Science, and Cloud Bursting pose major challenges on the technical level for many resource and middleware providers. Especially with respect to increasing costs of operating data centers, the intelligent yet automated and secure sharing of resources is a key factor for success. With the D-Grid Scheduler Interoperability (DGSI) project within the German D-Grid Initiative, we provide a strategic technology for the automatically negotiated, SLA-secured, dynamically provisioned federation of resources and services for Grid-and Cloud-type infrastructures. This goal is achieved by complementing current DCI schedulers with the ability to federate infrastructure for the temporary leasing of resources and rechanneling of workloads. In this work, we describe the overall architecture and SLA-secured negotiation protocols within DGSI and depict an advanced mechanism for resource delegation through means of dynamically provisioned, virtualized middleware. Through this methodology, we provide the technological foundation for intelligent capacity planning and workload management in a cross-infrastructure fashion.