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.     

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.     

Direct modulation of widely tunable twin-guide lasers

The possibility to directly modulate widely tunable lasers up to several gigahertz is desirable in telecom applications. We discuss the dynamic properties of the recently proposed widely tunable twin-guide laser concept. It has promising prospects with a maximum theoretical bandwidth above 20 GHz and the 3-dB bandwidth at 250 mA indicates that an actual bandwidth of 12 GHz should be possible. The current lasers were not designed for high-speed modulation, so only 1-GHz modulation can be reached at the moment.     

Energy indicators for tracking sustainability in developing countries

Due to the fact that human activities and most sustainability issues are closely related to energy use, the energy system is a sound framework for providing lead indicators for sustainable development. Common energy-economic models enable the estimation of future states of the energy system. An energy system-based lead indicator set can be used to develop consistent and coherent future indicator estimates and to track sustainability, a clear advantage over existing sets.     

Imaging of the optic disc and retinal nerve fiber layer: the effects of age, optic disc area, refractive error, and gender.

We cross-sectionally examined the relationship between age, optic disc area, refraction, and gender and optic disc topography and retinal nerve fiber layer (RNFL) measurements, using optical imaging techniques. One eye from each of 155 Caucasian subjects (age range 23.0-80.8 y) without ocular pathology was included. Measurements were obtained by using the Heidelberg Retina Tomography (HRT), the GDx Nerve Fiber Analyzer, and the Optical Coherence Tomograph (OCT). The effects of age were small (R2 < 17%) and were limited to specific HRT, GDx, and OCT parameters. Disc area was significantly associated with most HRT parameters and isolated GDx and OCT parameters. Refraction and gender were not significantly associated with any optic disc or RNFL parameters. Although effects of age on the optic disc and RNFL are small, they should be considered in monitoring ocular disease. Optic disc area should be considered when cross-sectionally evaluating disc topography and, to a lesser extent, RNFL thickness.     

Numerical simulation model for exhaust gas transportation of dust in the BOF

During the BOF process for the production of crude steel, the specific amount of dust emitted is of the order of 2 % of the steel weight at turn down. The process gas conveys the dust through the boiler system into the primary and secondary dust catchers. The transportation of dust particles is influenced by blowing parameters; physical properties of process gas and of dust phases; and, type and layout of the converter and the filter system. In this work, a numerical simulation model is developed that simulates the pneumatic conveyance and sedimentation of primarily coarse dust particles in the BOF gas cleaning system. Comparison is then made of predicted coarse dust characteristics with values for dust sampled from an existing plant in order to verify the plausibility of the developed model.     

Action of chelators on solid iron in phosphate-containing aqueous solutions

To study the effect of strong iron-ligands on steel corrosion, mild steel electrodes were immersed in solutions containing 20 mM phosphate buffer (pH=7.2) and between 0.01 mM and 1 M of either the iron(II)-chelators 2,2^′-bipyridine or FerroZine, or the iron(III)-chelators citrate or acetylacetonate. Resulting surface reactions were investigated by quantifying the electrochemical potential (E), the electrochemical polarization resistance (R_p), the corrosion current (I_corr) and the release of iron into solution. The surface was further analyzed by scanning electron microscopy (SEM/SEM-EDAX) and atomic force microscopy. Concentrations of 0.1 mM of any of the chelators led to slight, temporary changes in E, I_corr and R_p. Concentrations of 10 mM resulted in characteristic changes of E, which were the same for all chelators and in the precipitation of FePO₄ in the case of citrate and acetylacetonate, or vivianite [Fe₃(PO₄)₂ · 8H₂O] in the case of bipyridine and FerroZine. Concentrations of 1 mM of both iron(III)-chelators led to a temporary drop of E similar to that found with 0.1 mM chelator. With iron(II)-chelators, E dropped to about −500 mV before oscillating for several days. The amplitudes of the oscillations were up to 200 mV with periods of 30 and 20-25 min for bipyridine and FerroZine, respectively.