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.     

Computing presentations for subgroups of polycyclic groups and of context-free groups

Algorithms for solving uniform decision problems for algebraic structures crucially depend on the chosen finite presentations for the structures under consideration. Rewriting techniques have been used very successfully to solve uniform decision problems, when the presentations considered involve finite, noetherian, and ()-confluent rewriting systems. Whenever the class of algebraic structures considered is closed under the operation of taking finitely generated substructures, then the algorithms for solving the uniform decision problems can be applied to the substructures as well. However, since these algorithms depend on the form of the presentations, this involves the task of constructing a presentation of a certain form for a substructure given a presentation of this form for the structure itself and a finite set of generating elements for the substructure.This problem, which has received a lot of attention in algebra, is here investigated from an algorithmic point of view. The structures considered are the following two classes of groups, which have been studied extensively before: the polycyclic groups and the context-free groups.Finitely generated context-free groups can be presented by finite, monadic, and -confluent string-rewriting systems. Due to their nice algorithmic properties these systems provide a way to effectively solve many decision problems for context-free groups. Since finitely generated subgroups of context-free groups are again contextfree, they can be presented in the same way. Here we describe a process that, from a finite, monadic, and -confluent string-rewriting system presenting a context-free groupG and a finite subsetU ofG, determines a presentation of this form for the subgroup U ofG that is generated byU. For finitely presented polycyclic groups we obtain an analogous result, when we use finite confluent PCP2-presentations to describe these groups.This work was performed while this author was visiting at the Fachbereich Informatik, Universität Kaiserslautern, during his sabbatical 1991/92     

Aniline hydrogenolysis on nickel: effects of surface hydrogen and surface structure

Fluorescence yield near-edge spectroscopy (FYNES) above the carbon K edge and temperature programmed reaction spectroscopy (TPRS) have been used as the methods for characterizing the reactivity and structure of adsorbed aniline and aniline derived species on the Ni(100) and Ni(111) surfaces over an extended range of temperatures and hydrogen pressures. The Ni(100) surface shows appreciably higher hydrogenolysis activity towards adsorbed aniline than the Ni(111) surface. Hydrogenolysis of aniline on the Ni(100) surface results in benzene formation at 470 K, both in reactive hydrogen atmospheres and in vacuum. External hydrogen significantly enhances the hydrogenolysis activity for aniline on the Ni(100) surface. Based on spectroscopic evidence, we believe that the dominant aniline hydrogenolysis reaction is preceded by partial hydrogenation of the aromatic ring of aniline in the presence of 0.001 Torr of external hydrogen on the (100) surface. In contrast, very little adsorbed aniline undergoes hydrogen induced C-N bond activation on the Ni(111) surface for hydrogen pressures as high as 10^–7 Torr below 500 K. Thermal dehydrogenation of aniline dominates with increasing temperature on the Ni(111) surface, resulting in the formation of a previously observed polymeric layer which is stable up to 820 K. Aniline is adsorbed at a smaller angle relative to the Ni(111) surface than the Ni(100) surface at temperatures below the hydrogenolysis temperature. We believe that the proximity and strong -interaction between the aromatic ring of the aniline and the surface is one major factor which controls the competition between dehydrogenation and hydrogen addition. In this case the result is a substantial enhancement of aniline dehydrogenation relative to hydrogenation on the Ni(111) surface.     

Absolute interferometric distance measurement using a FM-demodulation technique

We propose an interferometric method for measuring absolute distances larger than the wavelength. A laser diode is used as a light source. The principle of operation is based on multiple-wavelength interferometry that uses a modulated light source. This method uses the fact that the wavelength of light emitted by the laser diode can be varied by means of the injection current. The modulation of the injection current in combination with the optical heterodyne technique causes a high-frequency phase-modulated detector signal. The phase deviation of the signal is a measure of the optical path difference in the interferometer. By FM demodulation of the detector output with a phase-locked loop demodulator, the optical path difference can be determined directly without the classical ambiguity problem of interferometry. The measuring range in the experiments was limited to 50 mm by the maximum travel range of the used specimen translation stage. Because of the inherent light sensitivity of the method described, the rangefinder can be used for three-dimensional profile measurements on a wide variety of objects, even on diffuse scattering surfaces.     

Arginine 206 of the C5a receptor is critical for ligand recognition and receptor activation by C-terminal hexapeptide analogs

C5a is a 74-amino-acid glycoprotein whose receptor is a member of the rhodopsin superfamily. While antagonists have been generated to many of these receptors, similar efforts directed at family members whose natural ligands are proteins have met with little success. The recent development of hexapeptide analogs of C5a has allowed us to begin elucidation of the molecular events that lead to activation by combining a structure/activity study of the ligand with receptor mutagenesis. Removal of the hexapeptide's C-terminal arginine reduces affinity by 100-fold and eliminates the ability of the ligand to activate the receptor. Both the guanidino side chain and the free carboxyl of the arginine participate in the interaction. The guanidino group makes the energy-yielding contact with the receptor, while the free carboxylate negates "electrostatic" interference with Arg-206 of the receptor. It is the apparent movement Arg-206 induced by this set of interactions that is responsible for activation, since conversion of Arg-206 to alanine eliminates the agonist activity of the hexapeptides. Surprisingly, activation is a nearly energy-neutral event and may reflect the binding process rather than the final resting site of the ligand.     

Scanning tunneling spectroscopy studies on YBa2Cu3O7−δ

Scanning Tunneling Spectroscopy (STS) measurements have been carried out on the high T_c superconductor (HTS) YBa₂Cu₃O_7– (YBCO). Using very high quality single crystals as well as hard tips, we obtained differential conductance spectra which showed various conductance features in agreement with other spectroscopic techniques. The reproducibility of our spectra allowed us to map for the first time the vortex lattice on a HTS using a STS technique¹. The vortices are arranged in a short range order oblique lattice, while the cores of the flux lines show an anisotropic shape. These observations can be related to the in-plane anisotropy of YBCO.     

Prediction of thermodynamic properties for fluid nitrogen with molecular dynamics simulations

Molecular dynamics simulation results in the isochoric isothermal ensemble are reported for a two-center Lennard Jones model of fluid nitrogen characterized by the fixed molecular elongationL = 1 = 0.3292, New values of and were determined by fitting the vapor pressure and the saturated liquid density of the model to experimental data at 94,67 K. The required vapor liquid equilibrium data of the model were taken from a study using the NpT + test particle method. The resulting values are k = 36.32013 K (36.673 K) and = 0.32973 nm (0.33073 nm), with values in parentheses being those obtained previously from a Weeks Chandler Andersen-type perturbation theory. Then pressures and internal energies were calculated by molecular simulations for 110 state points in the temperature range from 72 to 330 K and for densities up to 35 mol · L¹. Comparison of the predictions based on the new parameters with the empirical equation of state of Jacobsen et al. shows good to excellent agreement except in the near-critical region. Moreover. for almost all state points the new parameters yield an improvement over old ones from perturbation theory.