Self-stabilizing somersaults

We investigate the open-loop stability of a planar biped robot performing a periodic motion of forward somersaults with alternating single-leg contacts. The robot has a trunk and two actuated telescopic legs with point feet which are coupled to the trunk by actuated hinges. There is compliance and damping in the hip and in the legs. The concept of open-loop control implies that all actuators of the system receive predetermined inputs that are never altered by any feedback interference. Only with the right choice of model parameters and actuator inputs is it possible to create such self-stabilizing motions exploiting the natural stability properties of the system. These unknowns have been determined using special-purpose stability-optimization methods. The resulting motion is not only stable, but also a more efficient form of forward motion than running for the investigated robot.     

Growth and Characterization of YbBCO Films on Textured Gd2O3 Buffer-Layered Ni Tapes: All Sol–Gel Process

YbBa₂Cu₃O_7?x (YbBCO) thick films were grown on buffered, cube-textured Nickel tapes by sol–gel dip-coating method. Yb-123 films were prepared using solutions of Yb, Ba, and Cu organometallic compounds. A solution-based Gd₂O₃ buffer layer was deposited by dip-coating process with excellent texture and uniformity. The texture development and surface morphology of the buffer-layer films were examined by X-ray diffraction, pole figures, and ESEM analysis. Microstructure and characterization of Yb-123 films were done by ESEM, EDS, and XRD analysis. T _c and J _c were conducted by four-wire measurement method     

Bruchanalyse an Hohlgläsern

Failure analysis of hollow glasses The failure analysis is very important to clarify damages of hollow glasses. Damages of glass bottle through over pressure are very often linked with damages to persons. This is the reason why the causal research is from particular importance. Different surface characteristics of glass fragments as well as the fracture pattern give hints to the direction of the crack, the stress just before breakage and the reason of stress. A reconstruction of the bottle is a further helpful instrument for cause studies. The difference of the various characteristics of the surface will be explained. Further on there will be discussed different reasons and mechanism of fracture.     

The oxidation of two ternary Ni-Cu-10 at.% Al alloys in 1 atm of pure O2 at 800-900 °C

The oxidation of the ternary alloys Ni-45Cu-10Al and Ni-30Cu-10Al has been studied at 800-900 °C under 1 atm O₂. The presence of 10 at.% Al reduces significantly the oxidation rate of the corresponding Cu-Ni alloys during the initial oxidation stages, even before the establishment of a complete Al₂O₃ layer. The weight of individual sample of the two ternary Ni-Cu-10Al alloys at 800 °C increases more rapidly than at 900 °C during the initial oxidation stage. As oxidation proceeds, the weight gain at 800 °C slows down to a degree that the total weight gain after 24 h oxidation at 800 °C is less than that at 900 °C. Due to a faster formation of the Al₂O₃ layer, which suppresses earlier the further oxidation of Cu and Ni, the external region of the scales grown on Ni-45Cu-10Al contain much less Cu and Ni oxides than those grown on Ni-30Cu-10Al. The transition from the internal oxidation to the selective external oxidation of the most reactive component Al in Ni-Cu-Al alloys is favored by higher values of the Al content, of temperature and of the Cu/Ni ratio.     

BIR and BIGR Upgrade Variants for Enlarging Their Interior Cavities

Computational results are presented for the neutron characteristics of BIR and BIGR fast pulse reactors, specifically, cylindrical systems with a core consisting of an alloy of 90% or 36% enrichment uranium with 10 mass% molybdenum or a composite uranium–graphite material. The purpose of the calculations is to determine the possibility of increasing the size of the interior cavities in reactors without appreciably degrading the time parameters of the pulses.Reactor models with a metal core, which are best for further consideration, are systems with a disk core which have a cavity with a diameter up to 30 cm along the axis and a thickness-limited iron reflector. For reactors with uranium–graphite core, it is best to develop a new pulse reactor with an axial cavity which has a larger volume and is more accessible for sample placement than BIGR.An important problem of the calculations was to determine screen variants for a cavity which would prevent fuel overheating and at the same time be free of autocatalysis manifestations.     

Reibungsversuche mit Krypton bei niedrigen Drücken

Tests of a linear Equation on the Evaluation of Krypton Friction Experiments at low Pressures and Connections to Viscosity Effects The coefficient of viskosity is nearly constant in the region with STP conditions and is independent of the pressure. This coefficient decreases with lowering the pressure until the region of molecular flow is reached. There we have free molecular‐ or vacuum viscosity. Experiments with the friction of gas have to take in the gas between surfaces which are movabel and parallel. Reactions of the gas with the moving surface cannot be neglected. We made our lab‐examinations of gas friction effects between two rotating cylinders. Generally there is a linear equation of the reciprocal values of viscosities and pressures. Our experiments show a region, where this linear relation is valid. This region has a low limit with coming to molecular flow and an upper limit if the gas is warmed up by friction at higher pressures.     

Hochbelastbare kohlenstoffbasierte Mehrschichtsysteme für die Umformtechnik

Carbon based multilayer systems for highly loaded forming tools Amorphous hydrogenated carbon (metal‐free a‐C:H and metal‐containing a‐C:H:Me) films respond very sensitively to local overloads. For example during forming tool operations, hard abrasive particles and locally high stresses on the coating surface can cause crack initiation and early coating failure. Compared to the high hardness, wear resistance and excellent friction properties, in many cases the adhesion of a‐C:H films is relatively insufficient. Adhesion and overload resistance of a‐C:H and a‐C:H:Me, prepared by reactive sputtering, can be influenced in a wide range by different interlayer systems. In the present report the wear mechanism of amorphous carbon coatings and the influence of different metallic, metal nitride and metal carbide interlayers on the growth structure, the adhesion and the load resistance will be reported. Two well adapted multi‐coating systems, successfully tested for highly loaded tools and components, will be presented.