Bestimmung des Herbicids Glyphosat und dessen Hauptmetabolit Aminomethylphosphons?ure (AMPA) in Trinkwasser mit Hilfe der HPLC

Zusammenfassung Es wird eine Methode zur Bestimmung von Glyphosat und dessen Hauptmetabolit Aminomethylphosphonsäure (AMPA) in Trinkwasser beschrieben, die es erlaubt, den in der Schweiz geforderten Toleranzwert von 0,1 g/1 zu erreichen (Nachweisgrenze 0,02 g/l). Die Wasserprobe wird dabei direkt mit 9-Fluorenylmethyl-chloroformaat (FMOCCI) versetzt, um extrahierbare und gleichzeitig fluorescierende Derivate zu erhalten. Diese werden nach Ausschütteln mit einem organischen Lösungsmittelgemisch durch HPLC mit Fluorescenzdetektor bestimmt. In bisher 151 untersuchten Trinkwasserproben des Kantons Bern konnten weder Glyphosat noch AMPA nachgewiesen werden.

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Determination of glyphosate herbicide and its main metabolite aminomethylphosphonic acid (AMPA) in drinking water by HPLC

Summary A method for the determination of glyphosate and its major metabolite aminomethylphosphonic acid (AMPA) is described. With a detection limit of 0.02 g/l, the method suitably fulfills the requirements of the Swiss legislation (tolerance value of 0.1 g/l water). The compounds are derivatized directly in the original water sample with 9-fluorenylmethyl chloroformate (FMOCCI) in order to obtain extractable and fluorescent derivatives. These are extracted with organic solvents and determined by HPLC using a fluorescence detector. Neither of the compounds could be detected in 151 tap water samples from the Canton of Berne.

     

A kinetic study of the adsorption and desorption process of two commercial molecular sieves

A mathematical model and its numerical solution is presented to describe adiabatic adsorption—desorption processes in a fixed bed when the mass and heat transfer can be described by external film transfer coefficients only, which is especially interesting in the case of non-uniform, irregular particles. A new method to measure such rates is presented, based on continuous weighing of a through-circulated bed. The measured rates can be checked against the difference in humidity and temperature between the outlet and inlet air in order to minimize errors.The comparison between experimental results and calculations showed that the adsorption process in a bed of molecular sieve pellets can not be described with a constant mass transfer coefficient; the desorption process is better described although not entirely satisfactorily. In the case of a honeycomb molecular sieve, a constant mass transfer coefficient described both the adsorption and desorption processes satisfactorily.     

Testing usability and trainability of indirect touch interaction: perspective for the next generation of air traffic control systems

This study aims to determine whether indirect touch device can be used to interact with graphical objects displayed on another screen in an air traffic control (ATC) context. The introduction of such a device likely requires an adaptation of the sensory-motor system. The operator has to simultaneously perform movements on the horizontal plane while assessing them on the vertical plane. Thirty-six right-handed participants performed movement training with either constant or variable practice and with or without visual feedback of the displacement of their actions. Participants then performed a test phase without visual feedback. Performance improved in both practice conditions, but accuracy was higher with visual feedback. During the test phase, movement time was longer for those who had practiced with feedback, suggesting an element of dependency. However, this ‘cost’ of feedback did not extend to movement accuracy. Finally, participants who had received variable training performed better in the test phase, but accuracy was still unsatisfactory. We conclude that continuous visual feedback on the stylus position is necessary if tablets are to be introduced in ATC.     

A predicted three-dimensional structure of human cytochrome P450: implications for substrate specificity

A three-dimensional structure for human cytochrome P450IA1 waspredicted based on the crystal coordinates of cytochrome P450camfrom Pseudomonas putida. As there was only 15% residue identitybetween the two enzymes, additional information was used toestablish an accurate sequence alignment that is a prerequisitefor model building. Twelve representative eukaryotic sequenceswere aligned and a net prediction of secondary structure wasmatched against the known -helices and ß-sheets ofP450cam. The cam secondary structure provided a fixed main-chainframework onto which loops of appropriate length from the humanP450IA1 structure were added. The model-built structure of thehuman cytochrome conformed to the requirements for the segregationof polar and nonpolar residues between the core and the surface.The first 44 residues of human cytochrome P450 could not bebuilt into the model and sequence analysis suggested that residues1–26 formed a single membrane-spanning segment. Examinationof the sequences of cytochrome P450s from distinct gene familiessuggested specific residues that could account for the differencesin substrate specificity. A major substrate for P450IA1, 3-methyl-cholanthrene,was fitted into the proposed active site and this planar aromaticmolecule could be accommodated into the available cavity. Residuesthat are likely to interact with the haem were identified. Thesequence similarity between 59 eukaryotic enzymes was representedas a dendrogram that in general clustered according to genefamily. Until a crystallographic structure is available, thismodel-building study identifies potential residues in cytochromeP450s important in the function of these enzymes and these residuesare candidates for site-directed mutagenesis.     

Summary Maps for Lifelong Visual Localization

Robots that use vision for localization need to handle environments that are subject to seasonal and structural change, and operate under changing lighting and weather conditions. We present a framework for lifelong localization and mapping designed to provide robust and metrically accurate online localization in these kinds of changing environments. Our system iterates between offline map building, map summary, and online localization. The offline mapping fuses data from multiple visually varied datasets, thus dealing with changing environments by incorporating new information. Before passing these data to the online localization system, the map is summarized, selecting only the landmarks that are deemed useful for localization. This Summary Map enables online localization that is accurate and robust to the variation of visual information in natural environments while still being computationally efficient. We present a number of summary policies for selecting useful features for localization from the multisession map, and we explore the tradeoff between localization performance and computational complexity. The system is evaluated on 77 recordings, with a total length of 30 kilometers, collected outdoors over 16 months. These datasets cover all seasons, various times of day, and changing weather such as sunshine, rain, fog, and snow. We show that it is possible to build consistent maps that span data collected over an entire year, and cover day‐to‐night transitions. Simple statistics computed on landmark observations are enough to produce a Summary Map that enables robust and accurate localization over a wide range of seasonal, lighting, and weather conditions.     

Improved Quality Output through Computer‐Based Training: An Automotive Assembly Field Study

In this article, two field experiments, conducted in an automotive assembly plant, evaluate how computer‐based training of operational sequences and related quality information can support the assembly performance of the operators. The experiments were performed during the launch of a new vehicle. A comparison was made of learning progress and quality performance between a reference group of operators that only had regular training and a test group for which some of the regular training was replaced with individual computer‐based training. Both quantitative measures of the quality output and questionnaires and observations were used to evaluate the effects of computer‐based training. The results show a clear positive difference in learning progress and improvements in quality output for the test group compared with the reference group. This combined with positive attitudes expressed by the operators and their team leaders shows that this type of training is an effective way to train operators during launches of new vehicles in automotive production.     

Towards social behavior in virtual-agent navigation

We present Social Groups and Navigation (SGN), a method to simulate the walking behavior of small pedestrian groups in virtual environments. SGN is the first method to simulate group behavior on both global and local levels of an underlying planning hierarchy. We define quantitative metrics to measure the coherence and the sociality of a group based on existing empirical data of real crowds. SGN does not explicitly model coherent and social formations, but it lets such formations emerge from simple geometric rules. In addition to a previous version, SGN also handles group-splitting to smaller groups throughout navigation as well as social sub-group behavior whenever a group has to temporarily split up to re-establish its coherence. For groups of four, SGN generates between 13% and 53% more socially-friendly behavior than previous methods, measured over the lifetime of a group in the simulation. For groups of three, the gain is between 15% and 31%, and for groups of two, the gain is between 1% and 4%. SGN is designed in a flexible way, and it can be integrated into any crowd-simulation framework that handles global path planning and any path following as separate steps. Experiments show that SGN enables the simulation of thousands of agents in real time.     

A bio-inspired predictive sensory-motor coordination scheme for robot reaching and preshaping

This paper presents a sensory-motor coordination scheme for a robot hand-arm-head system that provides the robot with the capability to reach an object while pre-shaping the fingers to the required grasp configuration and while predicting the tactile image that will be perceived after grasping. A model for sensory-motor coordination derived from studies in humans inspired the development of this scheme. A peculiar feature of this model is the prediction of the tactile image. The implementation of the proposed scheme is based on a neuro-fuzzy module that, after a learning phase, starting from visual data, calculates the position and orientation of the hand for reaching, selects the best-suited hand configuration, and predicts the tactile feedback. The implementation of the scheme on a humanoid robot allowed experimental validation of its effectiveness in robotics and provided perspectives on applications of sensory predictions in robot motor control.