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.     

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.     

Characterization of laser hardened steels by laser induced ultrasonic surface waves

Ultrasonic surface waves are suitable for the characterization of surface hardened materials. This is shown on laser hardened turbine blades. The martensitic microstructure within the surface layer of surface hardened steels has a lower surface wave propagation velocity than the annealed or normalized substrate material. Because the propagation velocity depends on the ratio of layer thickness to wavelengthd/, its measurement allows the determination of the hardening depth. If the surface wave frequency is high enough, the surface wave propagates mainly within the hardened layer. A correlation of the surface wave velocity to the surface hardness has been found. Because the variation of the surface velocity in hardened steels is small, a high measurement accuracy is necessary to obtain the interesting hardening parameters with sufficient certainty. Therefore, a measuring arrangement has been developed where laser pulses, guided by optical fibers to the surface hardened structure, generate simultaneously surface wave pulses at two different positions. The two ultrasonic pulses are received by a piezoelectric transducer. The surface wave velocity is obtained from the time delay between these pulses which is determined by the cross-correlation method. To evaluate simultaneously surface waves with different penetration depths from the same signal acquisition, digital filtering has been used in connection with the cross-correlation.     

Deciding the Word Problem for Ground and Strongly Shallow Identities w.r.t. Extensional Symbols

Journal of Automated Reasoning - The word problem for a finite set of ground identities is known to be decidable in polynomial time using congruence closure, and this is also the case if some of...     

A non-autonomous optimal control model of renewable energy production under the aspect of fluctuating supply and learning by doing

Given the constantly raising world-wide energy demand and the accompanying increase in greenhouse gas emissions that pushes the progression of climate change, the possibly most important task in future is to find a carbon-low energy supply that finds the right balance between sustainability and energy security. For renewable energy generation, however, especially the second aspect turns out to be difficult as the supply of renewable sources underlies strong volatility. Further on, investment costs for new technologies are so high that competitiveness with conventional energy forms is hard to achieve. To address this issue, we analyze in this paper a non-autonomous optimal control model considering the optimal composition of a portfolio that consists of fossil and renewable energy and which is used to cover the energy demand of a small country. While fossil energy is assumed to be constantly available, the supply of the renewable resource fluctuates seasonally. We further on include learning effects for the renewable energy technology, which will underline the importance of considering the whole life span of such a technology for long-term energy planning decisions.     

3D-Druck für Hochvakuumanwendungen

To mark our anniversary, we are presenting articles that have been particularly appreciated by readers of our online edition once again in print. Here: 3D-Printing for High Vacuum Applications 3D printing technology has made the leap from a home-based private practice to industrial manufacturing. Due to the increasing reliability of printers and increasing material diversity, especially in the metal sector, double-digit percentage growth rates are possible in the coming years. This thesis deals with the manufacture of parts made by 3D printing for high vacuum application. Different components are printed and examined for their vacuum compatibility. As shown furthermore, conventionally made standard components can be vacuum sealed to printed parts, which enables cost-effective production of more complex components, such as e.g. a vacuum chamber allows. In addition, functional components can already be realized in the manufacturing process. The integration of a system of flow channels directly into the wall of a chamber is just one example. Thus, such a chamber can be heated during evacuation and effectively cool in later operation.