Integrating a flexible anthropomorphic, robot hand into the control, system of a humanoid robot

This article presents the approaches taken to integrate a novel anthropomorphic robot hand into a humanoid robot. The requisites enabling such a robot hand to use everyday objects in an environment built for humans are presented. Starting from a design that resembles the human hand regarding size and movability of the mechatronical system, a low-level control system is shown providing reliable and stable controllers for single joint angles and torques, entire fingers and several coordinated fingers. Further on, the high-level control system connecting the low-level control system with the rest of the humanoid robot is presented. It provides grasp skills to the superior robot control system, coordinates movements of hand and arm and determines grasp patterns, depending on the object to grasp and the task to execute. Finally some preliminary results of the system, which is currently tested in simulations, will be presented.     

RTS-MAC: A Relative Time Synchronization MAC Protocol for Low Duty Cycle Body Sensor Networks

Emerging applications in the medical field require body sensor networks to communicate in real-time in a very energy-efficient way. An example is the Artificial Accommodation System??a set of two small active medical implants aiming at restoring accommodation of the human eye??in which sensor data have to be exchanged continuously between both eyes. To achieve energy efficiency, it is essential to operate the radios with a very low duty cycle. Therefore, idle listening and general protocol overhead must be reduced as much as possible. In this paper, we present a relative time synchronization medium access control protocol (RTS-MAC), which keeps relative time synchronization between two or more sensor nodes in a very energy-efficient manner: RTS-MAC makes use of the periodic broadcast of regular data messages and exploits the inter-arrival times to predict future arrivals within tight boundaries. Thereby, no overhead is generated for synchronization purposes, and still, idle listening is reduced to a minimum, which solely depends on the short-term accuracy of the underlying clock systems. We implemented the proposed protocol using off-the-shelf components and employed the internal low-accuracy oscillators of the microcontrollers as clock sources. Thereby, we achieved very low duty cycles close to an ideal minimum. Further, our results indicate that through omitting external crystals in favor of a minimally larger battery, the battery life of a sensor node can be prolonged.     

Regulations and research on RC&S for hydrogen storage relevant to transport and vehicle issues with special focus on composite containments

Developers interested in high pressure storage of hydrogen for mobile use increasingly rely on composite cylinders for onboard storage or transport of dangerous goods. Thus, composite materials and systems deserve special consideration. History gives interesting background information important to the understanding of the current situation as to regulations, codes and standards.     

Bewertung von Abfallbehandlungsverfahren: Entscheidungsunterstützung durch die neue VDI‐Richtline 3925

The new VDI guideline 3925 presents assessment tools for the comparison of economic, ecological and also social aspects of different waste treatment processes. Objective of the guideline is to describe the application of suitable scientific and technical assessment methods to waste management strategies. The methods, their applicability, complexity, opportunities and limits are illustrated using practical examples.     

Bonded aerospace repairs under tensile loading: Wet chemical surface treatment and selected environmental conditions

Repair of composite structures and the impact of demanding environmental conditions is a crucial issue for the aircraft industry because of the increasing use of composites in modern aircraft. Consequently, the impact of environmental conditions common for aircraft applications on repair specimens in comparison to nonrepaired specimens is studied. All specimens are produced from a woven carbon fiber-reinforced epoxy-based prepreg. For the repair-specimens, an epoxy-based film adhesive is used for the soft patch repair approach. During the repair process, the surface of the precured prepreg is prepared by a mechanical method (sanding) and an additional chemical functionalization, respectively. Moisture absorption of the repair specimens is independent of the surface preparation method and higher for the repaired than for the nonrepaired specimens. The key influencing environmental conditions for the tensile strength and the failure mode of the repair specimens are elevated temperature testing as well as hot/wet conditioning and conditioning in deionized water. © 2019 Wiley Periodicals, Inc. J. Appl. Polym. Sci. 2019 , 136, 47506.     

Fouling Detection in an Optically Accessible Microstructured Heat Exchanger

The application of highly effective microstructured devices in continuous production and industrial environments is frequently prone to fouling. A new method is presented to characterize fouling in these microstructures. Thermal fouling of aqueous solutions containing whey protein were used as a test system. Different fouling effects could be observed and distinguished. Integral fouling indicators, such as thermal fouling resistance and pressure drop, as conventional criteria for the occurrence of fouling were compared with direct local optical observation. Low thermal fouling resistances could be detected.     

Transferrin-Decorated Niosomes with Integrated InP/ZnS Quantum Dots and Magnetic Iron Oxide Nanoparticles: Dual Targeting and Imaging of Glioma

The development of multifunctional nanoscale systems that can mediate efficient tumor targeting, together with high cellular internalization, is crucial for the diagnosis of glioma. The combination of imaging agents into one platform provides dual imaging and allows further surface modification with targeting ligands for specific glioma detection. Herein, transferrin (Tf)-decorated niosomes with integrated magnetic iron oxide nanoparticles (MIONs) and quantum dots (QDs) were formulated (PEGNIO/QDs/MIONs/Tf) for efficient imaging of glioma, supported by magnetic and active targeting. Transmission electron microscopy confirmed the complete co-encapsulation of MIONs and QDs in the niosomes. Flow cytometry analysis demonstrated enhanced cellular uptake of the niosomal formulation by glioma cells. In vitro imaging studies showed that PEGNIO/QDs/MIONs/Tf produces an obvious negative-contrast enhancement effect on glioma cells by magnetic resonance imaging (MRI) and also improved fluorescence intensity under fluorescence microscopy. This novel platform represents the first niosome-based system which combines magnetic nanoparticles and QDs, and has application potential in dual-targeted imaging of glioma.