Spectroscopic ellipsometry of anisotropic materials: application to the optical constants of HgI2

A variable angle-of-incidence spectroscopic fixed-polarizer, rotating-polarizer, fixed-analyzer ellipsometer (PRPSE) across a spectral range from 300 to 800 nm is used to determine the optical properties of anisotropic uniaxial tetragonal red mercuric iodide (HgI(2)). For the first time, to our knowledge, the bulk crystal HgI(2) surface measured by ellipsometry was not subjected to potassium iodide cutting or etching. Measurements were made at an air-HgI(2) interface with the optic axis parallel to the sample surface. To determine the optical constants, we varied both the angle of incidence and the azimuth of the optic axis with the plane of incidence. The detailed formulas needed for reliable procedures for analyzing the data are presented. The ordinary and extraordinary complex indices of refraction, (n(o) - ik(o)) and (n(e) - ik(e)), respectively, are determined. Good agreement between PRPSE and the prism technique for the refractive index is observed. The surface aging effects of the ellipsometric parameters of HgI(2), during 30 h of exposure to air, were detected by PRPSE.     

Methods for the Reduction of Odometry Errors in Over-Constrained Mobile Robots

This paper presents an analysis of odometry errors in over-constrained mobile robots, that is, vehicles that have more independent motors than degrees of freedom. Examples of over-constrained vehicles are the various 6-wheeled Mars Rovers like Rocky-7, Rocky-8, or Fido.Based on our analysis we developed two novel measures aimed at reducing odometry errors. We also developed a novel method that serves as a framework for the implementation of the two new measures, as well as for other, conventional error reducing measures.One of the two new measures, called Fewest Pulses Measure, makes use of the observation that most terrain irregularities, as well as wheel slip, result in an erroneous overcount of encoder pulses. The second new measure, called Cross-coupled Control Measure, optimizes the motor control algorithm of the robot to reduce synchronization errors that would otherwise result in wheel slip with conventional controllers.The novel method that serves as a framework for other measures is based on so-called Expert Rules. In this paper we formulate three expert rules aimed at reducing dead-reckoning errors. Two of these expert rules are related to the foregoing discussion on error reducing measures. The third expert rule adds a gyroscope to the system and we re-examine the effectiveness of the odometry error-reducing measures in the context of this addition.In the work described in this paper we modified a Pioneer AT skid-steer platform by providing it with four independent drive motors and encoders. We implemented our error-reducing measures and the expert rule method on this over-constrained platform and present experimental results.     

Membranes prepared from keratin–polyacrylonitrile graft copolymers

Graft copolymerization of acrylonitrile onto a soluble wool keratin derivative was studied with the reduced and carboxymethylated low-sulfur protein fraction from wool. Copolymerization was carried out under a variety of conditions with a redox system of (NH₄)₂S₂O₈–Na₂SO₃ in 60% (w/w) aqueous ZnCl₂ solution at 10°C. Monomer conversions higher than 90% were obtained by the stepwise addition of initiator. The graft products were successfully separated into grafted copolymer and homopolyacrylonitrile (PAN) by fractional precipitation or solvent extraction with DMF. Grafted PAN were isolated by acid hydrolysis of the keratin backbone. Characterization of grafted and homo-PAN was carried out by IR spectroscopy, amino acid endgroup analysis, and viscometry. On the basis of the results, effects of polymerization conditions on grafting parameters were discussed. Membranes were prepared from 60% aqueous ZnCl₂ solution by using ice-cold water as the regenerating medium. All the membranes formed from the graft products were transparent. Observation by scanning electron microscopy showed that the surface consisted of rather spherical keratin domains regularly distributed in the PAN matrix. Selective hydrolysis of the keratin domains allowed a new type of porous PAN membrane to be obtained, with the inner walls of the pores being charged with amino acid residues attached to PAN chains as the endgroup.     

Integrated wavelets for enhancement of microcalcifications in digital mammography

This paper presents a new algorithm for enhancement of microcalcifications in mammograms. The main novelty is the application of techniques we have developed for construction of filterbanks derived from the continuous wavelet transform. These discrete wavelet decompositions, called integrated wavelets, are optimally designed for enhancement of multiscale structures in images. Furthermore, we use a model based approach to refine existing methods for general enhancement of mammograms resulting in a more specific enhancement of microcalcifications. We present results of our method and compare them with known algorithms. Finally, we want to indicate how these techniques can also be applied to the detection of microcalcifications. Our algorithm was positively evaluated in a clinical study. It has been implemented in a mammography workstation designed for soft-copy reading of digital mammograms developed by IMAGETOOL, Germany.     

Molecular simulations of droplet evaporation by heat transfer

Droplet evaporation by heat transfer is investigated by molecular dynamics simulations for a pure Lennard-Jones fluid. Two different initial conditions are treated: (1) a droplet surrounded by its vapor in equilibrium, (2) a cold droplet surrounded by warm vapor. In both cases heat is transferred from a heat bath. Results are the numbers of droplet molecules N _d and density, drift velocity, and temperature profiles as functions of time. For the small droplets considered N _d depends on the definition of a droplet molecule. The density profiles as function of time show a transition from a droplet with liquid–vapor interface to a cluster of interfacial type and finally to the gas state. The temperature at a given time is nearly constant within the droplets or clusters but strong gradients occur in the gas. In case of evaporation of a cold droplet surrounded by warm vapor we observed initially cooling down of the droplet corresponding to pressure jump evaporation and thereafter slower evaporation because of lower initial state vapor density.     

Reinforced masonry beams under shear load – Proposals for future designs / Bewehrte schubbeanspruchte Mauerwerksbalken – Vorschläge für zukünftige Bemessungen

This article is written against the backdrop of the work of the European standardisation committees on the amendment of EN 1996‐1‐1 [N 4] which will also exert an influence on the design of reinforced masonry in Germany. This paper focusses on the design approaches of DIN EN 1996‐1‐1 for untensioned reinforced masonry beams under shear load in the ultimate limit state (ULS). Proposals are made to discuss their revision. The contents of E DIN 1053‐3 [N 3] and of the final draft of the guideline ”Flat Lintels” [7] are taken into account.     

Chemical basis of anti-listerial effects of rosemary herb during stomaching with fresh-cut vegetables

Fresh rosemary herb has demonstrated much stronger anti-listerial effects when stomached with contaminated fresh-cut vegetables than those obtained by application of rosemary essential oils. Various types of rosemary extracts (hydrodistillates, CO₂ extracts, hexane/acetone extracts) were analysed by GC–MS and tested for anti-listerial effects in vitro. Principal component analysis showed that verbenone levels were most correlated with anti-listerial effects, followed by levels of camphor. Stomaching rosemary herb greatly increased headspace levels of verbenone and camphor (by up to 20 times) compared to intact or chopped fresh rosemary. It is speculated that by crushing the herb under water, stomaching released enhanced levels of these components as lipophilic nanosomes which rapidly migrated to lipophilic surfaces, including the membranes of Listeria cells.     

The OmniMate: A guidewire- and beacon-free AGV for highly reconfigurable applications

This paper introduces a new automated guided vehicle (AGV) for guidewire-free industrial applications where rapid reconfiguration is required. The AGV, called OmniMate, has full omnidirectional motion capabilities, can correct odometry errors without external references, and offers a large 183 x 91 cm (72 x 36 in) loading deck. A patented, so-called compliant linkage avoids the excessive wheel slippage often found in other omnidirectional platforms. The paper describes the kinematic design and the control system of the platform and explains its unique odometry error correction method, called internal position error correction (IPEC). IPEC renders the OmniMate's odometry almost completely insensitive to even severe irregularities of the floor, such as bumps, cracks, or traversable objects. Dead-reckoning is enhanced further by the addition of a fibre-optics gyroscope. Because of its extraordinary dead-reckoning capabilities the OmniMate can travel over extended distances while following a pre-programmed path fully automatically. The paper describes an implemented 'leadthrough' teaching system, in which an operator guides the OmniMate along a desired path, while the OmniMate records the path to memory. Later, in path execution mode, the OmniMate reproduces the path accurately, observing commanded velocities. With this system it is possible and feasible to program or modify a complete path within minutes.     

Katharsische Reinigung?

Ohne Zusammenfassung