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.     

Capillary-driven pumping for passive degassing and fuel supply in direct methanol fuel cells

In this paper we present a new concept of creating and using capillary pressure gradients for passive degassing and passive methanol supply in direct methanol fuel cells (DMFCs). An anode flow field consisting of parallel tapered channels structures is applied to achieve the passive supply mechanism. The flow is propelled by the surface forces of deformed CO₂ bubbles, generated as a reaction product during DMFC operation. This work focuses on studying the influence of channel geometry and surface properties on the capillary-induced liquid flow rates at various bubbly gas flow rates. Besides the aspect ratios and opening angles of the tapered channels, the static contact angle as well as the effect of contact angle hysteresis has been identified to significantly influence the liquid flow rates induced by capillary forces at the bubble menisci. Applying the novel concept, we show that the liquid flow rates are up to thirteen times higher than the methanol oxidation reaction on the anode requires. Experimental results are presented that demonstrate the continuous passive operation of a DMFC for more than 15 h.     

The role of autologous blood transfusion in the the Federal Republic of Germany. Results of a 1993 questionnaire. 1. The reunited Germany

The objective of the study was to evaluate the role of autologous blood transfusion in current clinical practice in the Federal Republic of Germany after reunification. METHODS: Questionnaires were sent to the anaesthesia departments of 684 German hospitals in January 1993. The sample consisted of 400 randomly selected hospitals from the former West Germany ("old federal states") and 284 hospitals from the former German Democratic Republic ("new federal states"). Only hospitals with more than 25 surgical beds were included in the study. The questionnaire contained 36 questions related to (1) general information on the hospital, (2) preoperative autologous blood donation (PABD), (3) preoperative plasmapheresis, (4) isovolaemic haemodilution, (5) perioperative blood salvage, and (6) general management of blood transfusion. RESULTS: A total of 502 completed questionnaires (73%) were returned, 305 from hospitals in the "old federal states" and 197 from hospitals in the former German Democratic Republic. Nine per cent of the responding hospitals were running their own transfusion services, and 56% were located in the vicinity of a regional blood bank. The overall proportion of surgical procedures requiring perioperative blood transfusion ranged from 1% to 90% (median 10%). PABD was performed "not at all" in 18%, "rarely" in 20% "occasionally" in 27%, "frequently" in 17%, and "mostly" in 16% of the responding hospitals. The principal use of PABD was in orthopaedic surgery and cardiac surgery (83% and 70% of the departments in question, respectively). In more than 50% of the hospitals reporting, the PABD service was run by the anaesthesia department. Patients not meeting the established criteria for homologous blood donors were accepted for autologous blood donation "frequently" and "mostly" in 20% and 12% of the hospitals, respectively, but at most "occasionally" in 63% of the hospitals. Preoperative plasmapheresis was performed in 12% of the responding hospitals. Autologous fresh frozen plasma predominantly was used for volume replacement, and for prevention of coagulation disorders when major blood loss was anticipated. Isovolaemic haemodilution was performed "not at all" in 28%, "rarely" in 19%, "occasionally" in 28%, "frequently" in 16%, and "mostly" in 8% of the responding hospitals. The reasons most frequently invoked for not performing haemodilution were "too time consuming" and "too little blood-saving effect". Cell separators for perioperative blood salvage were available in 30% of the responding hospitals. Of the other hospitals not equipped with cell-washing devices, 11% performed perioperative blood salvage of unprocessed blood by means of simple collection devices. Some 80% of those hospitals using intraoperative autotransfusion devices also performed blood salvage postoperatively. The principal use of perioperative blood salvage was in cardiac surgery, orthopaedics, and vascular surgery (90%, 54%, and 54% of departments, respectively). Some 48% of the responding anaesthetists "mostly" considered haemoglobin levels of 8-10 g/dl acceptable in patients without cardiopulmonary disease, but only 18% did so in patients with cardiopulmonary disease. CONCLUSIONS: Although available in the majority of hospitals surveyed, the simple techniques of both PABD and isovolaemic haemodilution are unduly neglected in routine clinical practice. The consistent use of both of these techniques, and the careful weighing up of the indication for every single blood transfusion, would not only effectively reduce homologous blood transfusions, but also enable even small hospitals to run successful autologous transfusion programmes without expensive cell-washing and plasmapheresis devices.     

Multi-Stage Phase-Segregation of Mixed Halide Perovskites under Illumination: A Quantitative Comparison of Experimental Observations and Thermodynamic Models

Photo- and charge-carrier-induced ion migration is a major challenge when utilizing metal halide perovskite semiconductors for optoelectronic applications. For mixed iodide/bromide perovskites, the compositional instability due to light- or electrical bias induced phase-segregation restricts the exploitation of the entire bandgap range. Previous experimental and theoretical work suggests that excited states or charge carriers trigger the process, but the exact mechanism is still under debate. To identify the mechanism and cause of light-induced phase-segregation phenomena, the full compositional range of methylammonium lead bromide/iodide samples are investigated, MAPb(Br_xI_1-x)₃ with x = 0…1, by simultaneous in situ X-ray diffraction (XRD) and photoluminescence (PL) spectroscopy during illumination. The quantitative comparison of composition-dependent in situ XRD and PL shows that at excitation densities of 1 sun, only the initial stage of photo-segregation is rationalized with the previously established thermodynamic models. However, a progression of the phase segregation is observed that is rationalized by considering long-lived accumulative photo-induced material alterations. It is suggested that (additional) photo-induced defects, possibly halide vacancies and interstitials, need to be considered to fully rationalize light-induced phase segregation and anticipate the findings to provide crucial insight for the development of more sophisticated models.     

Protecting and preserving clear barrier layers for flexible packaging materials In‐line thermal evaporation of organic topcoat layer

The end market for transparent flexible barrier films is larger than for metallized films. Presently, the market is still dominated by polymeric barrier layers but the used chemicals may be harmful for the environment. An alternative would be transparent thin layers deposited by vacuum deposition techniques using reactive processes. Ceramic materials like silicon oxide or aluminum oxide are used having a film thickness of just ～10 nm, a coating uniformity of +/?5% across and along the film at a barrier performance below 2.0 sccm/m²d for oxygen transmission rate (OTR) and below 1.0 g/m²d for water vapor transmission rate (WVTR) on PET substrates. In this paper, details will be provided about the deposition processes for these barrier layers using thermal evaporation, plasma‐assisted thermal evaporation as well as deposition by electron beam evaporation. An important factor for these high barrier transparent coatings is also to withstand the downstream processes in the whole packaging stream like slitting, lamination, printing etc. One solution is to protect the barrier layers by a Topcoat. For example, off‐line deposition of lacquers is used in field but the market penetration is low due to high process and material costs. An in‐situ Topcoat deposition is a smart solution to overcome this issue saving time and costs. Such an approach will be also described in the presentation and the impact on the performance of the final package will be discussed.     

Controlled counter-flow motion of magnetic bead chains rolling along microchannels

We demonstrate controlled transport of superparamagnetic beads in the opposite direction of a laminar flow. A permanent magnet assembles 200 nm magnetic particles into about 200 μm long bead chains that are aligned in parallel to the magnetic field lines. Due to a magnetic field gradient, the bead chains are attracted towards the wall of a microfluidic channel. A rotation of the permanent magnet results in a rotation of the bead chains in the opposite direction to the magnet. Due to friction on the surface, the bead chains roll along the channel wall, even in counter-flow direction, up to at a maximum counter-flow velocity of 8 mm s⁻¹. Based on this approach, magnetic beads can be accurately manoeuvred within microfluidic channels. This counter-flow motion can be efficiently be used in Lab-on-a-Chip systems, e.g. for implementing washing steps in DNA purification.     

The pragmatic quality of Resources‐ Events‐Agents diagrams: an experimental evaluation

The Resources‐Events‐Agents (REA) model is a semantic data model for the development of enterprise information systems. Although this model has been proposed as a benchmark for enterprise information modelling, only few studies have attempted to empirically validate the claimed benefits of REA modelling. Moreover, these studies focused on the evaluation of REA‐based system implementations rather than directly assessing the REA‐modelled conceptual schemas that these systems are based on. This paper presents a laboratory experiment that measured the user understanding of diagrammatic conceptual schemas developed using the REA model. The theoretical foundation for the hypotheses are cognitive theories that explain pattern recognition phenomena and the resulting reduction in cognitive effort for understanding conceptual schemas. The results of the experiment indicate a more accurate understanding of the business processes and policies modelled when users recognize the REA model’s core pattern of enterprise information in the diagram. The implication for modelling practice is that the use of the REA model improves the requirements engineering process by facilitating the user validation of conceptual schemas produced by analysts, and thus helps ensuring the quality of the enterprise information system that is developed or implemented.     

Three‐dimensional localization for the MagneBike inspection robot

The MagneBike inspection robot is a climbing robot equipped with magnetic wheels. The robot is designed to drive on three‐dimensional (3D) complexly shaped pipe structures; therefore it is necessary to provide 3D visualization tools for the user, who remotely controls the robot out of sight. The localization system is required to provide a 3D map of the unknown environment and the 3D location of the robot in the environment's map. The localization strategy proposed in this paper consists of combining 3D odometry with 3D scan registration. The odometry model is based on wheel encoders and a three‐axis accelerometer. Odometry enables the tracking of the robot trajectory between consecutive 3D scans and is used as a prior for the scan matching algorithm. The 3D scan registration facilitates the construction of a 3D map of the environment and refines the robot position computed with odometry. This paper describes in detail the implementation of the localization concept. It presents the lightweight, small‐sized 3D range finder that has been developed for the MagneBike. It also proposes an innovative 3D odometry model that estimates the local surface curvature to compensate for the absence of angular velocity inputs. The different tools are characterized in detail based on laboratory and field experiments. They show that the localization concepts reliably track the robot moving in the specific application environment. We also describe various techniques to optimize the 3D scanning process, which is time consuming, and to compensate for the identified limitations. These techniques are useful inputs for the future automatization of the robot's control and optimization of its localization process. © 2010 Wiley Periodicals, Inc.     

Overlay-Netze als Innovationsmotor im Internet Spontane virtuelle Netze: auf dem Weg zum Internet der Zukunft

Das Internet ist heute eine globale Infrastruktur, deren st?ndige Verfügbarkeit mehr oder weniger als gegeben angenommen wird. Die Einführung neuer Technologien (z. B. Multicast, IPv6) in diese Infrastruktur erweist sich aus unterschiedlichen Gründen als schwierig. Vielmehr haben sich Overlay-Netze in diesem Kontext als Innovationsmotor etabliert. Diese werden von Endger?ten am Netzrand aufgespannt, ben?tigen somit keine neuen Komponenten in der Netzinfrastruktur und lassen sich selbstorganisierend sowie skalierbar einsetzen. Interessant sind diese Eigenschaften auch für den Overlay-basierten Aufbau und Betrieb von Kommunikationsnetzen an sich, mit dem Ziel, unbeeinflusst von Mobilit?t, Multi-Homing und Heterogenit?t der Protokolle und Zugangsnetze nahtlose Konnektivit?t zwischen Endger?ten herzustellen. Dieser Artikel zeigt anhand von Beispielen auf, wie Overlays die Entwicklung neuer Dienste im Internet vorantreiben k?nnen. Als Beispiel für eine Overlay-basierte Netzarchitektur, welche die Realisierung neuer Dienste und Anwendungen erm?glicht, wird die Architektur zur Realisierung von Spontanen Virtuellen Netzen (SpoVNet) und deren Netzabstraktionsschicht ariba detailliert vorgestellt.