Reconfigurable handling system

The demand for more versatile assembly and handling systems to facilitate customized production is gaining in importance, especially with regard to the constantly-increasing cost pressure, to expansion of the range of product versions and the shortening of innovation cycles. As a cost-effective approach for frequently changing assembly tasks, a novel manipulation concept has been developed by combining given robot technologies. This new handling system has a modular and adaptable layout, which consists of several mobile arms to manipulate the object in six-dimensional Cartesian space. After grasping, when the arms are attached to the object, the mechanical architecture is similar to parallel manipulators or cooperating robots. As the mounting and gripping points of the arms can easily be changed, the manipulator can be reconfigured so as to match the user’s preferences and needs. In addition to the kinematic adaption the regarding task, the hardware and new functions can be reconfigured as well. Contact elements, measurement and assembly devices as well as testing modules can easily be in integrated in the concept. A modular automatic control concept combined with a self-optimizing planning tool helps the user to find the optimal configuration and realize it in an economic way.     

Lead-acid battery capacity in solar home systems—Field tests and experiences in Lundazi, Zambia

Batteries in solar home systems can cause problems and costs for the users and/or operators of the systems. In Zambia the Lundazi Energy Service Company (LESCO) operates 150 solar home systems on a fee for service basis. The aim of the study was to investigate how the capacity of lead-acid flat plate batteries had changed after one year of operation under real conditions. The results indicate that the batteries capacity has been significantly reduced in comparison to new unused batteries of the same type. Changes in battery management and maintenance, along with additional education of customers on correct use of SHS is advised in order to improve the life span of batteries in practical use.     

Near-zero triangular location through time-slotted mobility prediction

To setup efficient wireless mesh networks, it is fundamental to limit the overhead needed to localize a mobile user. A promising approach is to rely on a rendezvous-based location system where the current location of a mobile node is stored at specific nodes called locators. Nevertheless, such a solution has a drawback, which happens when the locator is far from the source–destination shortest path. This results in a triangular location problem and consequently in increased overhead of signaling messages. One solution to prevent this problem would be to place the locator as close as possible to the mobile node. This requires however to predict the mobile node’s location at all times. To obtain such information, we define a mobility prediction model (an agenda) that, for each node, specifies the mesh router that is likely to be the closest to the mobile node at specific time periods. The location service that we propose formalizes the integration of the agenda with the management of location servers in a coherent and self-organized fashion. To evaluate the performance of our system compared to traditional approaches, we use two real-life mobility datasets of Wi-Fi devices in the Dartmouth campus and Taxicabs in the bay area of San Francisco. We show that our strategy significantly outperforms traditional solutions; we obtain gains ranging from 39 to 72% compared to the centralized scheme and more than 35% compared to a traditional rendezvous-based solution.     

Dynamic resource allocation in OFDM systems: an overview of cross-layer optimization principles and techniques

Recently, a lot of research effort has been spent on cross-layer system design. It has been shown that cross-layer mechanisms (i.e., policies) potentially provide significant performance gains for various systems. In this article we review several aspects of cross-layer system optimization regarding wireless OFDM systems. We discuss basic optimization models and present selected heuristic approaches realizing cross-layer policies by means of dynamic resource allocation. Two specific areas are treated separately: models and dynamic approaches for single transmitter/receiver pairs (i.e., a point-to-point communication scenario) as well as models and approaches for point-to-multipoint communication scenarios (e.g., the downlink of a wireless cell). This article provides basic knowledge in order to investigate future OFDM cross-layer-optimization issues     

Short- and long-term joint symbolic dynamics of heart rate and blood pressure in dilated cardiomyopathy

Autonomic cardiovascular control involves complex interactions of heart rate and blood pressure. In patients with dilated cardiomyopathy (DCM), this control is impaired and parameters for its quantification might be of prognostic importance. In this paper, we introduce methods based on joint symbolic dynamics (JSD) for the enhanced analysis of heart rate and blood pressure interactions. To assess the coarse-grained dynamics beat-to-beat changes of heart rate and blood pressure are encoded in symbol strings. Subsequently, the distribution properties of short symbol sequences (words) as well as the scaling properties of the whole symbol string are assessed. The comparison of joint symbolic heart rate and blood pressure dynamics in DCM (n = 75) with those in healthy controls (n = 75) showed significant changes. Both, the distribution of words and the scaling properties indicate a loss in heart rate dynamics associated with blood pressure regulation in DCM. In conclusion, the analyses of short- and long-term JSDs provide insights into complex physiological heart rate and blood pressure interactions and furthermore reveal patho-physiological cardiovascular control in DCM.     

Preparation of high-entropy carbides by different sintering techniques

Journal of Materials Science - Dense (Hf, Ta, Nb, Ti, V)C- and (Ta, Nb, Ti, V, W)C-based high-entropy carbides (HEC) were produced by three different sintering techniques: gas pressure...     

First experiences with a new infrared thermometry device in mammary gland diagnosis

A parasitology survey was conducted in five villages in North Sumatra, Indonesia. A total of 3,207 blood smears, 2,066 stool specimens and 969 sera were examined. Sixty (1.9%) inhabitants had malaria (Plasmodium vivax 41, P. falciparum 19), and 20 had Brugia malayi microfilaraemia. The most common intestinal helminths were Trichuris trichiura (87%), Ascaris lumbricoides (75%) and hookworm (58%). Other helminths found in low numbers were Enterobius vermicularis, Strongyloides stercoralis, Taenia sp., Fasciolid, Dicrocoeliid and Echinostoma sp. eggs. Entamoeba coli (25%) was the most common intestinal protozoa followed by Endolimax nana (8%), Entamoeba histolytica (7%), Giardia lamblia (6%), Iodamoeba bütschlii (5%), Entamoeba hartmanni (1%) and Chilomastix mesnili (1%). The amoeba prevalence rate was 31 per cent. Testing of sera for Entamoeba histolytica and Toxoplasma gondii antibodies by the indirect haemagglutination test demonstrated positive reactors in 13 per cent and nine per cent of the population respectively. The greatest number of seropositives for Toxoplasma gondii was at elevations of sea level to five meters and the lowest number at elevations of 5OO-1,000 meters.     

A dual-affinity gene fusion system to express small recombinant proteins in a soluble form: expression and characterization of protein A deletion mutants

A novel gene fusion system to express and purify small recombinantproteins in Escherichia coli has been constructed. The conceptallows for affinity purification of soluble gene products bysequential albumin- and Zn²+-affinity chromatography. The dual-affinitysystem is well suited for expression of unstable proteins asonly full-length protein is obtained after purification andproteins gain proteolytic stability in the fusion protein. Herewe show that the dual-affinity approach can be used for theexpression of various unstable derivatives of a single IgG-bindingdomain based on staphylococcal protein A. Analysis of the proteolyticstabilities and the IgG-binding properties of the differentmutant proteins suggest that the model for the structure ofan IgG-binding domain must be re-evaluated.     

Synthesis and characterization of in situ anionically polymerized p-aminobenzoylcaprolactam using di-and tri-functional initiator systems

Summary p-Aminobenzoylcaprolactam has been polymerized anionically in a two-step process to produce aramide-amide copolymers. Both drawn fibers and unoriented films may be produced using this method. The samples were characterized using FTIR, solution NMR, thermal analysis, viscosity, and mechanical testing. FTIR and NMR revealed the incorporation of both the aramid and amide linkages into the polymer backbone. TGA results gave a lower decomposition temperature than that of both aramide and nylon 6 materials. Intrinsic viscosities averaged 0.5 dL/g for the drawn copolymer samples polymerized by the di-functional initiator. Light microscopy displayed crystalline domains that did not appear to melt even up to 300°C. Mechanical testing showed that the initial moduli of drawn fiber samples to be in the range of 30–80 MPa, while homopolymers of nylon 6 and p-benzamide possessed values of 25 MPa and 2.70×10³ MPa, respectively.