Adaptive control of straight worms without derivative measurement

In this paper we consider an adaptive control problem of finite DoF worm-like locomotion systems (WLLS) which contact the ground with Coulomb dry friction. Using a rough mathematical friction law the system is shown to belong to a system class that allows adaptive control. Gaits from the kinematic theory can be tracked by means of adaptive controllers. For this we introduce two different adaptive controllers for λ-tracking and focus on that one which is not based on the derivative of the output. We pay attention to the analysis of such systems and present some theoretical control investigations including proofs. Numerical simulations of tracking different reference signals under arbitrary choice of the system parameters demonstrate and illustrate that the introduced simple adaptive controllers work successfully and effectively. Current experiments are aimed at the justification of theoretical results.     

Gait generation considering dynamics for artificial segmented worms

This paper deals with terrestrial worm-like locomotion systems living in a straight line. They are modeled as chains of mass points having ground interaction via spikes which make the velocities unidirectional. A method is presented to construct gaits with any desired time pattern of resting mass points (which are acted on by the propulsive forces). Taking the dynamics into consideration, conclusions about the choice and shift of gaits in connection with actuator data are given.     

Über die Abgabe von Ameisen- und Essigsäure aus Deck- und Mittelschichten von aus CTMP hergestellten mitteldichten Faserplatten (MDF)

Volatile acids (formic and acetic acid) from the surface and core layers of medium density fibre-boards (MDF) made from chemo-thermo-mechanical pulps (CTMP) were measured following the flask method technique. The results indicate explicitly that the emission of acids from the core layer is much higher than from the surface layer. The results are indicative of the influx of the steam distillable volatile acids from the surface layers to the core layer during pressing operation.     

Intraocular gene transfer of ciliary neurotrophic factor prevents death and increases responsiveness of rod photoreceptors in the retinal degeneration slow mouse

Several mutations causing both photoreceptor degeneration and malfunction have been identified in humans and animals. Although intraocular injection of trophic factors has been shown to reduce photoreceptor death in a few conditions of rapid photoreceptor loss, it is unclear whether long-term beneficial changes in functional properties of affected photoreceptors can be obtained by treatment with these factors. The rds/rds mouse is a spontaneous mutant bearing a null mutation in the rds/peripherin gene, which is linked to many forms of dominant retinal degenerations in humans. Here, we report that intraocular adenovirus-mediated gene transfer of ciliary neurotrophic factor (CNTF) in this mutant reduces photoreceptor loss, causes a significant increase in the length of photoreceptor segments, and results in a redistribution and an increase in the retinal content of the photopigment rhodopsin. These effects are accompanied by a significant increase in the amplitude of the a- and b-waves of the scotopic electroretinogram. These results suggest that continuous administration of CNTF could potentially be useful for the treatment of some forms of retinal degeneration.     

Genetic studies of the leptin receptor gene in morbidly obese French Caucasian families

Family studies have shown that in some populations up to 75% of the variation of body mass index can be explained by genetic factors. However, in humans, no major obesity gene has been identified to date. In contrast, there are a number of genetically well defined animal models for obesity. In two of those models (ob/ob and db/db), defects in the same pathway are responsible for obesity. Recently, some evidence has been found for the OB gene also being involved in human obesity. In this study we investigated the potential role of the OB receptor (OBR) in the etiology of massive obesity in humans using familial linkage analyses and case-control association studies. The typing of two microsatellite markers (D1S198 and D1S209), flanking the OBR gene, in 256 sib pairs showed no evidence for linkage with obesity. In order to be able to detect small gene effects, association studies with a 3'-UTR insertion/deletion polymorphism were carried out. The results of these analyses remained non-significant (chi 2 = 3.442, P = 0.18). However, subjects heterozygous for the insertion/deletion polymorphism showed a slight trend towards lower insulin values 30 min after an oral glucose load compared to homozygous individuals (P = 0.02). In summary, our results do not support a major role of the human OBR gene in the development of morbid obesity in our population.     

Buffer gases to increase the efficiency of an optically pumped far infrared D2O laser

The effects of buffer gas additives on the performance of an optically pumped D2O laser operating at 385 μm have been investigated both experimentally and by numerical simulation. Three gases, sulphur hexafluoride, carbon tetrafluoride, andn-hexane, were found to produce an increase of up to 40 percent in the pumping efficiency, as well as significant lengthening of the far infrared pulse. Under optimum conditions, 2.6 J in a 1 μs long pulse have been obtained. The buffer gases are shown to eliminate the vibrational deexcitation bottleneck, which in pure D2O leads to an accumulation of population in the upper vibrational leve and, hence, a reduction in the efficiency of absorption of the pump beam. Comparison of the observed buffer gas effects with the predictions of a numerical simulation code based on a rate equation model gives information about the constants for vibrational and rotational relaxation rates due to D2O-D2O and D2O-buffer gas collisions.     

Einfluss der Aufschlusstemperatur auf die morphologischen Eigenschaften von TMP aus Kiefernholz

Chips from pine wood were subjected to thermo-mechanical pulping (TMP) at 140 and 180?^oC for 5 minutes, whereas the cooked chips were defibrated using a single disk pressurized refiner at the same temperatures (140 and 180?^oC). The fibres were tested for some of their morphological properties including fibre length, fibre width, cellwall thickness. Moreover, the fine fibre fraction (zero fibres) and the content of splinters were also estimated. The results reveal, that increasing the temperature during thermo-mechanical pulping decreases the fibre length, the cell width and the fibre wall thickness. It also increases the amount of fine fibres and increases the curl factor.