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Using industrial robots for machining applications in flexible manufacturing
processes lacks a high accuracy. The main reason for the deviation is the
flexibility of the gearbox. Secondary Encoders (SE) as an additional, high precision
angle sensor offer a huge potential of detecting gearbox deviations. This paper
aims to use SE to reduce gearbox compliances with a feed forward, adaptive
neural control. The control network is trained with a second network for system
identification. The presented algorithm is capable of online application and optimizes
the robot accuracy in a nonlinear simulation.
Biological soil crusts (biocrusts) have been recognized as key ecological players in arid and semiarid regions at both local and global scales. They are important biodiversity components, provide critical ecosystem services, and strongly influence soil-plant relationships, and successional trajectories via facilitative, competitive, and edaphic engineering effects. Despite these important ecological roles, very little is known about biocrusts in seasonally dry tropical forests. Here we present a first baseline study on biocrust cover and ecosystem service provision in a human-modified landscape of the Brazilian Caatinga, South America's largest tropical dry forest. More specifically, we explored (1) across a network of 34 0.1 ha permanent plots the impact of disturbance, soil, precipitation, and vegetation-related parameters on biocrust cover in different stages of forest regeneration, and (2) the effect of disturbance on species composition, growth and soil organic carbon sequestration comparing early and late successional communities in two case study sites at opposite ends of the disturbance gradient. Our findings revealed that biocrusts are a conspicuous component of the Caatinga ecosystem with at least 50 different taxa of cyanobacteria, algae, lichens and bryophytes (cyanobacteria and bryophytes dominating) covering nearly 10% of the total land surface and doubling soil organic carbon content relative to bare topsoil. High litter cover, high disturbance by goats, and low soil compaction were the leading drivers for reduced biocrust cover, while precipitation was not associated Second-growth forests supported anequally spaced biocrust cover, while in old-growth-forests biocrust cover was patchy. Disturbance reduced biocrust growth by two thirds and carbon sequestration by half. In synthesis, biocrusts increase soil organic carbon (SOC) in dry forests and as they double the SOC content in disturbed areas, may be capable of counterbalancing disturbance-induced soil degradation in this ecosystem. As they fix and fertilize depauperated soils, they may play a substantial role in vegetation regeneration in the human-modified Caatinga, and may have an extended ecological role due to the ever-increasing human encroachment on natural landscapes. Even though biocrusts benefit from human presence in dry forests, high levels of anthropogenic disturbance could threaten biocrust-provided ecosystem services, and call for further, in-depth studies to elucidate the underlying mechanisms.
To exploit the whole potential of Additive Manufacturing (AM), a sound knowledge about the mechanical and especially cyclic properties of AM materials as well as their dependency on the process parameters is indispensable. In the presented work, the influence of chemical composition of the used powder on the fatigue behavior of Selectively Laser Melted (SLM) and Laser Deposition Welded (LDW) specimens made of austenitic stainless steel AISI 316L was investigated. Therefore, in each manufacturing process two variations of chemical composition of the used powder were utilized. For qualitative characterization of the materials cyclic deformation behavior, load increase tests (LITs) were performed and further used for the physically based lifetime calculation method (PhyBaLLIT), enabling an efficient determination of stress (S)–number of cycles to failure (Nf) curves (S–Nf), which show excellent correlation to additionally performed constant amplitude tests (CATs). Moreover, instrumented cyclic indentation tests (PhyBaLCHT) were utilized to characterize the materials’ defect tolerance in a comparably short time. All material variants exhibit a high influence of microstructural defects on the fatigue properties. Consequently, for the SLM process a higher fatigue lifetime at lower stress amplitudes could be observed for the batch with a higher defect tolerance, resulting from a more pronounced deformation induced austenite–α’-martensite transformation. In correspondence to that, the batch of LDW material with an increased defect tolerance exhibit a higher fatigue strength. However, the differences in defect tolerance between the LDW batches is only slightly influenced by phase transformation and seems to be mainly governed by differences in hardening potential of the austenitic microstructure. Furthermore, a significantly higher fatigue strength could be observed for SLM material in relation to LDW specimens, because of a refined microstructure and smaller microstructural defects of SLM specimens.
In this paper we present the results of the project “#Datenspende” where during the German election in 2017 more than 4000 people contributed their search results regarding keywords connected to the German election campaign.
Analyzing the donated result lists we prove, that the room for personalization of the search results is very small. Thus the opportunity for the effect mentioned in Eli Pariser’s filter bubble theory to occur in this data is also very small, to a degree that it is negligible. We achieved these results by applying various similarity measures to the result lists that were donated. The first approach using the number of common results as a similarity measure showed that the space for personalization is less than two results out of ten on average when searching for persons and at most four regarding the search for parties. Application of other, more specific measures show that the space is indeed smaller, so that the presence of filter bubbles is not evident.
Moreover this project is also a proof of concept, as it enables society to permanently monitor a search engine’s degree of personalization for any desired search terms. The general design can also be transferred to intermediaries, if appropriate APIs restrict selective access to contents relevant to the study in order to establish a similar degree of trustworthiness.
Micronuclei-based model system reveals functional consequences of chromothripsis in human cells
(2019)
Cancer cells often harbor chromosomes in abnormal numbers and with aberrant structure. The consequences of these chromosomal aberrations are difficult to study in cancer, and therefore several model systems have been developed in recent years. We show that human cells with extra chromosome engineered via microcell-mediated chromosome transfer often gain massive chromosomal rearrangements. The rearrangements arose by chromosome shattering and rejoining as well as by replication-dependent mechanisms. We show that the isolated micronuclei lack functional lamin B1 and become prone to envelope rupture, which leads to DNA damage and aberrant replication. The presence of functional lamin B1 partly correlates with micronuclei size, suggesting that the proper assembly of nuclear envelope might be sensitive to membrane curvature. The chromosomal rearrangements in trisomic cells provide growth advantage compared to cells without rearrangements. Our model system enables to study mechanisms of massive chromosomal rearrangements of any chromosome and their consequences in human cells.
Functional Metallic Microcomponents via Liquid-Phase Multiphoton Direct Laser Writing: A Review
(2019)
We present an overview of functional metallic microstructures fabricated via direct laser writing out of the liquid phase. Metallic microstructures often are key components in diverse applications such as, e.g., microelectromechanical systems (MEMS). Since the metallic component’s functionality mostly depends on other components, a technology that enables on-chip fabrication of these metal structures is highly desirable. Direct laser writing via multiphoton absorption is such a fabrication method. In the past, it has mostly been used to fabricate multidimensional polymeric structures. However, during the last few years different groups have put effort into the development of novel photosensitive materials that enable fabrication of metallic—especially gold and silver—microstructures. The results of these efforts are summarized in this review and show that direct laser fabrication of metallic microstructures has reached the level of applicability.
The Atacama Desert is one of the driest and probably oldest deserts on Earth where only a few extremophile organisms are able to survive. This study investigated two terricolous and two epiphytic lichens from the fog oasis “Las Lomitas” within the National Park Pan de Azúcar which represents a refugium for a few vascular desert plants and many lichens that can thrive on fog and dew alone. Ecophysiological measurements and climate records were combined with molecular data of the mycobiont, their green algal photobionts and lichenicolous fungi to gain information about the ecology of lichens within the fog oasis. Phylogenetic and morphological investigations led to the identification and description of the new lichen species Acarospora conafii sp. nov. as well as the lichenicolous fungi that accompanied them and revealed the trebouxioid character of all lichen photobionts. Their photosynthetic responses were compared during natural scenarios such as reactivation by high air humidity and in situ fog events to elucidate the activation strategies of this lichen community. Epiphytic lichens showed photosynthetic activity that was rapidly induced by fog and high relative air humidity whereas terricolous lichens were only activated by fog.
Regulation of metabolism is complex and involves enzymes and membrane transporters, which form networks to support energy dynamics. Lactate, as a metabolic intermediate from glucose or glycogen breakdown, appears to play a major role as additional energetic substrate, which is shuttled between glycolytic and oxidative cells, both under hypoxic and normoxic conditions. Transport of lactate across the cell membrane is mediated by monocarboxylate transporters (MCTs) in cotransport with H+, which is a substrate, a signal and a modulator of metabolic processes. MCTs form a “transport metabolon” with carbonic anhydrases (CAs), which not only provide a rapid equilibrium between CO2, HCO3– and H+, but, in addition, enhances lactate transport, as found in Xenopus oocytes, employed as heterologous expression system, as well as in astrocytes and cancer cells. Functional interactions between different CA isoforms and MCTs have been found to be isoform-specific, independent of the enzyme’s catalytic activity, and they require physical interaction between the proteins. CAs mediate between different states of metabolic acidosis, induced by glycolysis and oxidative phosphorylation, and play a relay function in coupling pH regulation and metabolism. In the brain, metabolic processes in astrocytes appear to be linked to bicarbonate transport and to neuronal activity. Here, we focus on physiological processes of energy dynamics in astrocytes as well as on the transfer of energetic substrates to neurons.
Green Innovation Areas have been developed in the US context of urban development in order to jump-start innovative solutions in abandoned areas. Prospective types of uses in these areas are not predetermined, but should be experimental and innovative. So far they can comprise vast greenhouse uses to less extensive clover fields, but their potential is not yet fully discovered. Implementing new and innovative economic uses in urban areas is relatively new in research for urban areas, in particular, when development types like bioeconomy are implemented. The joint German–Mexican research presented in this article aims at exploring the use of vacant inner urban spaces as Green Innovation Areas—discussing their potentials for sustainable development of shrinking cities.
In cyanobacteria and plants, VIPP1 plays crucial roles in the biogenesis and repair of thylakoid membrane protein complexes and in coping with chloroplast membrane stress. In chloroplasts, VIPP1 localizes in distinct patterns at or close to envelope and thylakoid membranes. In vitro, VIPP1 forms higher-order oligomers of >1 MDa that organize into rings and rods. However, it remains unknown how VIPP1 oligomerization is related to function. Using time-resolved fluorescence anisotropy and sucrose density gradient centrifugation, we show here that Chlamydomonas reinhardtii VIPP1 binds strongly to liposomal membranes containing phosphatidylinositol-4-phosphate (PI4P). Cryo-electron tomography reveals that VIPP1 oligomerizes into rods that can engulf liposomal membranes containing PI4P. These findings place VIPP1 into a group of membrane-shaping proteins including epsin and BAR domain proteins. Moreover, they point to a potential role of phosphatidylinositols in directing the shaping of chloroplast membranes.
Patients after total hip arthroplasty (THA) suffer from lingering musculoskeletal restrictions. Three-dimensional (3D) gait analysis in combination with machine-learning approaches is used to detect these impairments. In this work, features from the 3D gait kinematics, spatio temporal parameters (Set 1) and joint angles (Set 2), of an inertial sensor (IMU) system are proposed as an input for a support vector machine (SVM) model, to differentiate impaired and non-impaired gait. The features were divided into two subsets. The IMU-based features were validated against an optical motion capture (OMC) system by means of 20 patients after THA and a healthy control group of 24 subjects. Then the SVM model was trained on both subsets. The validation of the IMU system-based kinematic features revealed root mean squared errors in the joint kinematics from 0.24° to 1.25°. The validity of the spatio-temporal gait parameters (STP) revealed a similarly high accuracy. The SVM models based on IMU data showed an accuracy of 87.2% (Set 1) and 97.0% (Set 2). The current work presents valid IMU-based features, employed in an SVM model for the classification of the gait of patients after THA and a healthy control. The study reveals that the features of Set 2 are more significant concerning the classification problem. The present IMU system proves its potential to provide accurate features for the incorporation in a mobile gait-feedback system for patients after THA.
Anisotropy of tracer-coupled networks is a hallmark in many brain regions. In the past, the topography of these networks was analyzed using various approaches, which focused on different aspects, e.g., position, tracer signal, or direction of coupled cells. Here, we developed a vector-based method to analyze the extent and preferential direction of tracer spreading. As a model region, we chose the lateral superior olive—a nucleus that exhibits specialized network topography. In acute slices, sulforhodamine 101-positive astrocytes were patch-clamped and dialyzed with the GJ-permeable tracer neurobiotin, which was subsequently labeled with avidin alexa fluor 488. A predetermined threshold was used to differentiate between tracer-coupled and tracer-uncoupled cells. Tracer extent was calculated from the vector means of tracer-coupled cells in four 90° sectors. We then computed the preferential direction using a rotating coordinate system and post hoc fitting of these results with a sinusoidal function. The new method allows for an objective analysis of tracer spreading that provides information about shape and orientation of GJ networks. We expect this approach to become a vital tool for the analysis of coupling anisotropy in many brain regions
IoT systems consist of Hardware/Software systems (e.g., sensors) that are embedded in a physical world, networked and that interact with complex software platforms. The validation of such systems is a challenge and currently mostly done by prototypes. This paper presents the virtual environment for simulation, emulation and validation of an IoT platform and its semantic model in real life scenarios. It is based on a decentralized, bottom up approach that offers interoperability of IoT devices and the value-added services they want to use across different domains. The framework is demonstrated by a comprehensive case study. The example consists of the complete IoT “Smart Energy” use case with focus on data privacy by homomorphic encryption. The performance of the network is compared while using partially homomorphic encryption, fully homomorphic encryption and no encryption at all.As a major result, we found that our framework is capable of simulating big IoT networks and the overhead introduced by homomorphic encryption is feasible for VICINITY.
Passive graduated filters with fixed absorption profile are currently used in image recording to avoid overexposure. However, a whole set of filters with prescribed gradients is required to cope with changing illumination conditions. Furthermore, they demand mechanical adjustment during operation. To overcome these deficiencies we present a microfabricated active electrochromic graduated filter which combines multiple functionalities: The overall absorbance, the position of medium transmission as well as the magnitude of its gradient can be tuned continuously by electrical means. Live image control is possible using low operation voltages in the range of ±2 V to reach a high change in optical density ΔOD of 1.01 (400 nm to 780 nm) with a coloration and bleaching time 1.3 s and 0.2 s, respectively. Owing to their low volume and power consumption they are suitable for widespread applications like in smartphones, surveillance cameras or microscopes.
The structural integrity of synaptic connections critically depends on the interaction between synaptic cell adhesion molecules (CAMs) and the underlying actin and microtubule cytoskeleton. This interaction is mediated by giant Ankyrins, that act as specialized adaptors to establish and maintain axonal and synaptic compartments. In Drosophila, two giant isoforms of Ankyrin2 (Ank2) control synapse stability and organization at the larval neuromuscular junction (NMJ). Both Ank2-L and Ank2-XL are highly abundant in motoneuron axons and within the presynaptic terminal, where they control synaptic CAMs distribution and organization of microtubules. Here, we address the role of the conserved N-terminal ankyrin repeat domain (ARD) for subcellular localization and function of these giant Ankyrins in vivo. We used a P[acman] based rescue approach to generate deletions of ARD subdomains, that contain putative binding sites of interacting transmembrane proteins. We show that specific subdomains control synaptic but not axonal localization of Ank2-L. These domains contain binding sites to L1-family member CAMs, and we demonstrate that these regions are necessary for the organization of synaptic CAMs and for the control of synaptic stability. In contrast, presynaptic Ank2-XL localization only partially depends on the ARD but strictly requires the presynaptic presence of Ank2-L demonstrating a critical co-dependence of the two isoforms at the NMJ. Ank2-XL dependent control of microtubule organization correlates with presynaptic abundance of the protein and is thus only partially affected by ARD deletions. Together, our data provides novel insights into the synaptic targeting of giant Ankyrins with relevance for the control of synaptic plasticity and maintenance.
Although for photon Bose–Einstein condensates the main mechanism of the observed photon–photon interaction has already been identified to be of a thermo-optic nature, its influence on the condensate dynamics is still unknown. Here a mean-field description of this effect is derived, which consists of an open-dissipative Schrödinger equation for the condensate wave function coupled to a diffusion equation for the temperature of the dye solution. With this system at hand, the lowest-lying collective modes of a harmonically trapped photon Bose–Einstein condensate are calculated analytically via a linear stability analysis. As a result, the collective frequencies and, thus, the strength of the effective photon–photon interaction turn out to strongly depend on the thermal diffusion in the cavity mirrors. In particular, a breakdown of the Kohn theorem is predicted, i.e. the frequency of the centre-of-mass oscillation is reduced due to the thermo-optic photon–photon interaction.
Low damping magnetic properties and perpendicular magnetic anisotropy in the Heusler alloy Fe1.5CoGe
(2019)
We present a study of the dynamic magnetic properties of TiN-buffered epitaxial thin films of the Heusler alloy Fe1.5CoGe. Thickness series annealed at different temperatures are prepared and the magnetic damping is measured, a lowest value of α = 2.18 × 10−3 is obtained. The perpendicular magnetic anisotropy properties in Fe1.5CoGe/MgO are also characterized. The evolution of the interfacial perpendicular anisotropy constant K⊥S with the annealing temperature is shown and compared with the widely used CoFeB/MgO interface. A large volume contribution to the perpendicular anisotropy of (4.3 ± 0.5) × 105 J/m3 is also found, in contrast with vanishing bulk contribution in common Co- and Fe-based Heusler alloys.
The importance of well trained and stable neck flexors and extensors as well as trunk muscles for intentional headers in soccer is increasingly discussed. The neck flexors and extensors should ensure a coupling of trunk and head at the time of ball contact to increase the physical mass hitting the ball and reduce head acceleration. The aim of the study was to analyze the influence of a 6-week strength training program (neck flexors, neck extensors) on the acceleration of the head during standing, jumping and running headers as well as after fatigue of the trunk muscles on a pendulum header. A total of 33 active male soccer players (20.3 ± 3.6 years, 1.81 ± 0.07 m, 75.5 ± 8.3 kg) participated and formed two training intervention groups (IG1: independent adult team, IG2: independent youth team) and one control group (CG: players from different teams). The training intervention consisted of three exercises for the neck flexors and extensors. The training effects were verified by means of the isometric maximum voluntary contraction (IMVC) measured by a telemetric Noraxon DTS force sensor. The head acceleration during ball contact was determined using a telemetric Noraxon DTS 3D accelerometer. There was no significant change of the IMVC over time between the groups (F=2.265, p=.121). Head acceleration was not reduced significantly for standing (IG1 0.4 ± 2.0, IG2 0.1 ± 1.4, CG -0.4 ± 1.2; F = 0.796, p = 0.460), jumping (IG1-0.7 ± 1.4, IG2-0.2 ± 0.9, CG 0.1 ± 1.2; F = 1.272, p = 0.295) and running (IG1-1.0 ± 1.9, IG2-0.2 ± 1.4, CG -0.1 ± 1.6; F = 1.050, p = 0.362) headers as well as after fatigue of the trunk musculature for post-jumping (IG1-0.2 ± 2.1, IG2-0.6 ± 1.4; CG -0.6 ± 1.3; F = 0.184, p = 0.833) and post-running (IG1-0.3 ± 1.6, IG2-0.7 ± 1.2, CG 0.0 ± 1.4; F = 0.695, p = 0.507) headers over time between IG1, IG2 and CG. A 6-week strength training of the neck flexors and neck extensors could not show the presumed preventive benefit. Both the effects of a training intervention and the consequences of an effective intervention for the acceleration of the head while heading seem to be more complex than previously assumed and presumably only come into effect in case of strong impacts.
Key words: Heading, kinetics, head-neck-torso-alignment, neck musculature, repetitive head impacts, concussion
Using molecular dynamics simulation, we study nanoindentation in large samples of Cu–Zr glass at various temperatures between zero and the glass transition temperature. We find that besides the elastic modulus, the yielding point also strongly (by around 50%) decreases with increasing temperature; this behavior is in qualitative agreement with predictions of the cooperative shear model. Shear-transformation zones (STZs) show up in increasing sizes at low temperatures, leading to shear-band activity. Cluster analysis of the STZs exhibits a power-law behavior in the statistics of STZ sizes. We find strong plastic activity also during the unloading phase; it shows up both in the deactivation of previous plastic zones and the appearance of new zones, leading to the observation of pop-outs. The statistics of STZs occurring during unloading show that they operate in a similar nature as the STZs found during loading. For both cases, loading and unloading, we find the statistics of STZs to be related to directed percolation. Material hardness shows a weak strain-rate dependence, confirming previously reported experimental findings; the number of pop-ins is reduced at slower indentation rate. Analysis of the dependence of our simulation results on the quench rate applied during preparation of the glass shows only a minor effect on the properties of STZs.
Adsorption and Diffusion of Cisplatin Molecules in Nanoporous Materials: A Molecular Dynamics Study
(2019)
Using molecular dynamics simulations, the adsorption and diffusion of cisplatin drug molecules in nanopores is investigated for several inorganic materials. Three different materials are studied with widely-varying properties: metallic gold, covalent silicon, and silica. We found a strong influence of both the van der Waals and the electrostatic interaction on the adsorption behavior on the pore walls, which in turn influence the diffusion coefficients. While van der Waals forces generally lead to a reduction of the diffusion coefficient, the fluctuations in the electrostatic energy induced by orientation changes of the cisplatin molecule were found to help desorb the molecule from the wall.