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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.
Was in der vorliegenden empirischen Analyse des Einzelfalls mit Blick auf eine umfassende organisationale Transformation als inhärent-emergenter Prozess beschrieben wird, ist gewiss ein Sonderfall: Nach dem Abbruch eines Beratungsprozesses treibt ein System seine Transformation autonom voran, ohne weitere Unterstützung einer Prozessberatung und stellt damit seine Selbstentwicklungsfähigkeit in einem transformativen Prozess der Organisationsentwicklung unter Beweis. Dies ist in der Organisationsentwicklung nicht die Regel und wird sehr wahrscheinlich auch nicht von anderen Organisationen als Modell aufgegriffen, auch nicht von Organisationen desselben Typs (familiengeführte mittelständische Organisationen). Dass ein Eintritt in eine radikale Transformation als autopoietischer Prozess wie hier überhaupt möglich ist, ist den spezifischen Eigenschaften einer Organisation und ihrer zentralen Entscheidungsakteure, besonderen, kontingent geprägten Ereignisketten sowie der aktuellen Konstellation der zweiten Führungsebene zuzuschreiben. Die hier vorgestellte Untersuchung entspricht daher einem „neuen und unbeschriebenen Fall“ (Hering/Jungmann, 2005: 621), einem „per se interessanten Fall“ (ebd.), der sich in keinen Forschungsstand einordnen lässt.
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.
Faser-Kunststoff-Verbunde erfahren aufgrund ihrer guten gewichtsspezifischen mechanischen Kennwerte eine zunehmende Verbreitung in verschiedensten Anwendungsfeldern. Eine Voraussetzung für die Ausnutzung der Leichtbaupotenziale bei gleichzeitiger Begrenzung der Herstellkosten ist jedoch eine werkstoffgerechte Lasteinleitung durch geeignete Verbindungsverfahren.
Gegenstand dieser Arbeit ist die Untersuchung eines Ansatzes zur Herstellung von Strukturen aus Faser-Kunststoff-Verbund durch eine getrennte Herstellung von teilausgehärteten Substrukturen mit anschließender Verbindung durch gemeinsame Vollaushärtung. Zur umfassenden Analyse der Prozessfenster und Potenziale werden zunächst am Beispiel eines faserverstärkten Werkstoffes auf Epoxidharzbasis die wichtigsten Zustands- und Eigenschaftsänderungen während der Vernetzung des Matrixharzes charakterisiert. Als Resultat dieser Analysen können die Entwicklung des Aushärtegrads bei verschiedener Temperaturführung im Aushärteprozess sowie die grundlegenden mechanischen Eigenschaften von Matrixwerkstoff und Verbund bei verschiedenen Aushärtegraden quantifiziert werden.
Aufbauend auf diesen Ergebnissen werden anhand experimenteller Untersuchungen an durch gemeinsame Aushärtung hergestellten Laminaten die Verbindungseigenschaften in Abhängigkeit von unterschiedlichen Einflussfaktoren ermittelt. Für die zwei Prozessvarianten Autoklavprozess und Resin Transfer Molding (RTM) wird die Energiefreisetzungsrate unter Mode I-Belastung bei Variation des Aushärtegrads der zu verbindenden Laminate analysiert. Die Variation der Verbindungseigenschaften wird anhand von rasterelektronenmikroskopischen Untersuchungen der Bruchfläche erklärt. Weiterhin wird der Einfluss der Oberflächeneigenschaften durch Anwendung verschiedener Vorbehandlungen analysiert. Die Oberflächeneigenschaften Oberflächenspannung, Topografie und chemische Zusammensetzung werden gemessen und hinsichtlich ihrer Prognosefähigkeit für die Verbindungseigenschaften diskutiert.
Zur Demonstration der Umsetzbarkeit der Herstellmethode auf Bauteilebene werden für den Einsatz im Luftfahrtbereich typische Details hergestellt und mechanisch geprüft. Die Eigenschaften der in der hier untersuchten Methodik hergestellten Details zeigen nur geringe Abweichungen im Vergleich zu denen der Referenzmethode.
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.
Congress Report 2019.9-11
(2019)
A distributional solution framework is developed for systems consisting of linear hyperbolic partial differential equations (PDEs) and switched differential algebraic equations (DAEs) which are coupled via boundary conditions. The unique solvability is then characterize in terms of a switched delay DAE. The theory is illustrated with an example of electric power lines modeled by the telegraph equations which are coupled via a switching transformer where simulations confirm the predicted impulsive solutions.