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  • 1
    Electronic Resource
    Electronic Resource
    Springer
    Journal of intelligent and robotic systems 5 (1992), S. 241-252 
    ISSN: 1573-0409
    Keywords: Adaptive control ; computed torque control ; decoupling control ; heuristic optimal control ; direct-drive robot ; measurement noise ; modelling error ; tracking control task
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract Various advanced control strategies are applied to a direct-drive SCARA robot and studied in computer simulations. Besides computed torque control and direct adaptive control, heuristic optimal control, a new path control scheme for robotic manipulators, is included in the comparison study. PD control, the traditional robot control method, is used for generating a comparing baseline. While all schemes are applied for the same tracking task, the effect of modelling errors and measurement noise is considered in robot performance evaluation. Simulation results show that (1) without model errors, all advanced control schemes can achieve higher tracking accuracy than PD control; (2) with a random measurement error of 1%, computed torque and direct adaptive control methods are inferior to PD control; (3) heuristic control proves to be the most robust control scheme in case of mixed model and measurement errors.
    Type of Medium: Electronic Resource
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  • 2
    Electronic Resource
    Electronic Resource
    Springer
    Journal of pest science 65 (1992), S. 75-79 
    ISSN: 1612-4766
    Source: Springer Online Journal Archives 1860-2000
    Topics: Biology , Agriculture, Forestry, Horticulture, Fishery, Domestic Science, Nutrition
    Description / Table of Contents: Zusammenfassung Margosan-0, ein im Handel erhältliches Präparat von Neem-samenkern-Extrakt, wurde auf seine Wirkung als Toxikans, Deterrens und Sterilans bei der BohnenlausAphis fabae untersucht und mit dem deutschen Produkt Neem-Azal S verglichen. Zweite und vierte Nymphenstadien wurden aufVicia faba-Pflanzen gesetzt, die mit verschiedenen Konzentrationen von Margosan-0 und Neem-Azal S behandelt waren. Im Vergleich zur Kontrolle wurden sie in ihrer Vitalität unterschiedlich beeinflußt; ein hoher Prozentsatz war nach 96 h abgestorben. In Nahrungswahltests besiedelte eine höhere Anzahl von Adulten mit Margosan-0 behandelte Pflanzen und setzte dort Jungtiere ab als auf den Kontrollpflanzen. Dagegen zeigten Pflanzen, die mit Neem-Azal S behandelt waren, eine starke Deterrenswirkung, insbesondere bei hohen Konzentrationen; die Nymphenproduktion war entsprechend geringer. Auf Pflanzen, die mit verschiedenen Konzentrationen von Neem-Azal S oder Margosan-0 behandelt waren, wurde die Lebenszeit und die Fekundität vonA. fabae signifikant verringert. Dabei wirkte sich Neem-Azal S deutlicher aus als Margosan-0.
    Notes: Abstract Margosan-0, a commercial preparation of neem seed kernel extract was tested for its effects as toxicant, deterrent and sterilant against the bean aphidAphis fabae and compared with the German product Neem-Azal S. Second and 4th nymphal instars ofA. fabae, placed on bean plants treated with different concentrations of Margosan-0 or Neem-Azal S, were adversely affected and very high percentage of mortality occurred after 96 hours. In a choice test, higher numbers of adults settled and larviposited on plants treated with Margosan-0 in comparison to the control. Neem-Azal S treated plants showed high deterrence to the adults at high concentrations. The deterrent effect was reflected in a reduced larviposition. Plants treated with different concentrations of either Neem-Azal S or Margosan-0 significantly affected the longevity and fecundity ofA. fabae. The efficacy of Neem-Azal S is more pronounced than that of Margosan-0.
    Type of Medium: Electronic Resource
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  • 3
    ISSN: 1612-4766
    Source: Springer Online Journal Archives 1860-2000
    Topics: Biology , Agriculture, Forestry, Horticulture, Fishery, Domestic Science, Nutrition
    Description / Table of Contents: Zusammenfassung Es wird ein gedrängter Überblick über die Lebens- und Schadensweise sowie Möglichkeiten der Bekämpfung des BostrichidenProstephanus truncatus gegeben, der nach seiner Einschleppung aus Mittelamerika in Afrika zu einem gefürchteten Maisschädling werde. Besonders zahlreich vermehrt er sich in belieschten Maiskolben, eine in ländlichen Regionen der Tropen häufig praktizierte Lagerform. Neuere Untersuchungen deuten darauf hin, daß der Käfer die Kolben an der Pflanze schon vor der Einlagerung befällt. Die Verluste in Maislägern mitP. truncatus-Befall liegen durchschnittlich 4fach über dem sonst üblichen Niveau. Schätzungen ergaben, daß eine landesweite Ausbreitung des Schädlings in Kenia, das durch seine direkte Nachbarschaft mit dem außerordentlich stark betroffenen Tansania potentiell gefährdet ist, zu einem Ernteverlust von mindestens DM 33 Mio. pro Jahr führen würde. Dieser Ausfall müßte durch entsprechend hohe Importe ausgeglichen werden. Zur Bekämpfung des Schädlings sind chlorierte Kohlenwasserstoffe und Phosphorsäureester ungeeignet. Pyrethroide wirken zum Teil sehr gut, sie sind aber für andere im Mais vorkommende Vorratsschädlinge nicht toxisch. Der Einsatz von Gegenspielern hatte bislang nur wenig Erfolg. Weder mit Prädatoren und Parasitoiden, noch mit Mikroorganismen und Protozoen konnten Erfolge bei der Populationsregulierung des Schädlings erzielt werden. Ob ein aus Mittelamerika eingeführter StutzkäferTeretriosoma nigrescens (Lewis) als Prädator auch in Afrika eingesetzt werden kann, ist zu prüfen. Auch Holzasche, mit der gegen andere Vorratsschädlinge eine recht gute Wirkung erzielt wurde, schützte den Lagermais nicht genügend gegenP. truncatus-Befall. Pflanzenöle, die gegen viele Schadinsekten erfolgreich verwendet wurden, sind bisher beim Großen Kornbohrer nicht getestet worden.
    Notes: Abstract A view is given on the biology and distribution as well as on the chances of controlling the bostrichidProstephanus truncatus (Horn) in Africa. In the last decade this beetle has become one of the most important stored-product pests in the maize growing regions. It was imported from the tropical parts of middle America, where the larger corn borer caused little damage. At the beginning of the 70's the beetle appeared in West and East Africa with imported maize. Since that time it has expanded irresistibly through the whole area South of the Sahara. Apart from maize, which is its staple diet,P. truncatus destroys timber, leather and various artificial materials. Its reproduction is very high in corn cobs, which is the conventional form of storage in rural regions. Recent investigations reveal that the beetle attacks the cob on the plant before harvest has occurred. The losses in maize storages due toP. truncatus are four times higher than that experienced by all other forms of destructive pests. Estimations showed that a country-wide distribution of the pest in Kenya, originating from its badly affected neighbour Tanzania, cause a loss of harvest of at least DM 33 millions per year. This destruction must be balanced by correspondingly high imports. Chloride hydrocarbons and P-O-esters are unsuitable for pest control. Some pyrethroids are very effective, but are not toxie for the other stored-product pests also present in harvested corn. The use of opponents has proved unsuccessful. Neither predators and parasitoids nor microorganisms and protozoa have succeeded in regulation of the population. Whether the predatorTeretriosoma nigrescens (Lewis), imported from middle America, can be used as control organism in Africa, has yet to be proved. Wood ash which has shown good results obtained against other stored-product pests, did not protect stored corn sufficiently against the attack ofP. truncatus. Plant oils which were used successfully against other pests were not tested so far with the larger corn borer.
    Type of Medium: Electronic Resource
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  • 4
    ISSN: 1573-2649
    Keywords: Bone Marrow Transplant Survivors ; QOL instrument—visual analogue questionnaire ; validity and reliability
    Source: Springer Online Journal Archives 1860-2000
    Topics: Medicine
    Notes: Abstract This study was designed to assess the reliability and validity of a Quality of Life (QOL) instrument on a sample of 179 allogeneic Bone Marrow Transplant (BMT) survivors. The QOL-BMT tool was developed specifically for this population and was based on the investigators' prior research and a conceptual model of Quality of Life. Patients who were at least 100 days post BMT completed the 30 item visual analogue questionnaire. The instrument measured physical symptoms (e.g., weight loss, frequent colds, skin changes, cataracts, sexual problems), psychological to illness, social concerns (e.g., relationship adjustment, return to work), and spiritual well-being (e.g., sense of control, future goals). Psychometric analysis of the instrument included measures of reliability and validity. The study findings demonstrate the unique aspects of QOL dimensions in BMT survivors and the value of QOL assessment in clinical practice and research.
    Type of Medium: Electronic Resource
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  • 5
    ISSN: 1434-601X
    Keywords: 25.85.Ca
    Source: Springer Online Journal Archives 1860-2000
    Topics: Physics
    Notes: Abstract Double-differential emission probabilities P (E, θ) in angle θ and energy E of protons, tritons, and α-particles were measured in the case of spontaneous fission of252Cf. A detector system consisting of position-sensitive parallel-plate avalanche counters (PPAC) and ΔE−E-telescopes allowed a coincidence measurement of fission fragments (FF) and light charged particles (LCP) in the whole region from 0 deg. to 180 deg. with respect to the light-fragment direction. Previous results for α-particle emission were confirmed. The background contributions for protons are discussed in detail. For proton emission the background arising from (n, p)-reactions was measured and compared with a corresponding Monte-Carlo simulation of elastic (n, p)-clusions. Unlike for tritons and a-particles the P (E, θ) distribution for protons does not show equatorial peaking in 0 between 80 deg. and 90 deg. and contradicts classical scission point emission. The proton distribution, however, agrees with fragment de-excitation calculations in the framework of the cascade evaporation model (CEM) whereas an analogous calculation forα-particles completely fails. Upper limits for an additional scission component of proton emission are given.
    Type of Medium: Electronic Resource
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  • 6
    Electronic Resource
    Electronic Resource
    Springer
    Nonlinear dynamics 3 (1992), S. 261-271 
    ISSN: 1573-269X
    Keywords: Scaling behavior ; coupled nonlinear oscillator ; method of multiple scales ; Duffing equation
    Source: Springer Online Journal Archives 1860-2000
    Topics: Mathematics
    Notes: Abstract The scaling of the solution of coupled conservative weakly nonlinear oscillators is demonstrated and analyzed through evaluating the normal modes and their bifurcation with an equivalent linearization technique and calculating the general solutions with a method of multiple seales. The scaling law for coupled Duffing oscillators is that the coupling intensity should be proportional to the total energy of the system.
    Type of Medium: Electronic Resource
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  • 7
    Electronic Resource
    Electronic Resource
    Weinheim : Wiley-Blackwell
    Zeitschrift für anorganische Chemie 607 (1992), S. 113-120 
    ISSN: 0044-2313
    Keywords: Niobium phosphate ; NbPO5 ; preparation ; crystal structure ; Chemistry ; Inorganic Chemistry
    Source: Wiley InterScience Backfile Collection 1832-2000
    Topics: Chemistry and Pharmacology
    Description / Table of Contents: Contributions on the Thermal Behaviour of Anhydrous Phosphates. VII Preparation, Structure, and Thermal Behaviour of Orthorhombic NbPO5-δBy a chemical vapour transport in a temperature gradient (e.g. 1000° → 9000°C) it is possible to prepare the already known forms of NbPO5 and a new phase as single crystals. Using I2 or NH4Cl as transport agents α-NbPO5 was obtained as colourless crystals, which enabled a refinement of the already known tetragonal crystal structure to R = 1.73%. The dark blue crystals of the up to now unknown orthorhombic phase could only be prepared under reducing conditions (by adding NbP). Their crystall structure is related to monoclinic β-NbPO5 (single crystall investigation, space group Pna21; a = 11.2875 Å; b = 6.6296 Å; c = 5.2871 Å; Z = 4; R = 3.17%), but the crystals are deficient in oxygen according to NbPO5-δ recognizable by the dark blue colour. When NbPO5-δ (orthorhombic) is ground in an agate mortar NbPO5-δ (monoclinic) is formed, which has the already known structure of β-NbPO5. By heating (340°C) a reversible transformation from NbPO5-δ (monoclinic) to NbPO5-δ (orthorhombic) takes place. This is isostructural to WPO5 and also to an orthorhombic modification of (colourless) NbPO5, which we also could observe above 340°C.
    Notes: Über einen chemischen Transport im Temperaturgefälle (z. B. 1000° → 900° C) gelingt die Darstellung der beiden bekannten Formen von NbPO5 sowie einer weiteren neuen Phase in einkristalliner Form. α-NbPO5 wurde mit den Transportmitteln I2 oder NH4Cl in farblosen Kristallen erhalten, die eine Verfeinerung der bekannten tetragonalen Kristallstrukur bis zu R = 1,73% ermöglichten. Die dunkelblauen Kristalle der bislang unbekannten orthorhombischen Phase konnten nur unter reduzierenden Bedingungen (Zusatz von NbP) dargestellt werden. Sie haben einen mit monoklinem β-NbPO5 eng verwandten Aufbau (Einkristalluntersuchungen; R. G. Pna21; a = 11,2875 Å; b = 6,6296 Å; c = 5,2871 Å; z = 4; R = 3,17%), weisen aber ein ihrer dunklen Farbe erkennbares Sauerstoffdefizit gemäß NbPO5-δ auf. Durch Zerreiben von NbPO5-δ (orthorh.) erhält man NbPO5-δ (mon.), das die bekannte Struktur von β-NbPO5 besitzt und beim Aufheizen (340°C) reversibel in die orthorhombische Phase NbPO5-δ übergeht. Diese ist isostrukturell mit WPO5 sowie mit einer orthorhombischen Modifikation von (farblosem) NbPO5, die wir ebenfalls oberhalb 340°C beobachten konnten.
    Additional Material: 3 Ill.
    Type of Medium: Electronic Resource
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