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  • 1
    Electronic Resource
    Electronic Resource
    From robotic hands to human hands: a visualization and simulation engine for grasping research (2005)
    Bradford : Emerald
    Industrial robot 32 (2005), S. 55-63 
    Details
    ISSN: 0143-991X
    Source: Emerald Fulltext Archive Database 1994-2005
    Topics: Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Purpose - Robotic hands are still a long way from matching the grasping and manipulation capability of their human counterparts, but computer simulation may help us understand this disparity. We present our publicly available simulator, and describe our research projects involving the system including the development of a human hand model derived from experimental measurements. Design/methodology/approach - Unlike other simulation systems, our system was built specifically to analyze grasps. It can import a wide variety of robot designs by using standard descriptions of the kinematics and link geometries. Various components support the analysis of grasps, visualization of results, dynamic simulation of grasping tasks, and grasp planning. Findings - The simulator has been used in several grasping research problems and can be used to plan grasps for an actual robot. With the aid of a vision system, we have shown that these grasps can be executed by a robot. Research limitations/implications - We are currently developing methods to handle deformable surfaces, tendon driven models, and non-ideal joints in order to better model human grasping. Practical implications - This work is part of our current project to create a biomechanically realistic human hand model to better understand what features are most important to mimic in the designs of robotic hands. Such a model will also help clinicians better plan reconstructive hand surgeries. Originality/value - We describe our publicly available grasping simulator and review experiments performed with it. The paper demonstrates the usefulness of this system as a tool for grasping research.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1108/01439910510573309
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  • 2
    Electronic Resource
    Electronic Resource
    Specific Transforming Growth Factor-β Subtypes Regulate Embryonic Mouse Meckel's Cartilage and Tooth Development
    Amsterdam : Elsevier
    Developmental Biology 162 (1994), S. 85-103 
    Details
    ISSN: 0012-1606
    Source: Elsevier Journal Backfiles on ScienceDirect 1907 - 2002
    Topics: Biology
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1006/dbio.1994.1069
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  • 3
    Electronic Resource
    Electronic Resource
    Human and mouse cementum proteins immunologically related to enamel proteins
    Amsterdam : Elsevier
    Biochimica et Biophysica Acta (BBA)/General Subjects 991 (1989), S. 12-18 
    Details
    ISSN: 0304-4165
    Keywords: (Human cementum) ; (Mouse cementum) ; Amelogenin ; Amino acid composition ; Cementum ; Enamelin ; Immunoblotting
    Source: Elsevier Journal Backfiles on ScienceDirect 1907 - 2002
    Topics: Biology , Chemistry and Pharmacology , Medicine , Physics
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1016/0304-4165(89)90021-4
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  • 4
    Electronic Resource
    Electronic Resource
    Enzymatic hydrolysis of wood: an engineering assessment (1995)
    Springer
    Bioprocess and biosystems engineering 12 (1995), S. 253-261 
    Details
    ISSN: 1432-0797
    Source: Springer Online Journal Archives 1860-2000
    Topics: Process Engineering, Biotechnology, Nutrition Technology
    Notes: Abstract Eucalyptus wood samples were delignified with HCl-catalysed acetic acid solutions under selected experimental conditions and treated with NaClO solutions. The solid residues obtained were employed as substrates for enzymatic hydrolysis. The NaClO concentration used in the pretreatment step, the liquor/solid ratio and the enzyme/substrate ratio were considered as operational variables. The experimental data allowed the development of generalized kinetic models which provided the necessary information for design calculations. The operational conditions were compared from an engineering viewpoint on the basis of economic estimates. Optimum conditions were established from these estimates.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/BF00369499
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  • 5
    Electronic Resource
    Electronic Resource
    The magic-bead concept: an integrated approach to nitrogen removal with co-immobilized micro-organisms (1996)
    Springer
    Applied microbiology and biotechnology 45 (1996), S. 447-453 
    Details
    ISSN: 1432-0614
    Source: Springer Online Journal Archives 1860-2000
    Topics: Biology , Process Engineering, Biotechnology, Nutrition Technology
    Notes: Abstract This paper describes both qualitative and quantitative aspects of simultaneous autotrophic nitrification and heterotrophic denitrification by, respectively, the nitrifierNitrisomonas europaea and either of the denitrifiersPseudomonas denitrificans orParacoccus denitrificans co-immobilized in double-layer gel beads. The system is based on the establishment of well-defined oxic and anoxic zones within the cell supports and on physical separation of the nitrifying and denitrifying populations. Nitrification and denitrification rates were obtained from measured bulk concentrations and head-space analysis. The latter analyses showed that ammonia was primarily converted into molecular nitrogen. Nitrous oxide was not detected. High nitrogen removal rates (up to 5.1 mmol N m−3 gel s−1) were achieved in continuous reactors under aerobic conditions. The overall rate of nitrogen removal was controlled by the nitrifying step. The approach followed is, in principle, also suitable to the coupling of other oxidative and reductive bioprocesses having complementary metabolic routes. Two-stage bioconversion processes can be thus conducted as if single-staged, which results in more compact reactor systems.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/BF00578454
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  • 6
    Electronic Resource
    Electronic Resource
    The magic-bead concept: an integrated approach to nitrogen removal with co-immobilized micro-organisms (1996)
    Springer
    Applied microbiology and biotechnology 45 (1996), S. 447-453 
    Details
    ISSN: 1432-0614
    Source: Springer Online Journal Archives 1860-2000
    Topics: Biology , Process Engineering, Biotechnology, Nutrition Technology
    Notes: Abstract  This paper describes both qualitative and quantitative aspects of simultaneous autotrophic nitrification and heterotrophic denitrification by, respectively, the nitrifier Nitrosomonas europaea and either of the denitrifiers Pseudomonas denitrificans or Paracoccus denitrificans co-immobilized in double-layer gel beads. The system is based on the establishment of well-defined oxic and anoxic zones within the cell supports and on physical separation of the nitrifying and denitrifying populations. Nitrification and denitrification rates were obtained from measured bulk concentrations and head-space analysis. The latter analyses showed that ammonia was primarily converted into molecular nitrogen. Nitrous oxide was not detected. High nitrogen removal rates (up to 5.1 mmol N m-3gel s-1) were achieved in continuous reactors under aerobic conditions. The overall rate of nitrogen removal was controlled by the nitrifying step. The approach followed is, in principle, also suitable to the coupling of other oxidative and reductive bio-processes having complementary metabolic routes. Two-stage bioconversion processes can be thus conducted as if single-staged, which results in more compact reactor systems.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/BF00578454
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  • 7
    Electronic Resource
    Electronic Resource
    Synthesis of YBa〈sub〉2〈/sub〉Cu〈sub〉3〈/sub〉O〈sub〉7-δ〈/sub〉 Using Oxalate Precursors and Sol-Gel Method (2006)
    s.l. ; Stafa-Zurich, Switzerland
    Advances in science and technology Vol. 47 (Oct. 2006), p. 37-42 
    Details
    ISSN: 1662-0356
    Source: Scientific.Net: Materials Science & Technology / Trans Tech Publications Archiv 1984-2008
    Topics: Natural Sciences in General , Technology
    Notes: In this work we present the results about the preparation of the superconductorYBa2Cu3O7-δ (Y123) by sol-gel method using oxalate precursors. Samples were prepared bydissolving stoichiometric mixtures of Y(OOCCH3).4H2O, Ba(OOCCH3)2 and Cu(OOCCH3)2.H2Oacetates in aqueous solution of oxalic acid, HCOO-COOH. The particulate sols obtained (2g.) weredivided in two parts (1g. each one), from which the first one (sample A) was grinded, pellet,calcined (860ºC) and sinterised at 860ºC in oxidizing atmosphere, the second part (sample B) wasgrinded, pellet, calcined at 880ºC and finally sinterized at 880ºC in the same conditions, the XRDrevels the superconductor Y123 is formed in the first sample, but coexisting with remarkablepresence of the secondary phases: CuO, BaCu3O4, BaCO3 and BaCuO2, while in sample B the XRDreveals the obtention of high purity monophase Y123, the ac susceptibility measurement using aQuantum Design (SQUID) magnetometer indicates TC(onset)=92K for this sample, moreover theRietveld refinement was done taking the orthorhombic Pmmm Y123 spatial group as a model, thissuggest the cell´s parameters a=3.839Å, b=3.899 Å and c=11.702Å as reported in the literature.Therefore for the preparation of Y123-superconductor using oxalate precursors, the optimussintering temperature is 880ºC
    Type of Medium: Electronic Resource
    URL: http://www.tib-hannover.de/fulltexts/2011/0528/01/42/transtech_doi~10.4028%252Fwww.scientific.net%252FAST.47.37.pdf
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  • 8
    Electronic Resource
    Electronic Resource
    Magnetic effect in multilayer Fe/Cr films (1999)
    Springer
    Journal of materials science 10 (1999), S. 67-70 
    Details
    ISSN: 1573-482X
    Source: Springer Online Journal Archives 1860-2000
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract Ferromagnetic resonance measurements on different Fe/Cr multilayer samples with the same thickness of the spacing Cr layers suggest that these multilayers have a different magnetic behavior depending on the thickness of the active Fe layers. In this work we show that the change of magnetic behavior from bulk mode to surface mode is observed only when the thickness of the Fe layers is less than 4 nm. This is attributed to the Fe layer thickness and to the relative thickness of the magnetic and non-magnetic layers. ©1999Kluwer Academic Publishers
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1008987309432
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  • 9
    Electronic Resource
    Electronic Resource
    Preliminary evaluation of acetic acid-based processes for wood utilization (1995)
    Springer
    Holz als Roh- und Werkstoff 53 (1995), S. 347-353 
    Details
    ISSN: 1436-736X
    Source: Springer Online Journal Archives 1860-2000
    Topics: Agriculture, Forestry, Horticulture, Fishery, Domestic Science, Nutrition , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Eucalyptus globulus wood in acetic acid media was assessed by means of both technical and economic calculations. From a process diagram, material and energy balances were formulated on the basis of reported kinetic models in order to obtain the information necessary for preliminary economic estimates. The economic study included the evaluation of a base-case, optimization and analyses of sensitivity to the major economic variables.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/s001070050105
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  • 10
    Electronic Resource
    Electronic Resource
    Kinetic and economic considerations on the HCl-catalysed acetic acid processing of pine wood (1996)
    Springer
    Holz als Roh- und Werkstoff 54 (1996), S. 119-125 
    Details
    ISSN: 1436-736X
    Source: Springer Online Journal Archives 1860-2000
    Topics: Agriculture, Forestry, Horticulture, Fishery, Domestic Science, Nutrition , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Description / Table of Contents: Pinus pinaster beschreiben, wurden berallgemeinert unter Verwendung empirischer Gleichungen. Auf dieser Grundlage wurde ein Berechnugsschema entwickelt zur Bewertung des Einflusses ausgewählter Prozeßparameter (wie Reaktionszeit un Konzentration des Katalysators) auf die Massenströme und deren Zusammensetzung bei Reaktionstempertaturen von 115 bzw. 130 °C. Die Erstellung von Stoff- und Energiebilanzen ermöglichte eine Umgestaltung der Hauptprozeßeinheit. Zudem werden Informationen bereitgestellt, un den Einfluß des Prozeßbedingungen auf die wirtschaftichen Aspekte des Prozesses absuzchätzen.
    Notes: Pinus pinaster wood were generalized using empirical equations. On this basis, a calculation scheme was developed for evaluating the influence of selected operational variables (reaction time and catalyst concentration) on the mass flow rates and composition of the process streams for operation at 115 or 130thinsp;°C. Material and energy balances allowed the design of the main unit operations, providing the information necessary to analyze the effect of the operational conditions on the economic features of the process.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/s001070050150
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