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Container cranes belong to the class of underactuated systems for which the design of control laws is a challenging task. We study the stabilization of certain modes of a crane system using a method of averaging. Based on the local approximation to the system dynamics by a second order Taylor series expansion, the effects of nonlinear couplings are exploited to steer degrees of freedom, for which no linear actuation is available. Rotations of the load about the vertical axis are analyzed and a control method is derived and tested experimentally. (© 2015 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)  相似文献   
14.
Dielectrophoresis (DEP) is an AC electrokinetic effect mainly used to manipulate cells. Smaller particles, like virions, antibodies, enzymes, and even dye molecules can be immobilized by DEP as well. In principle, it was shown that enzymes are active after immobilization by DEP, but no quantification of the retained activity was reported so far. In this study, the activity of the enzyme horseradish peroxidase (HRP) is quantified after immobilization by DEP. For this, HRP is immobilized on regular arrays of titanium nitride ring electrodes of 500 nm diameter and 20 nm widths. The activity of HRP on the electrode chip is measured with a limit of detection of 60 fg HRP by observing the enzymatic turnover of Amplex Red and H2O2 to fluorescent resorufin by fluorescence microscopy. The initial activity of the permanently immobilized HRP equals up to 45% of the activity that can be expected for an ideal monolayer of HRP molecules on all electrodes of the array. Localization of the immobilizate on the electrodes is accomplished by staining with the fluorescent product of the enzyme reaction. The high residual activity of enzymes after AC field induced immobilization shows the method's suitability for biosensing and research applications.  相似文献   
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As a first step towards computing instanton-generated superpotentials in heterotic standard model vacua, we determine the Gromov–Witten invariants for a Calabi–Yau threefold with fundamental group π1(X)=Z3×Z3π1(X)=Z3×Z3. We find that the curves fall into homology classes in H2(X,Z)=Z3⊕(Z3⊕Z3)H2(X,Z)=Z3(Z3Z3). The unexpected appearance of the finite torsion subgroup in the homology group complicates our analysis. However, we succeed in computing the complete genus-0 prepotential. Expanding it as a power series, the number of instantons in any integral homology class can be read off. This is the first explicit calculation of the Gromov–Witten invariants of homology classes with torsion. We find that some curve classes contain only a single instanton. This ensures that the contribution to the superpotential from each such instanton cannot cancel.  相似文献   
16.
Fluorinated groups are essential for drug design, agrochemicals, and materials science. The bis(trifluoromethyl)amino group is an example of a stable group that has a high potential. While the number of molecules containing perfluoroalkyl, perfluoroalkoxy, and other fluorinated groups is steadily increasing, examples with the N(CF3)2 group are rare. One reason is that transfer reagents are scarce and metal-based storable reagents are unknown. Herein, a set of CuI and AgI bis(trifluoromethyl)amido complexes stabilized by N- and P-donor ligands with unprecedented stability are presented. The complexes are stable solids that can even be manipulated in air for a short time. They are bis(trifluoromethyl)amination reagents as shown by nucleophilic substitution and Sandmeyer reactions. In addition to a series of benzylbis(trifluoromethyl)amines, 2-bis(trifluoromethyl)amino acetate was obtained, which, upon hydrolysis, gives the fluorinated amino acid N,N-bis(trifluoromethyl)glycine.  相似文献   
17.
This note deals with the following question: How many planes of a linear space (P, $\mathfrak{L}$ ) must be known as projective planes to ensure that (P, $\mathfrak{L}$ ) is a projective space? The following answer is given: If for any subset M of a linear space (P, $\mathfrak{L}$ ) the restriction (M, $\mathfrak{L}$ )(M)) is locally complete, and if for every plane E of (M, $\mathfrak{L}$ (M)) the plane $\bar E$ generated by E is a projective plane, then (P, $\mathfrak{L}$ ) is a projective space (cf. 5.6). Or more generally: If for any subset M of P the restriction (M, $\mathfrak{L}$ (M)) is locally complete, and if for any two distinct coplanar lines G1, G2 ∈ $\mathfrak{L}$ (M) the lines $\bar G_1 ,\bar G_2 \varepsilon \mathfrak{L}$ generated by G1, G2 have a nonempty intersection and $\overline {G_1 \cup {\text{ }}G_2 }$ satisfies the exchange condition, then (P, $\mathfrak{L}$ ) is a generalized projective space.  相似文献   
18.
First it will be shown that every left-noetherian AH-ring is left-artinian. For an AH-ring R every finite linearly independent subset of a free left R-module V can be completed to a basis of V. But a maximal linearly independent subset of a free left R-module V need not be a basis of V. For an H-ring R, every maximal linearly independent subset of a free left R-module V is a basis of V if and only if the H-ring R is left-noetherian or V is finitely generated.  相似文献   
19.
Phenomenological models based on the master equation are analyzed to calculate the temperature and angular dependence of time of flight spectra in chemisorption. Strong deviations from Knudsen's cosine law and Maxwell's velocity distribution are produced. The Gaussian model seems of little relevance for the analysis of experimental data for which, in most cases, models incorporating activation barriers are needed.  相似文献   
20.
Photosensitive cholesteric polysiloxanes, which contain an azo dye, were irradiated with linearly polarized light. The cholesteric samples were oriented in the Grandjean texture. Before irradiation they reflected circularly polarized light in the near infrared region. For perpendicular incidence, only one order of reflection was observed. Upon irradiation with linearly polarized light, which is absorbed by the azo dye, additional reflection bands appeared in the visible part of the spectrum. It turned out that the additional reflection is caused by a new Bragg type grating which shows higher reflection orders. The formation of the grating is based on the periodic deformation of the helical ordering of the molecules. The deformation is periodic, as due to photoselection, only dye molecules in equidistant layers with a suitable orientation absorb radiation. For low exposure, the grating reflects linearly polarized light. After continued irradiation, the reflection bands disappear almost completely. High birefringence, strongly dichroic dye absorption and the loss of the reflecting properties prove that a planar nematic texture has developed. The formation of this texture from the Grandjean texture is a new example for photoinduced rotational diffusion.  相似文献   
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