Photorefractive properties of ruthenium-doped potassium niobate

Photoconductivities and photovoltaic currents of ruthenium-doped KNbO₃ are orders of magnitude larger than that of undoped and ion-doped crystals. KNbO₃:Ru is very sensitive for holographic recording with red light and the photovoltaic current increases sublinearly with light intensity.     

Partial Quenching of Parametrical Tetragonality of a Chromium(III) Complex by Pressure Tuning

The ligand-field spectrum of [Cr(NH(3))(4)F(2)]AsF(6) has been pressure-tuned up to 100 kbar. The parametrical analysis shows that the absolute values of the two independent tetragonalities of the chromophoric ion both decrease with increasing isotropic pressure so that the molecular ion becomes more isotropic. Moreover, the Cr-N single bonds appear to be more compressible than the Cr-F bonds, for which it is parametrically clear that they have a partial multiple-bond character. While the spectrochemical parameter for F(-), Delta(F), increases with pressure, its two components Delta(sigma)(F) and Delta(pi)(F) decrease. It is confirmed that nephelauxetism increases with pressure.     

On two methods of determining the ellipses and ellipsoids of positioning accuracy of robot manipulators

Summary When analysing the problem of the positioning accuracy of robot manipulators it is important to know how far random deviations of the hand may be from the desired position if the joint positioning errors possess a normal distribution. Two methods of determining the ellipses and ellipsoids of probability concentration are compared. The first of them is based on the standard procedure of the probability calculus. The second approximate method consists in finding at first the polygon or polyhedron of the positioning accuracy, and then in finding the ellipse or ellipsoid with principal axes and second order moments coinciding with those of the polygon or polyhedron, respectively. Examples of application demonstrate that these two methods give very close results.

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Zwei Methoden zur Bestimmung der Ellipsen und Ellipsoide der Positioniergenauigkeit von Handhabungsrobotern

Übersicht Bei der Untersuchung der Positioniergenauigkeit von Handhabungsrobotern ist es wichtig, die Größe zufälliger Abweichungen des Greifers von der erstrebten Position zu kennen, wenn die Lagefehler der Verbindungen eine Normalverteilung besitzen. Es werden zwei Methoden zur Bestimmung der Ellipsen bzw. Ellipsoide der Wahrscheinlichkeitsdichte verglichen. Die erste beruht auf dem Standardverfahren der Wahrscheinlichkeitsrechnung. Die zweite Näherungsmethode besteht darin, daß zunächst das Polygon bzw. Polyeder der Positioniergenauigkeit bestimmt wird und danach die Ellipse bzw. das Ellipsoid mit den Hauptachsen und Momenten zweiter Ordnung wie das Polygon oder Polyeder. Beispiele zeigen, daß beide Methoden zu sehr ähnlichen Ergebnissen führen.