Collision Avoidance in Bi-Directional AGV Systems

The use of a bi-directional, as opposed to a one-way, transportation system, can increase the operational efficiency of automated guided vehicles in both manufacturing and warehousing environments. However, the full potential will only be realized if the routeing algorithms pay particular attention to the problem of collision avoidance. This paper is concerned with the development of such an algorithm. The method is based on the use of delays and deviations to avoid collisions that could arise when using the shortest routes for each vehicle, and is applicable to any transportation system which can be represented as a network with known travel times.     

Novel optical techniques for the analysis of polymer surfaces and thin films

Summary We report on novel optical techniques, based on evanescent waves, for the characterization of polymer surfaces and thin films. We first describe photo-ablation studies with polysilane films investigated by surface plasmon microscopy, a technique which is particularly well-suited for ultrathin samples. Thicker films that are homogeneous enough to carry optical waveguide modes can be characterized with high lateral resolution by the recently developed waveguide microscopy. We demonstrate this for a thin film of a solid polyelectrolyte. Finally, we report on surface plasmon field-enhanced Raman-spectroscopic and -imaging investigations of ultrathin Langmuir-Blodgett-Kuhn-layers of cadmium arachidate.W. Hickel is now with HOECHST AG, Angewandte Physik, W-6230 Frankfurt 80     

Salt effects in the aqueous alkaline hydrolysis of N-hydroxyphthalimide. Kinetic evidence for the ion-pair formation

The effects of the concentrations of LiCl, NaCl, KCl, CsCl, Na₂CO₃, BaCl₂, and Me₄NCl on the rates of reactions of hydroxide ion with ionized N-hydroxyphthalimide (NHP) at 30°C and in a H₂O–MeCN solvent containing 98%, v/v, H₂O reveal a nonlinear increase in observed rate constants with increase in salt concentrations. The observed rate constants are highly sensitive to the valence state of cations and almost insensitive to the valence state of anions of the salts. These observations are explained in terms of ion-pair formation between cations and NHP^?.     

Riccati-based preconditioner for computing invariant subspaces of large matrices

Summary. This paper introduces and analyzes the convergence properties of a method that computes an approximation to the invariant subspace associated with a group of eigenvalues of a large not necessarily diagonalizable matrix. The method belongs to the family of projection type methods. At each step, it refines the approximate invariant subspace using a linearized Riccati's equation which turns out to be the block analogue of the correction used in the Jacobi-Davidson method. The analysis conducted in this paper shows that the method converges at a rate quasi-quadratic provided that the approximate invariant subspace is close to the exact one. The implementation of the method based on multigrid techniques is also discussed and numerical experiments are reported. Received June 15, 2000 / Revised version received January 22, 2001 / Published online October 17, 2001     

GDDP: Generalized Dual Dynamic Programming Theory

This document presents theoretical considerations about the solution of dynamic optimization problems integrating the Benders Theory, the Dynamic Programming approach and the concepts of Control Theory. The so called Generalized Dual Dynamic Programming Theory (GDDP) can be considered as an extension of two previous approaches known as Dual Dynamic Programming (DDP): The first is the work developed by Pereira and Pinto [3–5], which was revised by Velásquez and others [8,9]. The second is the work developed by Read and others [2,6,7].     

Electron-stimulated desorption of D (H) from condensed D2O (H2O) films

The electron-stimulated desorption (ESD) of D⁻ and H⁻ ions from condensed D₂O and H₂O films is investigated. Three low-energy peaks are observed in the ESD anion yield, which are identified as arising from excitation of ²B₁, ²A₁ and ²B₂ dissociative electron attachment (DEA) resonances. Additional structure is observed between 18 and 32 eV, which may be due to ion pair formation or to DEA resonances involving the 2a₁ orbital. The ion yield resulting from excitation of the ²B₁ resonance increases as the film is heated. We attribute the increase in the ion yield to thermally induced hydrogen bond breaking near the surface, which enhances the lifetimes of the excited states that lead to desorption.