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.

     

Lifetimes of bacteriochlorophyll fluorescence in Rhodopseudomonas viridis and Heliobacterium chlorum at low temperatures

Fluorescence lifetimes of isolated membranes of Rhodopseudomonas viridis were measured in the temperature range of 77 K to 25 K. At room temperature, the main component of the fluorescence decay of bacteriochlorophyll (BChl) b had a time constant of 50 ps. In contrast to other purple bacteria, the emission at low temperature was spectrally homogeneous and showed essentially single lifetimes of 140 ps at 77 K and 180 ps at 25 K, with the primary electron donor in the oxidized state. Taking into account the relative fluorescence yields with open and closed reaction centers, we arrive at numbers of 125 ps and 215 ps, respectively, for open reaction centers. These numbers are significantly smaller than expected on the basis of measurements of the efficiency of charge separation, perhaps suggesting that the excitation decay in the absence of reaction centers is considerably faster at low temperature than at room temperature. At least four different spectral components with different lifetimes were observed at 25 K in the emission of Heliobacterium chlorum, a short-wavelength component of about 30 ps and three longer-wavelength components of about 100 ps, 300 ps, and 900 ps. This indicates a strong heterogeneity in the emitting pigment, BChl g-808. The component with the shortest lifetime does not appear to be affected by the redox state of the reaction center and might reflect energy transfer to BChl g species which are connected to the reaction center.     

Struktur von 7,11-Diphenyl-2,4-diazaspiro[5,5]undecan-1,3,5,9-tetraonen durch LIS-NMR

A semi-quantitative method for determining distances between a possible coordination centre and protons from LIS-NMR values is developed for the title compounds3, although these have four coordination points. This makes it possible to propose structures and conformations for the isomers of3.

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Mit 4 Abbildungen

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H.-H. Otto undH. Yamamura, Ann. Chem., im Druck.     

Determination of the pesticides Chlorpropham,Propham, Propoxur,and Terbucarb by low temperature phosphorimetry

Summary Simple, direct, and sensitive low temperature phosphorimetric methods for the determination of Chlorpropham, Propham, Propoxur, and Terbucarb in EPA solvent are described. The minimum detectable amounts are 0.01 p. p. m. for Chlorpropham and Propham and 0.02 and 0.3 p. p. m. for Propoxur and Terbucarb respectively. The ranges of linearity of the analytical calibration graphs are 0.05-7.5, 0.05–10, 0.5–50, and 1–50 p. p. m. for Chlorpropham, Propham, Propoxur, and Terbucarb respectively. The procedure for Chlorpropham has been applied to the analysis of a solid commercial formulation.

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Bestimmung der Pesticide Chlorpropham, Propham, Propoxur und Terbucarb bei Tief-Temperatur-Phosphorimetrie

Zusammenfassung Einfache, direkte und empfindliche Methoden für die Bestimmung der genannten Pesticide in dem Lösungsmittel Diethylether-i-Pentan-abs. Ethanol wurden beschrieben. Die geringsten nachweisbaren Mengen sind 0,01 ppm für Chlorpropham und Propham sowie 0,02 und 0,3 ppm für Propoxur und Terbucarb. Die Eichkurven verlaufen zwischen 0,05 und 7,5, 0,05 und 10, 0,5 und 50 sowie zwischen 1 und 50 ppm für Chlorpropham, Propham, Propoxur bzw. Terbucarb linear. Das Verfahren für Chlorpropham wurde zur Analyse eines festen Handelsproduktes angewendet.

     

Studium des gegenseitigen Einflusses der Bindungen in Thiocyanat-Kupfer(II)-Komplexen mit Methyl- und Dimethylpyridinen mittels Infrarotspektroskopie

The infrared spectra of thiocyanato-copper(II) complexes of the type Cu(NCS)₂ L ₂ with all isomeric picolines and lutidines (L) as well as those of the type Cu(NCS)₂ L ₃ withL=3- and 4-picoline, 3,4- and 3,5-lutidine were measured. The behaviour of the (CN) stretching vibrations of the Cu(NCS)₂ L ₂ complexes led to conclusions on the different kind of coordination of the NCS groups in dependence on the ligandL. The mutually conditioned strength of the Cu–NCS and Cu–N(L) bonds in the equatorial plane, especially in the presence of ligandsL with the steric effect, was determined from the frequency shift of the Cu–NCS and Cu–N(L) stretching vibrations with regard to the vibrations for Cu(NCS)₂(pyridine)₂.

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Mit 1 Abbildung     

Optimal double-configuration study of the lowest excited Π states of H2

Various levels of approximation (Hartree-Fock, configuration interaction and double-configuration Hartree-Fock method) are compared for extensive and limited exponent optimization of the atomic orbitals of the wavefunctions. The potential energy curves for the lowest-lying ¹ _u, ³ _u, ¹ _g, ³ _g states of the hydrogen molecule are presented. The shapes of the curves on the highest level of approximation, i.e. with the optimal double-configuration wavefunction, are basically in agreement with previous, more sophisticated and time-consuming work. The influence of the various approximations is also studied for several one-electron properties: charge distribution of the wavefunction along and perpendicular to the molecular axis, quadrupole moment and core attraction energy distribution. Differences arise to the work of Zemke et al. [1], who used a limited exponent optimization with a larger basis set, in the _g states where the orbitals are very diffuse. The differences concern magnitude and location of minima and maxima of potential curves, as well as considerable changes in one-electron properties which depend strongly on the spatial distribution of the orbitals.

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Zusammenfassung Verschiedene Approximationsstufen (Hartree-Fock, Konfigurationenwechselwirkung und Doppelkonfigurationen-Hartree-Fock-Methode) werden für ausgedehnte und begrenzte Exponentenoptimisierung von Atomorbitalen der Wellenfunktionen verglichen. Die Potentialkurven für die niedrigsten ¹ _u, ³ _u, ¹ _g, ³ _g Zustände des Wasserstoffmoleküls werden angegeben. Die Form der Kurven im Rahmen der besten Näherung, d. h. mit Doppelkonfiguration, stimmen im wesentlichen mit früheren aufwendigeren Rechnungen überein. Der Einfluß der verschiedenen Approximationen wird auch an einigen Einelektroneneigenschaften studiert: Ladungsverteilung der Wellenfunktion längs und senkrecht zur Molekülachse, Quadrupolmoment und Verteilung der Rumpfenergie. Unterschiede erscheinen zur Arbeit von Zemke et al. [1], die einen größeren Basissatz mit begrenzter Optimisierung verwandten, bei den _g Zuständen, wo die -Orbitale sehr diffus sind. Die Unterschiede betreffen Größe und Lage der Minima und Maxima der Potentialkurven sowie beträchtliche Änderungen in solchen Einelektroneneigenschaften, die stark von der räumlichen Verteilung der Orbitale abhängen.

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Résumé Comparaison de différents niveaux d'approximation (Hartree-Fock, interaction de configuration et Hartree-Fock à deux configurations) pour des optimisations étendues et limitées des orbitales atomiques de base. Calcul des courbes d'énergie potentielle pour les plus bas états ¹ _u, ³ _u, ¹ _g, ³ _g de la molécule d'hydrogène. Pour la fonction d'onde la plus raffinée: H.F. à deux configurations, la forme des courbes est en accord avec les résultats obtenus dans des travaux précédents plus complexes et plus coûteux. On étudie aussi l'influence des diverses approximations sur plusieurs propriétés monoélectroniques: distribution de charge le long de l'axe moléculaire et perpendiculairement à celui-ci, moment quadrupolaire et distribution de l'énergie d'attraction de coeur. On trouve des différences avec le travail de Zemke et al. (1), qui utilisent une plus grande base partiellement optimisée, pour les états _g où les orbitales sont très diffuses. Les différences concernent la grandeur et la position des extrema des courbes de potentiel, ainsi que des variations importantes des propriétés monoélectroniques qui dépendent fortement de la distribution spatiale des orbitales.

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On leave to: Institut für Theoretische Chemie, Universität Stuttgart.

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On leave to: Office of Computing Activities, National Science Foundation, Washington, D.C.     

A validated HPLC method with ultraviolet detection for the determination of buformin in plasma

A sensitive and rapid high-performance liquid chromatographic assay is developed and validated for the determination of buformin in plasma. After addition of metformin as the internal standard, the analytes were deproteinated with acetonitrile, washed with dichloromethane, and the resulting supernatant injected. Chromatography was performed at ambient temperature by pumping a mobile phase of 0.03 m diammonium hydrogen phosphate buffer (pH 7, 250 mL) in methanol (750 mL) at a fl ow rate of 1 mL/min through a silica column. Buformin and metformin were detected at 236 nm, and eluted 9.8 and 15.4 min, respectively. No endogenous substances were found to interfere. Calibration curves were linear over the concentration range of 20-2000 ng/mL. The limit of quantitation was 20 ng/mL. The intra- and inter-day relative standard deviation (RSD) was 8.3%, or less, and the accuracy was within 10.1% of the relative error (RE). The method is suitable in pharmacokinetic investigation of buformin.