Finite-element analysis of planar dielectric waveguide discontinuities

The finite element method is combined with the mode-matching method and the multi-mode network method to analyze the scattering and radiation characteristics of a class of planar dielectric waveguide discontinuities. Unlike the conventional method to treat the radiation as a source-field problem, in the present approach, the dispersion characteristics of dielectric guided-wave structures are calculated first, and then the radiation problem is transferred to the propagation problem of a series of surface-waves and space waves from the viewpoint of scattering, thus the analysis is tremendously simplified.     

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.

     

Aculeoside I, a novel 18,19-seco-ursane saponin isolated from Ilex aculeolata

A novel 18,19-seco-ursane saponin, aculeoside I (1), in addition to four known saponins were isolated from the leaves of Ilex aculeolata Nakai and identified by using spectroscopic and chemical methods. The structure of the new saponin was established as 3,19-dihydroxyl-16,21-epoxy-18,19-seco-13(18)-urs-ene-28-oic-acid-19-O-alpha-L-rhamnopyranosyl-(1 --> 2)-alpha-L-arabinopyranoside.     

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.