Learning Robot Force/Position Control for Repetitive High Speed Applications with Unknown Non–Linear Contact Stiffness

This paper proposes a learning robot force/position control for high speed force trajectory following. Following high speed force trajectories in different repetitve robotic applications is a challenging field in robot force control. If the end–effector should provide a contact force while following a position trajectory in the non–force controlled direction a parallel force / position control is suitable. However, when it comes to high speed tasks this force control method reaches its limit. The problem can be solved by using an iterative learning control method in combination with the parallel force/position control. In this paper the learning force control method is introduced and experimental results are presented. (© 2015 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Measurement of the muon capture rate in hydrogen gas and determination of the proton's pseudoscalar coupling gP

The rate of nuclear muon capture by the proton has been measured using a new technique based on a time projection chamber operating in ultraclean, deuterium-depleted hydrogen gas, which is key to avoiding uncertainties from muonic molecule formation. The capture rate from the hyperfine singlet ground state of the microp atom was obtained from the difference between the micro(-) disappearance rate in hydrogen and the world average for the micro(+) decay rate, yielding Lambda(S)=725.0+/-17.4 s(-1), from which the induced pseudoscalar coupling of the nucleon, g(P)(q(2)=-0.88m(2)(micro))=7.3+/-1.1, is extracted.     

SO2–ethanol–water (SEW) fractionation process: production of dissolving pulp from spruce

SO₂–ethanol–water (SEW) fractionation process is a highly attractive platform for future lignocellulosic Biorefineries. Its governing advantages include high flexibility in the selection of the raw material, simple and efficient recovery of fractionation chemicals, absence of carbohydrate degradation (both cellulose and hemicelluloses), and high reaction rates. The process is suitable for production of various carbohydrate- and lignin-based products including papermaking pulp, glucose, bioalcohols and lignosulfonates. The present paper addresses the possibility of producing dissolving pulp from spruce using SEW fractionation followed by ECF bleaching with and without hot caustic extraction. Comprehensive characterisation of chemical and macromolecular properties of the SEW dissolving pulps was complemented by determining the quality of viscose. The comparison with conventional viscose-grade acid sulfite pulps revealed close proximity in all properties. Therefore, considering the advantages of SEW process, it is suggested as a possible replacement for acid sulfite process in dissolving pulp manufacturing.     

Interphases in Polymer Solid-Contacts and Nanocomposites Probed by Positron Annihilation Lifetime Spectroscopy

At polymer-solid contacts with thermoplastic polymers, the chain characteristics can deviate from the bulk on a length-scale of several nanometer in the so-called interphase. Such an interphase depends on the interaction between respective macromolecule and substrate, and affects the free volume in the polymer. Here, we review our experiments on the characterization of the free volume by positron lifetime spectroscopy at planar and curved interfaces. For Teflon AF on silicon, we identify a layer of increased density, corresponding to an interphase width of some 10 nm. PEP based nanocomposites with functionalized silica show no interphase, whereas for functionalized POSS an interphase is detected.     

Resistivity and Thermal Expansion (4.2–820 K) of Skutterudites after Severe Plastic Deformation via HPT

Thermoelectric materials with a high figure of merit, ZT, are the essential basis to build thermoelectric generators, which can directly convert heat into electricity. Severe plastic deformation (SPD) via high-pressure torsion (HPT) was successfully applied to enhance ZT of ball-milled and hot-pressed skutterudites as well as to produce bulk nanostructured skutterudites directly from powders. SPD introduces many defects into the sample and in parallel the crystallite size is significantly reduced. During measurement-induced heating these defects anneal partially out, and the grains grow. In this work for the first time systematically the changes of the temperature-dependent electrical resistivity and of thermal expansion were compared. It could be shown that for p- and n-type skutterudites, being hot-pressed and HPT-processed as well as directly HPT-processed from compacted powder, these changes occur more or less simultaneously within the same temperature ranges. This evaluation gives a much deeper insight into the thermoelectric behavior of HPT samples under the influence of changing temperature.     

Halide Anion Triggered Reactions of Michael Acceptors with Tropylium Ion

Tropylium bromide undergoes noncatalyzed, regioselective additions to a large variety of Michael acceptors. In this way, acrylic esters are converted into β‐bromo‐α‐cycloheptatrienylpropionic esters. The reactions are interpreted as nucleophilic attack of bromide ions at the electron‐deficient olefins and the approach of the tropylium ion to the incipient carbanion. Quantum chemical calculations were performed to elucidate the analogy to the amine‐ or phosphine‐catalyzed Rauhut–Currier reactions. Subsequent synthetic transformations of the bromo‐cycloheptatrienylated adducts are reported.     

Cycloaddition reactions of 2H-benzo[b]thiete and conjugated cyclic dienes

2H-Benzo[b]thiete 1 reacts with cyclopentadiene 3 in consecutive [8π + 2π]cycloadditions yielding the condensed heterocycles 6–8 . Tetracyclone 9 on the other hand gives only the monoadduct 10 . An [8π + 8π]cycloaddition can be observed for 1 and diphenylisobenzofuran 11 . The related π system 13 shows again consecutive [477π + 27π]processes ( 1 + 13 ← 14, 15 ).