Modelling,simulation and identification of a mobile concrete pump

Due to the light-weight construction of modern large-scale manipulators used, e.g., in mobile concrete pumps, the elasticity of the construction elements plays a significant role in the dynamic behaviour of the system. Therefore, current research is concerned with control strategies for active damping of elastic vibrations and trajectory planning. For this purpose, tailored mathematical models are required. Apart from the mathematical modelling, the identification of the model parameters constitutes a challenging task. This is mainly due to the large number of parameters to be identified and, considering the large scale, due to the fact that the boom movement cannot be measured by means of standard sensors. This paper presents a systematic approach for the mathematical modelling and identification of hydraulically actuated large-scale manipulators. The feasibility of the overall approach is demonstrated by means of measurement results of a mobile concrete pump.     

Self-Assembly and Fluorescence of Tetracationic Liquid Crystalline Tetraphenylethene

A series of tetraguanidinium tetraphenylethene (TPE) arylsulfonates with different chain lengths was prepared via ionic self-assembly of tetraguanidinium TPE chloride and the respective methyl arylsulfonates. Liquid crystalline properties were studied by differential scanning calorimetry, polarizing optical microscopy and X-ray diffraction. Tetraguanidinium TPE arylsulfonates with chain lengths of C₈–C₁₂ displayed hexagonal columnar mesophases over a broad temperature range, while derivatives with longer chains showed oblique columnar phases. In solution all compounds displayed aggregation-induced emission behaviour. Temperature-dependent luminescence spectra of the bulk phase of the tetraguanidinium TPE arylsulfonate with C₁₄ side chains revealed a strong luminescence both in the solid state and the oblique columnar mesophase. The emission behaviour was rationalized by a unique combination of restriction of intramolecular rotation of the TPE core, Coulomb interaction between the guanidinium cations and π–π interactions of the anionic arylsulfonate moieties.     

A concise route to 4-aminomethylpyrazoles and 4-aminomethylisoxazoles from acetylacetone-derived hexahydropyrimidines under mild conditions

Acetylacetone was successfully used as a precursor of 4-aminomethylpyrazoles and 4-aminomethylisoxazoles in a two step process at ambient temperature. In the first step, acetylacetone was transformed to the corresponding hexahydropyrimidines (1,3-diazinanes) via two consecutive one-pot Mannich aminomethylations. Hexahydropyrimidines were then treated with hydrazine, phenylhydrazine, and hydroxylamine, respectively, to obtain the corresponding 4-aminomethylpyrazoles and 4-aminomethylisoxazoles in good yields. The hexahydropyrimidine ring decomposed providing the title compounds and a reasonable mechanism has been proposed.     

Photocontrolled Release of Chemicals from Nano‐ and Microparticle Containers

A benzoin‐derived diol linker was synthesized and used to generate biocompatible polyesters that can be fully decomposed on demand upon UV irradiation. Extensive structural optimization of the linker unit was performed to enable the defined encapsulation of diverse organic compounds in the polymeric structures and allow for a well‐controllable polymer cleavage process. Selective tracking of the release kinetics of encapsulated model compounds from the polymeric nano‐ and microparticle containers was performed by confocal laser scanning microscopy in a proof‐of‐principle study. The physicochemical properties of the incorporated and released model compounds ranged from fully hydrophilic to fully hydrophobic. The demonstrated biocompatibility of the utilized polyesters and degradation products enables their use in advanced applications, for example, for the smart packaging of UV‐sensitive pharmaceuticals, nutritional components, or even in the area of spatially selective self‐healing processes.     

New terpenoids from Stachys parviflora Benth

Two new triterpenoidal saponins were isolated from the n-butanolic extract of Stachys parviflora (Lamiaceae). Their structures were elucidated on the basis of spectral data as stachyssaponin A; 3beta, 15alpha, 19alpha, 21beta, 22alpha-pentahydroxyolean-12-ene-28-oic acid 3-O-{alpha-L-rhamnopyranosyl-(1 --> 3)-beta-D-glucopyranoside}-22-O-{alpha-L-arabinofuranosyl-(1 --> 3)-beta-D-glucopyranoside} (1) and stachyssaponin B; 2beta, 3beta, 15alpha, 21beta-tetrahydroxyolean-12-ene-28-oic acid 2-O-[alpha-L-arabinofuranoside]-3, 21-bis-O-[beta-D-glucopyranoside] (2).     

On nonsmooth V-invexity and vector variational-like inequalities in terms of the Michel–Penot subdifferentials

In this paper, we establish some results which exhibit an application for Michel–Penot subdifferential in nonsmooth vector optimization problems and vector variational-like inequalities. We formulate vector variational-like inequalities of Stampacchia and Minty type in terms of the Michel–Penot subdifferentials and use these variational-like inequalities as a tool to solve the vector optimization problem involving nonsmooth V-invex function. We also consider the corresponding weak versions of the vector variational-like inequalities and establish various results for the weak efficient solutions.