Laserspektroskopie der Grundzustands-Hyperfeinstruktur des lithiumähnlichen 209 Bi 80+

Die theoretische und experimentelle Untersuchung von wasserstoffähnlichen Systemen hat in den letzten hundert Jahren immer wieder sowohl die experimentelle als auch die theoretische Physik entscheidend vorangebracht. Formulierung und Test der Quantenelektrodynamik (QED) standen und stehen in engen Zusammenhang mit der Untersuchung wasserstoffähnlicher Systeme. Gegenwärtig sind besonders wasserstoffähnliche Systeme schwerer Ionen von Interesse, um die QED in den extrem starken Feldern in Kernnähe zu testen. Laserspektroskopische Messungen der Hyperfeinstrukturaufspaltung des Grundzustandes bieten eine hohe Genauigkeit, ihre Interpretation wird jedoch durch die Unsicherheit in der Größe der Kernstruktureffekte erschwert. Beseitigt werden können diese durch die Kombination der Aufspaltung in wasserstoff- und lithiumähnlichen Ionen des gleichen Nuklids. In den letzten zwei Jahrzehnten scheiterten mehrere dadurch motivierte Versuche, den HFS-Übergang in lithiumähnlichen 209Bi80+ zu finden. Im Rahmen dieser Arbeit wurde kollineare Laserspektroskopie bei etwa 70% der Lichtgeschwindigkeit an 209Bi82+ und 209Bi80+ -Ionen im Experimentier- Speicherring an der GSI in Darmstadt durchgeführt. Dabei wurde der Übergang im lithiumähnlichen Bismut erstmals beobachtet und dessen Übergangswellenlänge zu 1554,74(74) nm bestimmt. Ein eigens für dieses Experiment optimiertes Fluoreszenz-Nachweissystem stellte dabei die entscheidende Verbesserung gegenüber den gescheiterten Vorgängerexperimenten dar. Der Wellenlängenfehler ist dominiert von der Unsicherheit der Ionengeschwindigkeit, die für die Transformation in das Ruhesystem der Ionen entscheidend ist. Für deren Bestimmung wurden drei Ansätze verfolgt: Die Geschwindigkeit wurde aus der Elektronenkühlerspannung bestimmt, aus dem Produkt von Orbitlänge und Umlauffrequenz und aus dem relativistischen Dopplereffekt unter Annahme der Korrektheit des früher bestimmten Überganges in wasserstoffähnlichen Bismut. Die Spannungskalibration des Elektronenkühlers wurde im Rahmen dieser Arbeit erstmals kritisch evaluiert und bislang unterschätzte systematische Unsicherheiten aufgezeigt, die derzeit einen aussagekräftigen QED-Test verhindern. Umgekehrt konnte unter Verwendung der QED-Berechnungen eine Ionengeschwindigkeit berechnet werden, die ein genaueres und konsistenteres Resultat für die Übergangswellenlängen beider Ionenspezies liefert. Daraus ergibt sich eine Diskrepanz zu dem früher bestimmten Wert des Überganges in wasserstoffähnlichen Bismut, die es weiter zu untersuchen gilt.

Entwicklung kohärenter Lichtquellen im XUV-Regime

Plasmabasierte Röntgenlaser sind aufgrund ihrer kurzen Wellenlänge und schma-rnlen spektralen Bandbreite attraktive Diagnose-Instrumente in einer Vielzahl potentieller Anwendungen, beispielsweise in den Bereichen Spektroskopie, Mikroskopie und EUV-Lithografie. Dennoch sind Röntgenlaser zum heutigen Stand noch nicht sehr weit verbreitet, was vorwiegend auf eine zu geringe Pulsenergie und für manche Anwendungen nicht hinreichende Strahlqualität zurückzuführen ist. In diesem Zusammenhang wurden in den letzten Jahren bedeutende Fortschritte erzielt. Die gleichzeitige Weiterentwicklung von Pumplasersystemen und Pumpmechanismen ermöglichte es, kompakte Röntgenlaserquellen mit bis zu 100 Hz zu betreiben. Um gleichzeitig höhere Pulsenergien, höhere Strahlqualität und volle räumliche Kohärenz zu erhalten, wurden intensive Studien theoretischer und experimenteller Natur durchgeführt. In diesem Kontext wurde in der vorliegenden Arbeit ein experimenteller Aufbau zur Kombination von zwei Röntgenlaser-Targets entwickelt, die sogenannte Butterfly-Konfiguration. Der erste Röntgenlaser wird dabei als sogenannter Seed für das zweite, als Verstärker dienende Röntgenlasermedium verwendet (injection-seeding). Aufrndiese Weise werden störende Effekte vermieden, welche beim Entstehungsprozessrndes Röntgenlasers durch die Verstärkung von spontaner Emission zustande kom-rnmen. Unter Verwendung des ebenfalls an der GSI entwickelten Double-Pulse Gra-rnzing Incidence Pumpschemas ermöglicht das hier vorgestellte Konzept, erstmaligrnbeide Röntgenlasertargets effizient und inklusive Wanderwellenanregung zu pum-rnpen.rnBei einer ersten experimentellen Umsetzung gelang die Erzeugung verstärkter Silber-Röntgenlaserpulse von 1 µJ bei 13.9 nm Wellenlänge. Anhand der gewonnenen Daten erfolgte neben dem Nachweis der Verstärkung die Bestimmung der Lebensdauer der Besetzungsinversion zu 3 ps. In einem Nachfolgeexperiment wurden die Eigenschaften eines Molybdän-Röntgenlaserplasmas näher untersucht. Neben dem bisher an der GSI angewandten Pumpschema kam in dieser Strahlzeit noch eine weitere Technik zum Einsatz, welche auf einem zusätzlichen Pumppuls basierte. In beiden Schemata gelang neben dem Nachweis der Verstärkung die zeitliche und räumliche Charakterisierung des Verstärkermediums. Röntgenlaserpulse mit bis zu 240 nJ bei einer Wellenlänge von 18.9 nm wurden nachgewiesen. Die erreichte Brillanz der verstärkten Pulse lag ca. zwei Größenordnungen über der des ursprünglichen Seeds und mehr als eine Größenordnung über der Brillanz eines Röntgenlasers, dessen Erzeugung auf der Verwendung eines einzelnen Targets basierte. Das in dieser Arbeitrnentwickelte und experimentell verifizierte Konzept birgt somit das Potential, extrem brillante plasmabasierte Röntgenlaser mit vollständiger räumlicher und zeitlicher Kohärenz zu erzeugen.rnDie in dieser Arbeit diskutierten Ergebnisse sind ein wesentlicher Beitrag zu der Entwicklung eines Röntgenlasers, der bei spektroskopischen Untersuchungen von hochgeladenen Schwerionen eingesetzt werden soll. Diese Experimente sind amrnExperimentierspeicherring der GSI und zukünftig auch am High-Energy StoragernRing der FAIR-Anlage vorgesehen.rn

Kollineare Laserspektroskopie an radioaktiven Praseodymionen und Cadmiumatomen

Die Analyse optischer Spektren liefert einen kernmodellunabhängigen Zugang zur Bestimmung der Kernspins, Ladungsradien und elektromagnetischen Momente von Atomkernen im Grundzustand und von langlebigen Isomeren. Eine der vielseitigsten Methoden zur optischen Spektroskopie an kurzlebigen Isotopen ist die kollineare Laserspektroskopie. Im Rahmen dieser Arbeit wurde zum einen die TRIGA-LASER Strahlstrecke am Institut für Kernchemie der Universität Mainz durch die Implementierung einer neuen offline Oberflächenionenquelle für hohe Verdampfungstemperaturen und eines Strahlanalysesystems weiterentwickelt. Zum anderen wurde kollineare Laserspektroskopie an kurzlebigen Praseodym- und Cadmiumisotopen an ISOLDE/CERN durchgeführt. Die neue Ionenquelle ermöglichte dabei den Test der kollinearen Laserspektroskopie an Praseodymionen am TRIGA-LASER Experiment. Die Spektroskopie der Prasdeodymionen motivierte sich aus der Beobachtung einer zeitlichen Modulation der EC-Zerfallsrate von wasserstoffähnlichem 140Pr58+. Für die Erklärung dieser sogenannten GSI Oszillationen wird unter anderem das magnetische Moment des Kerns benötigt, welches bislang noch nicht experimentell bestimmt wurde. Zudem wurde für wasserstoffähnliches 140Pr58+ überraschenderweise eine kleinere EC-Zerfallskonstante gemessen als für heliumähnliches 140Pr57+. Die Erklärung dieses Phänomens setzt ein positives magnetisches Moment voraus. Bei der Spektroskopie am COLLAPS Experiment wurden erstmals die magnetischen Momente von 135Pr, 136Pr und 137Pr vermessen. Aufgrund zu geringer Produktionsraten war die Spektroskopie des gewünschten Isotops 140Pr jedoch nicht erfolgreich. Die Untersuchung der Cadmiumisotope ist kernphysikalisch motiviert. In der Zinnregion erstrecken sich die Isotope über die beiden magischen Zahlen N=50 und N=82 bei gleichzeitiger Nähe des Z=50 Schalenabschlusses. Hier können verschiedene Kernmodelle getestet werden, die sich beispielsweise hinsichtlich der Stärke des N=82 Schalenabschlusses widersprechen. Diese Arbeit berichtet über erste Ergebnisse der Spektroskopie an Cadmiumatomen, die sich über die Isotope 106−124,126Cd sowie die zugehörigen langlebigen I=11/2− Isomere erstreckt. Die zuvor experimentell bekannten oder aus dem erweiterten Schalenmodell abgeleiteten Kernspins konnten für alle Isotope bis auf 119Cd bestätigt werden. Der Kernspin von 119Cd wurde eindeutig zu I=1/2 bestimmt. Die elektrischen Quadrupolmomente der Isomere zeigen ein bemerkenswert lineares Verhalten in Abhängigkeit von der Neutronenzahl und dies über die eigentliche Kapazität der 1h11/2 Unterschale hinaus. Die Änderungen der mittleren quadratischen Ladungsradien zeigen den auch an Indium- und Zinnisotopen beobachteten stetigen Verlauf. Der lineare Anteil passt sehr gut zu den Berechnung des Tröpfchenmodells in der Parametrisierung nach Berchidevsky und Tondeur. Die Differenzen der mittleren quadratischen Ladungsradien zwischen Grund- und isomeren Zustand der ungeraden Cadmiumisotope zeigen einen interessanten parabolischen Verlauf mit einem Minimum zwischen A=117 und A=119.

Influenze ontogenetiche e ambientali sui fattori di condizione di Merluccius merluccius Linnaeus, 1758 (Pisces: Gadiformes) e Galeus melastomus Rafinesque, 1810 (Pisces: Carcharhiniformes): Implicazioni sulla gestione delle risorse

In ecologia della pesca, i fattori o indicatori della “condizione” di un organismo forniscono molte informazioni sulle caratteristiche di adattamento dei pesci all’ambiente e sul loro ruolo nell’ecosistema. La “condizione” include molte caratteristiche strutturali ed energetiche che possono variare in funzione dell’ontogenesi, del ciclo riproduttivo, ma anche in funzione delle caratteristiche dell’ambiente, incluso il grado di stress al quale è sottoposta una specie (es. la pressione di pesca). L’obiettivo del presente studio sperimentale è stato valutare eventuali differenze nell’abbondanza, nei parametri di popolazione, nella struttura demografica e negli indicatori di “condizione” di due specie, Merluccius merluccius (Pisces: Gadiformes) e Galeus melastomus (Pisces: Carcharhiniformes), in due diverse aree: Toscana settentrionale e meridionale, differenti per caratteristiche ambientali e pressione di pesca. Nella prima parte dell’analisi, sono stati confrontati gli indici di densità e biomassa, la struttura di taglia delle due popolazioni, su dati estratti dagli archivi storici delle campagne di pesca sperimentale MEDITS dal 1994 al 2013. Nella seconda parte dell’analisi invece, sono stati analizzati 1000 individui provenienti dalla campagna MEDITS 2014, integrati con campioni provenienti dallo sbarcato commerciale per il biennio 2014-2015. Gli individui di M. merluccius sono stati ripartiti in due classi di taglia (I = individui ≤ 18 cm LT; II = individui > 18 cm LT), quelli di G. melastomus in tre classi di taglia (I = individui ≤ 20 cm LT; II = individui 20 cm< x ≤ 35 cm LT; III= individui > 35 cm LT), suddivisi rispettivamente in 50 maschi e 50 femmine, per ogni classe. E’ stato condotto lo studio della crescita relativa attraverso l’analisi della relazione taglia/peso e lo studio della condizione tramite i seguenti indicatori: il fattore K di Fulton, l’indice epatosomatico (HSI) e l’indice gonadosomatico (GSI). I risultati di questa tesi hanno evidenziato differenze nei popolamenti, riconducibili alle diverse condizioni ambientali e alla pressione di pesca, tra le due aree indagate. L’area sud, interessata da un più intenso sforzo di pesca esercitato sui fondali della piattaforma e della scarpata continentale e da una morfologia del fondale differente, mostra una diversità in termini di crescita relativa e stato della “condizione”, che risulta più elevata in entrambe le specie, rispetto all’area settentrionale, caratterizzata invece da uno sforzo di pesca meno intenso, incentrato sull’ampia piattaforma continentale.

Psychological distress in adult survivors of childhood cancer: the Swiss Childhood Cancer Survivor study

Purpose To evaluate the degree of psychological distress in adult childhood cancer survivors in Switzerland and to characterize survivors with significant distress. Methods Childhood cancer survivors who were age younger than 16 years when diagnosed between 1976 and 2003, had survived more than 5 years, and were currently age 20 years or older received a postal questionnaire. Psychological distress was assessed using the Brief Symptom Inventory (BSI). Raw scores were transformed into T scores according to the German norm sample, and the proportion of participants being at increased risk for psychological distress was calculated (case rule: T ≥ 63). t tests and univariable and multivariable logistic regressions were used for statistical analyses. Results One thousand seventy-six survivors (63.% of eligible survivors, 71.9% of contacted survivors) returned the questionnaire, 987 with complete data on BSI. Comparison with the norm populations showed lower T scores (T < 50) in the Global Severity Index (GSI; T = 46.2), somatization (T = 47.6), obsessive-compulsive tendencies (T = 46.9), and anxiety (T = 48.4). However, more childhood cancer survivors (especially women) had increased distress for GSI (14.4%), interpersonal sensitivity (16.5%), depression (13.4%), aggression (16.9%), and psychotic tendencies (15.6%) than the expected 10% from the norm population. Caseness was associated with female sex, being a single child, older age at study, and self-reported late effects, especially psychological problems. Conclusion Results show that childhood cancer survivors, on average, have less psychological distress than a norm population but that the proportion of survivors at risk for high psychological distress is disproportionally large. Monitoring psychological distress in childhood cancer survivors may be desirable during routine follow-up, and psychological support should be offered as needed.

The recoil transfer chamber - An interface to connect the physical preseparator TASCA with chemistry and counting setups

Performing experiments with transactinide elements demands highly sensitive detection methods due to the extremely low production rates (one-atom-at-a-time conditions). Preseparation with a physical recoil separator is a powerful method to significantly reduce the background in experiments with sufficiently long-lived isotopes (t1/2≥0.5 s). In the last years, the new gas-filled TransActinide Separator and Chemistry Apparatus (TASCA) was installed and successfully commissioned at GSI. Here, we report on the design and performance of a Recoil Transfer Chamber (RTC) for TASCA—an interface to connect various chemistry and counting setups with the separator. Nuclear reaction products recoiling out of the target are separated according to their magnetic rigidity within TASCA, and the wanted products are guided to the focal plane of TASCA. In the focal plane, they pass a thin Mylar window that separates the ∼1 mbar atmosphere in TASCA from the RTC kept at ∼1 bar. The ions are stopped in the RTC and transported by a continuous gas flow from the RTC to the ancillary setup. In this paper, we report on measurements of the transportation yields under various conditions and on the first chemistry experiments at TASCA—an electrochemistry experiment with osmium and an ion exchange experiment with the transactinide element rutherfordium.

Adolescent survivors of childhood cancer: are they vulnerable for psychological distress?

OBJECTIVES: We aimed to (i) evaluate psychological distress in adolescent survivors of childhood cancer and compare them to siblings and a norm population; (ii) compare the severity of distress of distressed survivors and siblings with that of psychotherapy patients; and (iii) determine risk factors for psychological distress in survivors. METHODS: We sent a questionnaire to all childhood cancer survivors aged <16 years when diagnosed, who had survived ≥5 years and were aged 16-19 years at the time of study. Our control groups were same-aged siblings, a norm population, and psychotherapy patients. Psychological distress was measured with the Brief Symptom Inventory-18 (BSI-18) assessing somatization, depression, anxiety, and a global severity index (GSI). Participants with a T-score ≥57 were defined as distressed. We used logistic regression to determine risk factors. RESULTS: We evaluated the BSI-18 in 407 survivors and 102 siblings. Fifty-two survivors (13%) and 11 siblings (11%) had scores above the distress threshold (T ≥ 57). Distressed survivors scored significantly higher in somatization (p = 0.027) and GSI (p = 0.016) than distressed siblings, and also scored higher in somatization (p ≤ 0.001) and anxiety (p = 0.002) than psychotherapy patients. In the multivariable regression, psychological distress was associated with female sex, self-reported late effects, and low perceived parental support. CONCLUSIONS: The majority of survivors did not report psychological distress. However, the severity of distress of distressed survivors exceeded that of distressed siblings and psychotherapy patients. Systematic psychological follow-up can help to identify survivors at risk and support them during the challenging period of adolescence. Copyright © 2013 John Wiley & Sons, Ltd.

Spectroscopy of element 115 decay chains

A high-resolution α, x-ray, and γ-ray coincidence spectroscopy experiment was conducted at the GSI Helmholtzzentrum für Schwerionenforschung. Thirty correlated α-decay chains were detected following the fusion-evaporation reaction Ca48+Am243. The observations are consistent with previous assignments of similar decay chains to originate from element Z=115. For the first time, precise spectroscopy allows the derivation of excitation schemes of isotopes along the decay chains starting with elements Z>112. Comprehensive Monte Carlo simulations accompany the data analysis. Nuclear structure models provide a first level interpretation.

Physiological and biochemical characteristics of polar cod (Boreogadus saida) from Kongsfjorden

Seasonality of biomarker baseline levels were studied in polar cod (Boreogadus saida), caught in Kongsfjorden, Svalbard, in April, July, September and December, 2006-2007. Physiological parameters (condition factor, gonado- and hepato-somatic indexes, energy reserves, potential metabolic activity and antifreeze activity) in polar cod were used to interpret the seasonality of potential biomarkers. The highest levels of ethoxyresorufin-O-deethylase (EROD) activity occurred concomitantly with the highest potential metabolic activity in July due to e.g. intense feeding. During pre-spawning, EROD showed significant inhibition and gender differences. Hence, its potential use in environmental monitoring should imply gender differentiation at least during this period. Glutathione S-transferase and catalase activities were stable from April to September, but changed in December suggesting a link to low biological activity. Knowledge of the biomarker baseline levels and their seasonal trends in polar cod is essential for a trustworthy interpretation of forthcoming toxicity data and environmental monitoring in the Arctic.

Ranking web services using centralities and social indicators

Nowadays, developers of web application mashups face a sheer overwhelming variety and pluralism of web services. Therefore, choosing appropriate web services to achieve specific goals requires a certain amount of knowledge as well as expertise. In order to support users in choosing appropriate web services it is not only important to match their search criteria to a dataset of possible choices but also to rank the results according to their relevance, thus minimizing the time it takes for taking such a choice. Therefore, we investigated six ranking approaches in an empirical manner and compared them to each other. Moreover, we have had a look on how one can combine those ranking algorithms linearly in order to maximize the quality of their outputs.

Task-based telemanipulation for maintenance in large scientific facilities

This thesis presents a task-oriented approach to telemanipulation for maintenance in large scientific facilities, with specific focus on the particle accelerator facilities at European Organization for Nuclear Research (CERN) in Geneva, Switzerland and GSI Helmholtz Centre for Heavy Ion Research (GSI) in Darmstadt, Germany. It examines how telemanipulation can be used in these facilities and reviews how this differs from the representation of telemanipulation tasks within the literature. It provides methods to assess and compare telemanipulation procedures as well a test suite to compare telemanipulators themselves from a dexterity perspective. It presents a formalisation of telemanipulation procedures into a hierarchical model which can be then used as a basis to aid maintenance engineers in assessing tasks for telemanipulation, and as the basis for future research. The model introduces a new concept of Elemental Actions as the building block of telemanipulation movements and incorporates the dependent factors for procedures at a higher level of abstraction. In order to gain insight into realistic tasks performed by telemanipulation systems within both industrial and research environments a survey of teleoperation experts is presented. Analysis of the responses is performed from which it is concluded that there is a need within the robotics community for physical benchmarking tests which are geared towards evaluating the dexterity of telemanipulators for comparison of their dexterous abilities. A three stage test suite is presented which is designed to allow maintenance engineers to assess different telemanipulators for their dexterity. This incorporates general characteristics of the system, a method to compare kinematic reachability of multiple telemanipulators and physical test setups to assess dexterity from a both a qualitative perspective and measurably by using performance metrics. Finally, experimental results are provided for the application of the proposed test suite onto two telemanipulation systems, one from a research setting and the other within CERN. It describes the procedure performed and discusses comparisons between the two systems, as well as providing input from the expert operator of the CERN system.

Proprioceptive force estimation and control for teleoperation in radioactive environments

A medida que se incrementa la energía de los aceleradores de partículas o iones pesados como el CERN o GSI, de los reactores de fusión como JET o ITER, u otros experimentos científicos, se va haciendo cada vez más imprescindible el uso de técnicas de manipulación remota para la interacción con el entorno sujeto a la radiación. Hasta ahora la tasa de dosis radioactiva en el CERN podía tomar valores cercanos a algunos mSv para tiempos de enfriamiento de horas, que permitían la intervención humana para tareas de mantenimiento. Durante los primeros ensayos con plasma en JET, se alcanzaban valores cercanos a los 200 μSv después de un tiempo de enfriamiento de 4 meses y ya se hacía extensivo el uso de técnicas de manipulación remota. Hay una clara tendencia al incremento de los niveles de radioactividad en el futuro en este tipo de instalaciones. Un claro ejemplo es ITER, donde se esperan valores de 450 Sv/h en el centro del toroide a los 11 días de enfriamiento o los nuevos niveles energéticos del CERN que harán necesario una apuesta por niveles de mantenimiento remotos. En estas circunstancias se enmarca esta tesis, que estudia un sistema de control bilateral basado en fuerza-posición, tratando de evitar el uso de sensores de fuerza/par, cuyo contenido electrónico los hace especialmente sensitivos en estos ambientes. El contenido de este trabajo se centra en la teleoperación de robots industriales, que debido a su reconocida solvencia y facilidad para ser adaptados a estos entornos, unido al bajo coste y alta disponibilidad, les convierte en una alternativa interesante para tareas de manipulación remota frente a costosas soluciones a medida. En primer lugar se considera el problema cinemático de teleoperación maestro-esclavo de cinemática disimilar y se desarrolla un método general para la solución del problema en el que se incluye el uso de fuerzas asistivas para guiar al operador. A continuación se explican con detalle los experimentos realizados con un robot ABB y que muestran las dificultades encontradas y recomendaciones para solventarlas. Se concluye el estudio cinemático con un método para el encaje de espacios de trabajo entre maestro y esclavo disimilares. Posteriormente se mira hacia la dinámica, estudiándose el modelado de robots con vistas a obtener un método que permita estimar las fuerzas externas que actúan sobre los mismos. Durante la caracterización del modelo dinámico, se realizan varios ensayos para tratar de encontrar un compromiso entre complejidad de cálculo y error de estimación. También se dan las claves para modelar y caracterizar robots con estructura en forma de paralelogramo y se presenta la arquitectura de control deseada. Una vez obtenido el modelo completo del esclavo, se investigan diferentes alternativas que permitan una estimación de fuerzas externas en tiempo real, minimizando las derivadas de la posición para minimizar el ruido. Se comienza utilizando observadores clásicos del estado para ir evolucionando hasta llegar al desarrollo de un observador de tipo Luenberger-Sliding cuya implementación es relativamente sencilla y sus resultados contundentes. También se analiza el uso del observador propuesto durante un control bilateral simulado en el que se compara la realimentación de fuerzas obtenida con las técnicas clásicas basadas en error de posición frente a un control basado en fuerza-posición donde la fuerza es estimada y no medida. Se comprueba como la solución propuesta da resultados comparables con las arquitecturas clásicas y sin embargo introduce una alternativa para la teleoperación de robots industriales cuya teleoperación en entornos radioactivos sería imposible de otra manera. Finalmente se analizan los problemas derivados de la aplicación práctica de la teleoperación en los escenarios mencionados anteriormente. Debido a las condiciones prohibitivas para todo equipo electrónico, los sistemas de control se deben colocar a gran distancia de los manipuladores, dando lugar a longitudes de cable de centenares de metros. En estas condiciones se crean sobretensiones en controladores basados en PWM que pueden ser destructivas para el sistema formado por control, cableado y actuador, y por tanto, han de ser eliminadas. En este trabajo se propone una solución basada en un filtro LC comercial y se prueba de forma extensiva que su inclusión no produce efectos negativos sobre el control del actuador. ABSTRACT As the energy on the particle accelerators or heavy ion accelerators such as CERN or GSI, fusion reactors such as JET or ITER, or other scientific experiments is increased, it is becoming increasingly necessary to use remote handling techniques to interact with the remote and radioactive environment. So far, the dose rate at CERN could present values near several mSv for cooling times on the range of hours, which allowed human intervention for maintenance tasks. At JET, they measured values close to 200 μSv after a cooling time of 4 months and since then, the remote handling techniques became usual. There is a clear tendency to increase the radiation levels in the future. A clear example is ITER, where values of 450 Sv/h are expected in the centre of the torus after 11 days of cooling. Also, the new energetic levels of CERN are expected to lead to a more advanced remote handling means. In these circumstances this thesis is framed, studying a bilateral control system based on force-position, trying to avoid the use of force/torque sensors, whose electronic content makes them very sensitive in these environments. The contents of this work are focused on teleoperating industrial robots, which due its well-known reliability, easiness to be adapted to these environments, cost-effectiveness and high availability, are considered as an interesting alternative to expensive custom-made solutions for remote handling tasks. Firstly, the kinematic problem of teloperating master and slave with dissimilar kinematics is analysed and a new general approach for solving this issue is presented. The solution includes using assistive forces in order to guide the human operator. Coming up next, I explain with detail the experiments accomplished with an ABB robot that show the difficulties encountered and the proposed solutions. This section is concluded with a method to match the master’s and slave’s workspaces when they present dissimilar kinematics. Later on, the research studies the dynamics, with special focus on robot modelling with the purpose of obtaining a method that allows to estimate external forces acting on them. During the characterisation of the model’s parameters, a set of tests are performed in order to get to a compromise between computational complexity and estimation error. Key points for modelling and characterising robots with a parallelogram structure are also given, and the desired control architecture is presented. Once a complete model of the slave is obtained, different alternatives for external force estimation are review to be able to predict forces in real time, minimizing the position differentiation to minimize the estimation noise. The research starts by implementing classic state observers and then it evolves towards the use of Luenberger- Sliding observers whose implementation is relatively easy and the results are convincing. I also analyse the use of proposed observer during a simulated bilateral control on which the force feedback obtained with the classic techniques based on the position error is compared versus a control architecture based on force-position, where the force is estimated instead of measured. I t is checked how the proposed solution gives results comparable with the classical techniques and however introduces an alternative method for teleoperating industrial robots whose teleoperation in radioactive environments would have been impossible in a different way. Finally, the problems originated by the practical application of teleoperation in the before mentioned scenarios are analysed. Due the prohibitive conditions for every electronic equipment, the control systems should be placed far from the manipulators. This provokes that the power cables that fed the slaves devices can present lengths of hundreds of meters. In these circumstances, overvoltage waves are developed when implementing drives based on PWM technique. The occurrence of overvoltage is very dangerous for the system composed by drive, wiring and actuator, and has to be eliminated. During this work, a solution based on commercial LC filters is proposed and it is extensively proved that its inclusion does not introduce adverse effects into the actuator’s control.

Efeito da suplementação prolongada de grão de soja cru e integral no pré-parto sobre o desempenho produtivo, qualidade oocitária e embrionária, e função imune de vacas leiteiras

Objetivou-se avaliar o efeito da suplementação prolongada de grão de soja cru e integral (GSI) como fonte de ácido graxo Ω6 sobre o desempenho produtivo, perfil metabólico, qualidade oocitária e embrionária e função imune de vacas leiteiras no período de transição e início de lactação. Foram selecionadas 44 vacas da raça Holandesa, multíparas e gestantes, com parto previsto para 90 dias após o início da avaliação e fornecimento das dietas experimentais, porém em razão da ocorrência de enfermidades metabólicas ou infecciosas (3 abortos; 3 deslocamentos de abomaso; 3 enfermidades podais; 4 distocias) 13 animais foram retirados do experimento. As vacas foram distribuídas aleatoriamente em quatro grupos experimentais diferindo entre eles o início do fornecimento de grão de soja cru e integral (GSI) durante o pré-parto. A dieta era baseada na inclusão de 12% de GSI %MS, com aproximadamente 5,1% de extrato etéreo (EE) o início de seu fornecimento foi conforme descrito a seguir: Grupo 0: Animais não receberam dieta contendo GSI no pré-parto; Grupo 30: Início do fornecimento de dieta com GSI nos 30 dias finais da gestação; Grupo 60: Início do fornecimento de dieta com GSI nos 60 dias finais da gestação; Grupo 90: Início do fornecimento de dieta com GSI nos 90 dias finais da gestação. Após o parto, todas as vacas receberam dieta única com 5,1% de EE, baseada na inclusão de 12% de GSI %MS até 90 dias de lactação. Os animais foram arraçoados de acordo com o consumo de matéria seca no dia anterior, de forma a ser mantido porcentual de sobras das dietas, diariamente, entre 5 e 10%. As amostras dos alimentos e sobras foram coletadas diariamente e armazenadas a -20ºC. Semanalmente as amostras coletadas diariamente foram misturadas e foi retirada uma amostra composta referente a um período de uma semana, a fim de mensurar o consumo de matéria seca e nutrientes. Amostras de fezes foram coletadas nos dias -56, -21, 21, 56 e 84 dias em relação ao parto, com o propósito de mensurar a digestibilidade da matéria seca e nutrientes. A produção de leite foi mensurada diariamente e para a composição dos teores de gordura, proteína, lactose e perfil de ácidos graxos amostras foram coletadas semanalmente. As amostras de sangue para análise dos metabólitos sanguíneos foram coletadas semanalmente. Amostras de sangue para mensurar a atividade do sistema imune foram coletadas na semanas -8, -4, -2, -1 em relação ao parto, parto, +1, +2, +4 e +8 semanas no período pós-parto. Nos dias 21, 42, 63 e 84 do período pós-parto foram realizadas aspirações foliculares, com posterior fertilização in vitro dos oócitos. Todas as variáveis mensuradas foram analisadas pelo procedimento PROC MIXED do SAS 9.4 através de regressão polinomial, utilizando efeito fixo de tratamento, semana, interação tratamento*semana e efeito de animal dentro de tratamento como aleatório. Utilizou nível de 5% de significância. Foi observado efeito (P<0,05) linear crescente para CEE no pré-parto. Não foi observado diferenças no CMS e nutrientes no pós-parto. Não houve alteração da digestibilidade nos períodos pré e pós-parto. Não houve alteração no balanço de energia e nitrogênio nos periodos pré e pós-parto. Não foi observado diferença na produção, composição e teor dos componentes totais do leite. No perfil de ácidos graxos do leite houve efeito (P<0,05) linear descrescente para as concentrações de C16:1cis, C18:1 cis, total de C:18 insaturado, total de AG monoinsaturados, insaturados e a relação do total de AGS:AGI. Foi observado efeito linear (P<0,05) crescente para o total de AG aturado e efeito (P<0,05) quadrático para C18:2, CLAcis9-trans11, e total de AGPI. Foi observado efeito linear crescente (P<0,05) para colesterol total, LDL no préparto e linear decrescente (P<0,05) para GGT nos períodos pré e pós-parto. Foi observado efeito quadrático (P<0,05) para HDL no pré-parto e AST no pós-parto. Em relação a atividade do sistema imune foi observado efeito linear (P<0,05) crescente para o percentual de CD3+ ativos no pós-parto, para o percentual de monócitos que produziram espécie reativa de oxigênio (ERO) no pós-parto quando foram estimulados por S.aureus e E.coli e para a intensidade de imunofluorescência de ERO para ganulócitos no pós-parto quando estimulados por S.aureus. Foi observado efeito (P<0,05) quadrático para o percentual de granulócitos, mononucleares, CD8+ ativos no pós-parto e para o percentual de granulócitos que produziram ERO no pós-parto quando estimulados por E.coli. A suplementação prolongada com GSI no pré-parto melhora a atividade do sistema imune, não melhora a qualidade oocitária e embrionária bem como não influencia negativamente os parametros produtivos de vacas leiteiras no período de transição e início de lactação

The Emergence of Open Hardware Phenomena in Different Technological Environments

Dannie Jost gave an introductory presentation on the emergence on open hardware phenomena, including synthetic biology and other technological environments at the HEPTech Workshop on Open Hardware on June 13 held at the GSI, Darmstadt (Germany). The workshop was organized by CERN and GSI. This event addressed the OSHW phenomenon and its implications for academia and industry with special attention to knowledge and technology transfer issues. Consideration was given to the various aspects of open source hardware development, and how these are dealt with in academia and industry. Presentations from legal experts, academics, practitioners and business provided input for the discussions and exchange of ideas.

Distortion product otoacoustic emissions in school children: Effects to gender, ear asymmetry and handedness

Accurate interpretation of distortion product otoacoustic emission (DPOAE) data cannot be made without realizing the effects of non-pathological factors on DPOAEs. The present study aimed to examine the effects of ear asymmetry, gender and handedness on DPOAEs obtained from school children. One thousand and three children (528 boys and 475 girls) with a mean age of 6.2 years (SD = 0.4, range = 5.2 7.9 years) were tested in a quiet room at their schools using the GSI-60 DPOAE system. The stimuli consisted of two pure tones of different frequencies f1 and f2 presented at 65 and 55dB SPL respectively. A DP-gram was obtained for each ear with f2 varying from 1.1 to 6.0 kHz and the ratio of f2/f1 being kept at 1.21. The signal-to-noise ratios (SNR) (DPOAE amplitude minus the mean noise floor) at the tested frequencies 1.1, 1.5, 1.9, 2.4, 3.0, 3.8, 4.8, and 6.0 kHz were measured. The results revealed a small, but significant difference in SNR between ears, with right ears showing a higher mean SNR than left ears at 1.9, 3.0, 3.8 and 6.0 kHz. At these frequencies, the difference in mean SNR between ears was less than 1 dB. A significant gender effect was also found, with girls exhibiting a higher SNR than boys at 3.8, 4.8 and 6.0 kHz. The difference in mean SNR, as a result of the gender effect, was about 1 to 2 dB at these frequencies. The results from the present study indicated no significant difference in mean SNR between left-handed and right-handed children for all tested frequencies. In conclusion, these non-pathological characteristics of DPOAEs should be considered in the interpretation of DPOAE results for school children.