Error Modeling and Accuracy Analysis of a Novel Mobile Hybrid Parallel Robot

Over the last decades, calibration techniques have been widely used to improve the accuracy of robots and machine tools since they only involve software modification instead of changing the design and manufacture of the hardware. Traditionally, there are four steps are required for a calibration, i.e. error modeling, measurement, parameter identification and compensation. The objective of this thesis is to propose a method for the kinematics analysis and error modeling of a newly developed hybrid redundant robot IWR (Intersector Welding Robot), which possesses ten degrees of freedom (DOF) where 6-DOF in parallel and additional 4-DOF in serial. In this article, the problem of kinematics modeling and error modeling of the proposed IWR robot are discussed. Based on the vector arithmetic method, the kinematics model and the sensitivity model of the end-effector subject to the structure parameters is derived and analyzed. The relations between the pose (position and orientation) accuracy and manufacturing tolerances, actuation errors, and connection errors are formulated. Computer simulation is performed to examine the validity and effectiveness of the proposed method.

Environmental factors, spatial variation, and specific requirements of Chironomidae in Mediterranean reference streams

Chironomidae spatial distribution was investigated at 63 near-pristine sites in 22 catchments of the Iberian Mediterranean coast. We used partial redundancy analysis to study Chironomidae community responses to a number of environmental factors acting at several spatial scales. The percentage of variation explained by local factors (23.3%) was higher than that explained by geographical (8.5%) or regional factors(8%). Catchment area, longitude, pH, % siliceous rocks in the catchment, and altitude were the best predictors of Chironomidae assemblages. We used a k-means cluster analysis to classified sites into 3 major groups based on Chironomidae assemblages. These groups were explained mainly by longitudinal zonation and geographical position, and were defined as 1) siliceous headwater streams, 2) mid-altitude streams with small catchment areas, and 3) medium-sized calcareous streams. Distinct species assemblages with associated indicator taxa were established for each stream category using IndVal analysis. Species responses to previously identified key environmental variables were determined, and optima and tolerances were established by weighted average regression. Distinct ecological requirements were observed among genera and among species of the same genus. Some genera were restricted to headwater systems (e.g., Diamesa), whereas others (e.g., Eukiefferiella) had wider ecological preferences but with distinct distributions among congenerics. In the present period of climate change, optima and tolerances of species might be a useful tool to predict responses of different species to changes in significant environmental variables, such as temperature and hydrology.

Novel Robot Solutions for Carrying out Field Joint Welding and Machining in the Assembly of the Vacuum Vessel of ITER

It is necessary to use highly specialized robots in ITER (International Thermonuclear Experimental Reactor) both in the manufacturing and maintenance of the reactor due to a demanding environment. The sectors of the ITER vacuum vessel (VV) require more stringent tolerances than normally expected for the size of the structure involved. VV consists of nine sectors that are to be welded together. The vacuum vessel has a toroidal chamber structure. The task of the designed robot is to carry the welding apparatus along a path with a stringent tolerance during the assembly operation. In addition to the initial vacuum vessel assembly, after a limited running period, sectors need to be replaced for repair. Mechanisms with closed-loop kinematic chains are used in the design of robots in this work. One version is a purely parallel manipulator and another is a hybrid manipulator where the parallel and serial structures are combined. Traditional industrial robots that generally have the links actuated in series are inherently not very rigid and have poor dynamic performance in high speed and high dynamic loading conditions. Compared with open chain manipulators, parallel manipulators have high stiffness, high accuracy and a high force/torque capacity in a reduced workspace. Parallel manipulators have a mechanical architecture where all of the links are connected to the base and to the end-effector of the robot. The purpose of this thesis is to develop special parallel robots for the assembly, machining and repairing of the VV of the ITER. The process of the assembly and machining of the vacuum vessel needs a special robot. By studying the structure of the vacuum vessel, two novel parallel robots were designed and built; they have six and ten degrees of freedom driven by hydraulic cylinders and electrical servo motors. Kinematic models for the proposed robots were defined and two prototypes built. Experiments for machine cutting and laser welding with the 6-DOF robot were carried out. It was demonstrated that the parallel robots are capable of holding all necessary machining tools and welding end-effectors in all positions accurately and stably inside the vacuum vessel sector. The kinematic models appeared to be complex especially in the case of the 10-DOF robot because of its redundant structure. Multibody dynamics simulations were carried out, ensuring sufficient stiffness during the robot motion. The entire design and testing processes of the robots appeared to be complex tasks due to the high specialization of the manufacturing technology needed in the ITER reactor, while the results demonstrate the applicability of the proposed solutions quite well. The results offer not only devices but also a methodology for the assembly and repair of ITER by means of parallel robots.

Painediffusöörin suunnitteluperusteiden kehittäminen

Pesu on tärkeä osa sellun tuotantoprosessia. Eräs tapa toteuttaa sellun pesu on käyttää painediffusööriä. Painediffusööri toimii syrjäytyspesuperiaatteella, eli poistaa sellu-massasta keittolipeää paineistetun pesuveden avulla. Työssä on kehitetty painediffusöörin suunnittelun lähtökohtia keräämällä tietoa laitteen toiminnasta, rakenteesta, valmistuksesta sekä nykyisistä epäkohdista, joihin esitetään parannusmahdollisuuksia. Tärkeimmät kehitysalueet laitteessa ovat valmistus-toleranssien väljentäminen sekä sihdin pystysuuntaisen liikkeen tuottaminen. Laitteen valmistustoleranssit on analysoitu perusteellisesti, ja niiden väljentämis-mahdollisuuksia on tutkittu. Väljentämiseen ehdotetaan erilaisia keinoja. Sihdin liike tuotetaan tällä hetkellä hydrauliikalla. Hydrauliikkakomponenteille on koottu mitoitusohjeita, joiden jälkeen esitellään keinoja hydrauliikkajärjestelmän kehittämiseen. Lopuksi esitellään muita lineaarisen liikkeen tuottamisvaihtoehtoja, joilla hydrauliikan voisi korvata. Rakenteessa käytetyille valmistusmateriaaleille on etsitty olemassa olevat yleisimpien materiaalistandardien mukaiset nimikkeet materiaalinvalinnan helpottamiseksi jatkossa. Pääasiallisten valmistusmateriaalien lisäksi on kerätty tietoa myös vaihtoehtoisista konstruktiomateriaaleista sekä materiaalinvalinnasta ja tuotesuunnittelusta yleensä.

Parallel-Operating Three-Phase Voltage Source Inverters – Circulating CurrentModeling, Analysis and Mitigation

The maximum realizable power throughput of power electronic converters may be limited or constrained by technical or economical considerations. One solution to this problemis to connect several power converter units in parallel. The parallel connection can be used to increase the current carrying capacity of the overall system beyond the ratings of individual power converter units. Thus, it is possible to use several lower-power converter units, produced in large quantities, as building blocks to construct high-power converters in a modular manner. High-power converters realized by using parallel connection are needed for example in multimegawatt wind power generation systems. Parallel connection of power converter units is also required in emerging applications such as photovoltaic and fuel cell power conversion. The parallel operation of power converter units is not, however, problem free. This is because parallel-operating units are subject to overcurrent stresses, which are caused by unequal load current sharing or currents that flow between the units. Commonly, the term ’circulatingcurrent’ is used to describe both the unequal load current sharing and the currents flowing between the units. Circulating currents, again, are caused by component tolerances and asynchronous operation of the parallel units. Parallel-operating units are also subject to stresses caused by unequal thermal stress distribution. Both of these problemscan, nevertheless, be handled with a proper circulating current control. To design an effective circulating current control system, we need information about circulating current dynamics. The dynamics of the circulating currents can be investigated by developing appropriate mathematical models. In this dissertation, circulating current models aredeveloped for two different types of parallel two-level three-phase inverter configurations. Themodels, which are developed for an arbitrary number of parallel units, provide a framework for analyzing circulating current generation mechanisms and developing circulating current control systems. In addition to developing circulating current models, modulation of parallel inverters is considered. It is illustrated that depending on the parallel inverter configuration and the modulation method applied, common-mode circulating currents may be excited as a consequence of the differential-mode circulating current control. To prevent the common-mode circulating currents that are caused by the modulation, a dual modulator method is introduced. The dual modulator basically consists of two independently operating modulators, the outputs of which eventually constitute the switching commands of the inverter. The two independently operating modulators are referred to as primary and secondary modulators. In its intended usage, the same voltage vector is fed to the primary modulators of each parallel unit, and the inputs of the secondary modulators are obtained from the circulating current controllers. To ensure that voltage commands obtained from the circulating current controllers are realizable, it must be guaranteed that the inverter is not driven into saturation by the primary modulator. The inverter saturation can be prevented by limiting the inputs of the primary and secondary modulators. Because of this, also a limitation algorithm is proposed. The operation of both the proposed dual modulator and the limitation algorithm is verified experimentally.

Qualitative Characteristics and Quantitative Measures of Solution's Reliability in Discrete Optimization: Traditional Analytical Approaches, Innovative Computational Methods and Applicability

The purpose of this thesis is twofold. The first and major part is devoted to sensitivity analysis of various discrete optimization problems while the second part addresses methods applied for calculating measures of solution stability and solving multicriteria discrete optimization problems. Despite numerous approaches to stability analysis of discrete optimization problems two major directions can be single out: quantitative and qualitative. Qualitative sensitivity analysis is conducted for multicriteria discrete optimization problems with minisum, minimax and minimin partial criteria. The main results obtained here are necessary and sufficient conditions for different stability types of optimal solutions (or a set of optimal solutions) of the considered problems. Within the framework of quantitative direction various measures of solution stability are investigated. A formula for a quantitative characteristic called stability radius is obtained for the generalized equilibrium situation invariant to changes of game parameters in the case of the H¨older metric. Quality of the problem solution can also be described in terms of robustness analysis. In this work the concepts of accuracy and robustness tolerances are presented for a strategic game with a finite number of players where initial coefficients (costs) of linear payoff functions are subject to perturbations. Investigation of stability radius also aims to devise methods for its calculation. A new metaheuristic approach is derived for calculation of stability radius of an optimal solution to the shortest path problem. The main advantage of the developed method is that it can be potentially applicable for calculating stability radii of NP-hard problems. The last chapter of the thesis focuses on deriving innovative methods based on interactive optimization approach for solving multicriteria combinatorial optimization problems. The key idea of the proposed approach is to utilize a parameterized achievement scalarizing function for solution calculation and to direct interactive procedure by changing weighting coefficients of this function. In order to illustrate the introduced ideas a decision making process is simulated for three objective median location problem. The concepts, models, and ideas collected and analyzed in this thesis create a good and relevant grounds for developing more complicated and integrated models of postoptimal analysis and solving the most computationally challenging problems related to it.

Novel Methods for Error Modeling and Parameter Identification of a Redundant Serial-Parallel Hybrid Robot

To obtain the desirable accuracy of a robot, there are two techniques available. The first option would be to make the robot match the nominal mathematic model. In other words, the manufacturing and assembling tolerances of every part would be extremely tight so that all of the various parameters would match the “design” or “nominal” values as closely as possible. This method can satisfy most of the accuracy requirements， but the cost would increase dramatically as the accuracy requirement increases. Alternatively, a more cost-effective solution is to build a manipulator with relaxed manufacturing and assembling tolerances. By modifying the mathematical model in the controller, the actual errors of the robot can be compensated. This is the essence of robot calibration. Simply put, robot calibration is the process of defining an appropriate error model and then identifying the various parameter errors that make the error model match the robot as closely as possible. This work focuses on kinematic calibration of a 10 degree-of-freedom (DOF) redundant serial-parallel hybrid robot. The robot consists of a 4-DOF serial mechanism and a 6-DOF hexapod parallel manipulator. The redundant 4-DOF serial structure is used to enlarge workspace and the 6-DOF hexapod manipulator is used to provide high load capabilities and stiffness for the whole structure. The main objective of the study is to develop a suitable calibration method to improve the accuracy of the redundant serial-parallel hybrid robot. To this end, a Denavit–Hartenberg (DH) hybrid error model and a Product-of-Exponential (POE) error model are developed for error modeling of the proposed robot. Furthermore, two kinds of global optimization methods, i.e. the differential-evolution (DE) algorithm and the Markov Chain Monte Carlo (MCMC) algorithm, are employed to identify the parameter errors of the derived error model. A measurement method based on a 3-2-1 wire-based pose estimation system is proposed and implemented in a Solidworks environment to simulate the real experimental validations. Numerical simulations and Solidworks prototype-model validations are carried out on the hybrid robot to verify the effectiveness, accuracy and robustness of the calibration algorithms.

Application of cutting fluids in machining processes

In the last decade a lot has been discussed about the suitability of using cutting fluid in abundance to cool and lubricate machining processes. The use of cutting fluid generally causes economy of tools and it becomes easier to keep tight tolerances and to maintain workpiece surface properties without damages. In the other hand, it brings also some problems, like fluid residuals and human diseases. Because of them some alternatives has been sought to minimise or even avoid the use of cutting fluid in machining operations. Some of these alternatives are dry cutting and cutting with minimum quantity of fluid (MQF). The main goal of this work is to discuss these tendencies. Therefore, topics like kinds and methods of applications of modern cutting fluids and what are new in this area will unavoidably be considered. MQF and dry cutting techniques, their applications and where it is not possible to apply them will also be focused. To exemplify the topics, this work will describe some of the researches been developed in two important Brazilian Universities: State University of Campinas (UNICAMP) and Federal University of Uberlândia (UFU).

Meesauunin vaipan konepajavalmistus ja laaduntarkastus

Meesauuni on osa sulfaattisellutehdasta ja sen kemikaalikiertoa. Se on pyörivä kaltevaan tasoon asetettu rumpu-uuni, joka voi olla jopa 160 metriä pitkä ja halkaisijaltaan 5,5 metriä. Kalkki on kiertävä apukemikaali, jota käytetään soodakattilalta tulevan viherlipeän muuttamiseen valkolipeäksi. Meesauunin tehtävänä on kierrättää kalkki (CaO) uudelleen käytettäväksi kaustisoinnissa syntyneestä meesasta (CaCO3). Meesauunin vaipan konepajavalmistus on prosessina hyvin yksinkertainen, mutta toleranssivaatimukset ovat hyvin tiukat suhteutettuna meesauunin kokoon. Vaippalohkojen valmistus on siirtynyt halpatyövoiman maihin lähelle loppukäyttäjiä, joten vaatimukset piirustusten laadulle, valmistukselle, ohjeille ja tarkastamiselle ovat lisääntyneet. Uunin vaippa toimitetaan asennuspaikalle useassa lohkossa ja jokainen vaippalohko on tarkastettava ennen toimitusta. Virheellisten vaippalohkojen siirtyminen asennuspaikalle on estettävä. Työn tavoitteena oli parantaa meesauunin vaippalohkojen konepajavalmistuksen laaduntarkastusta. Tässä työssä tutkitaan mittausmenetelmiä vaippalohkojen geometrian mittaamiseen. Tärkeimmät uunin toiminnallisiin ominaisuuksiin vaikuttavat muototoleranssit vaippalohkoille ovat ympyrämäisyys ja keskiviivan suoruus. Virheet näissä toleransseissa aiheuttavat vaurioita uunin muurauksille ja liian suuria kuormituksia tuennoille. Vaippalohkot on mitattava pyöritysrullaston päällä ja konepajan olosuhteissa, mikä aiheuttaa omat haasteensa. Vaippalohkojen suuret massat ja dimensiot aiheuttavat vaippalohkoihin muodonmuutoksia. Muodonmuutokset täytyy olla hallinnassa, mikäli halutaan käyttää CMS-laitteistoja (Coordinate Measuring System). Meesauunin vaippalohkot ovat mitattavissa radiaalimittauksina tai käyttäen CMS-laitteistoja.

Telahiomon tuotannon läpimenoajan ja laadun optimointi

Tämän diplomityön tarkoituksena on tunnistaa UPM Kymin telahiomon tuotannon läpimenoaikaan sekä laatuun vaikuttavia tekijöitä ja löytää keinot niiden optimoimiseksi, jotta hiontatuotannon kustannustehokkuus parantuisi. Tutkimusmenetelminä työssä käytetään Kymin telahiomon tuotannon läpimenoaikojen telakohtaista mittaamista ja hionnasta tehtyjen mittausraporttien, pinnoituksista ja hionnoista tehtyjen ostotilauksien sekä SAP R/3-toiminnanohjausjärjestelmästä saatavan kunnossapitodatan tutkintaa. Tiedon lähteenä on käytetty myös kirjallisuutta ja UPM henkilöstön sekä toimittajien haastatteluita. Muiden telahiomojen aikaansaamaan laatuun ja tuotannon läpimenoaikaan verrattuna Kymin telahiomon keskimääräiset hiontatuotannon läpimenoajat ovat telasta riippuen kaksinkertaisia tai jopa lähes nelinkertaisia, vaikka pinnankarheus jää osassa teloista alle asetetun tavoitteen. Telahiomojen muototoleransseissa ei ole niin merkittäviä eroja, mitkä selittäisivät Kymin pidemmät hiontatuotannon läpimenoajat. Tämän takia muototoleransseja ei ole päädytty muuttamaan työn aikana, mutta käyttökokemusten mukaan pinnankarheusvaatimusta voidaan laskea. Telahiontaprosessin muotohiontavaihe on suurin hiontatuotannon läpimenoaikaan ja kustannuksiin vaikuttava tekijä. Hiontamenetelmien ja hionta-arvojen optimoimisella, hiontatyökalujen lastuamiskyvyn ylläpitämisellä, telahiontatuotannon yliprosessoinnin ehkäisyllä ja laatutoleransseihin tyytymisellä voidaan lyhentää kymmeniä tunteja telahiomon tuotannon läpimenoaikaa. Mittausraporttien mukaan merkittävin muutos telahiontaprosessin kustannuksiin ja hiontatuotannon läpimenoaikaan saadaan noudattamalla laatutoleransseja. Telojen kunnossapitoon liittyviä kustannuksia syntyy turhaan lisää, kun vaihdetaan ja hiotaan käyttökelpoisia teloja sekä uudelleen pinnoitetaan teloja, joiden pinnoitepaksuus on vielä riittävä. Pinnoitepaksuuden seurannalla voidaan minimoida telojen ennenaikaiset uudelleenpinnoitukset. Mittalaitteiden avulla pystyy optimoimaan telojen hiontavälit. Hiontavälien optimointi lyhentää myös hiontajonoa. Tällöin voidaan hyödyntää suunnitellun hiontajärjestyksen tuomia etuja tehokkaammin ja saavuttaa nopeampia tuotannon läpimenoaikoja.

Foraging ecology and parental behaviour in the common tern (Sterna hirundo)

One component of successful parenting is related to efficiency in foraging behaviour. The relationships among chick feeding, the size and type of food package, and length of parental foraging trips has not been well studied in seabirds. In addition, relatively few data have been collected on the activities of seabirds when foraging away from the nest site. The objectives of this study were: (1) to contrast productivity, feeding rate, and attendance patterns of individuals carrying a novel transmitter with a control group of birds; (2) to use radio-telemetry to assess the variability in foraging locations within and between individual male Common Terns; (3) to determine the seasonal variation in chick diet; (4) to determine for each transmittered bird, the relationships among the foraging patterns, parental behaviour, and seasonal reproductive success. The study took place over two years (1990-91) on a concrete breakwater 1 km offshore on Lake Erie near Port Colbome, Ontario. Ten pairs of terns in 1990 and 12 pairs in 1991 were radio-tracked by boat or car during the chick rearing stage. Concurrent behavioural observations documented the time each sex spent foraging or at the nest. The frequency and prey species composition of feeds to chicks were also recorded. The transmitters had negligible effects on the feeding frequency and brood attendance patterns of transmitter carrying birds. Peak nesting transmittered birds in 1990 and 1991 exhibited some inter-individual variability in foraging locations, however intraindividual variability was low. Birds foraged primarily to the west and northwest of the colony. Late nesters exhibited greater inter-individual variability, however intra-individual variability remained low for most birds. Neither group demonstrated sufficient variability to support the regular use of this colony as an "information centre". Individual transmittered birds had unique and predictable foraging patterns, and corresponding differences in feeding frequencies and brood attendance patterns, yet productivity was essentially equal between nests due to the impact and importance of stochastic events. Individuals that were recaptured in 1991 exhibited very similar foraging patterns to 1990, suggesting littie variability between years. Conservation of foraging patterns between years may have potential implications for mate choice decisions in future breeding seasons. Prey species delivered to chicks differed between morning and evening for peak and late nesters in 1990, but not 1991. Peak nesters in 1990 fed significantiy more Rainbow Smelt fOsmerus mordM) than Emerald Shiner (Notropis atherinoidesV this trend was reversed for late nesters who also fed large numbers of unidentified larval fish. No significant differences were found in 1991. Seasonal changes in prey species delivered to chicks is believed to be attributable to the temperature tolerances of the smelt and shiners, and the presence of large schools of larval fish during the late nesting season.

Digitales stochastisches Magnetfeld-Sensorarray

Digitales stochastisches Magnetfeld-Sensorarray Stefan Rohrer Im Rahmen eines mehrjährigen Forschungsprojektes, gefördert von der Deutschen Forschungsgesellschaft (DFG), wurden am Institut für Mikroelektronik (IPM) der Universität Kassel digitale Magnetfeldsensoren mit einer Breite bis zu 1 µm entwickelt. Die vorliegende Dissertation stellt ein aus diesem Forschungsprojekt entstandenes Magnetfeld-Sensorarray vor, das speziell dazu entworfen wurde, um digitale Magnetfelder schnell und auf minimaler Fläche mit einer guten räumlichen und zeitlichen Auflösung zu detektieren. Der noch in einem 1,0µm-CMOS-Prozess gefertigte Test-Chip arbeitet bis zu einer Taktfrequenz von 27 MHz bei einem Sensorabstand von 6,75 µm. Damit ist er das derzeit kleinste und schnellste digitale Magnetfeld-Sensorarray in einem Standard-CMOS-Prozess. Konvertiert auf eine 0,09µm-Technologie können Frequenzen bis 1 GHz erreicht werden bei einem Sensorabstand von unter 1 µm. In der Dissertation werden die wichtigsten Ergebnisse des Projekts detailliert beschrieben. Basis des Sensors ist eine rückgekoppelte Inverter-Anordnung. Als magnetfeldsensitives Element dient ein auf dem Hall-Effekt basierender Doppel-Drain-MAGFET, der das Verhalten der Kippschaltung beeinflusst. Aus den digitalen Ausgangsdaten kann die Stärke und die Polarität des Magnetfelds bestimmt werden. Die Gesamtanordnung bildet einen stochastischen Magnetfeld-Sensor. In der Arbeit wird ein Modell für das Kippverhalten der rückgekoppelten Inverter präsentiert. Die Rauscheinflüsse des Sensors werden analysiert und in einem stochastischen Differentialgleichungssystem modelliert. Die Lösung der stochastischen Differentialgleichung zeigt die Entwicklung der Wahrscheinlichkeitsverteilung des Ausgangssignals über die Zeit und welche Einflussfaktoren die Fehlerwahrscheinlichkeit des Sensors beeinflussen. Sie gibt Hinweise darauf, welche Parameter für das Design und Layout eines stochastischen Sensors zu einem optimalen Ergebnis führen. Die auf den theoretischen Berechnungen basierenden Schaltungen und Layout-Komponenten eines digitalen stochastischen Sensors werden in der Arbeit vorgestellt. Aufgrund der technologisch bedingten Prozesstoleranzen ist für jeden Detektor eine eigene kompensierende Kalibrierung erforderlich. Unterschiedliche Realisierungen dafür werden präsentiert und bewertet. Zur genaueren Modellierung wird ein SPICE-Modell aufgestellt und damit für das Kippverhalten des Sensors eine stochastische Differentialgleichung mit SPICE-bestimmten Koeffizienten hergeleitet. Gegenüber den Standard-Magnetfeldsensoren bietet die stochastische digitale Auswertung den Vorteil einer flexiblen Messung. Man kann wählen zwischen schnellen Messungen bei reduzierter Genauigkeit und einer hohen lokalen Auflösung oder einer hohen Genauigkeit bei der Auswertung langsam veränderlicher Magnetfelder im Bereich von unter 1 mT. Die Arbeit präsentiert die Messergebnisse des Testchips. Die gemessene Empfindlichkeit und die Fehlerwahrscheinlichkeit sowie die optimalen Arbeitspunkte und die Kennliniencharakteristik werden dargestellt. Die relative Empfindlichkeit der MAGFETs beträgt 0,0075/T. Die damit erzielbaren Fehlerwahrscheinlichkeiten werden in der Arbeit aufgelistet. Verglichen mit dem theoretischen Modell zeigt das gemessene Kippverhalten der stochastischen Sensoren eine gute Übereinstimmung. Verschiedene Messungen von analogen und digitalen Magnetfeldern bestätigen die Anwendbarkeit des Sensors für schnelle Magnetfeldmessungen bis 27 MHz auch bei kleinen Magnetfeldern unter 1 mT. Die Messungen der Sensorcharakteristik in Abhängigkeit von der Temperatur zeigen, dass die Empfindlichkeit bei sehr tiefen Temperaturen deutlich steigt aufgrund der Abnahme des Rauschens. Eine Zusammenfassung und ein ausführliches Literaturverzeichnis geben einen Überblick über den Stand der Technik.

Liming upland grassland: the effects on earthworm communities and the chemical characteristics of carbon in casts

Different earthworm species have different tolerances of acid soil conditions, and the application of lime to upland grassland to improve the grazing quality may therefore alter the size and diversity of the earthworm community. Altering soil properties may also affect the chemical characteristics of organic C in earthworm casts. We surveyed the earthworm community of an upland grassland in southern Scotland at the outset of annual lime applications, and after 3 years, and used C-13 nuclear magnetic resonance (NMR) spectroscopy to assess the distribution of C between different functional groups in the organic matter. In addition, soil was incubated for 8 weeks with several earthworm species in the presence or absence of lime, and the earthworm casts were subsequently analysed by C-13 NMR spectroscopy. Liming did not significantly affect earthworm abundance or species diversity, but it did affect the chemical composition of the casts. Casts from earthworms incubated in unlimed soil had greater ratios of alkyl-C to O-alkyl-C, indicative of more decomposed, recalcitrant C, and spectra from litter-feeding species had the greatest intensities of O-alkyl-C signals. In limed soil, the largest O-alkyl-C signal intensities were not restricted to litter-feeding species, indicating an increase in the quality of organic matter ingested by geophagous species.

Carbohydrate preference, acid tolerance and bile tolerance in five strains of Bifidobacterium

Aims: To assess the suitability of bifidobacteria for inclusion in synbiotic products on the basis of carbohydrate preference, acid and bile tolerance. Methods and Results: Five strains of Bifidobacterium were analysed for their carbohydrate preference from 12 substrates. Maximum growth rates were used to compare substrate preferences. Galacto-oligosaccharides and isomalto-oligosaccharides were well utilized by all the test species. Most bacteria tested could also utilize at least one type of fructan molecule. To determine transit tolerance of potentially probiotic bifidobacteria, acid and bile resistance was tested. A wide range acid resistance was found. Bile tolerance also varied. Conclusions: GOS and IMO were generally well utilized by the tested species. Other substrates were used to different degrees by the different species. Most bifidobacteria are poorly resistant to strongly acidic conditions with the exception of Bifidobacterium lactis Bb12. Bile tolerances were widely variable and it was shown that caution should be exercised when using colorimetric methods to assess bile tolerance. Significance and Impact of Study: The study allows the comparison of the properties of bifidobacteria, allowing a cost effective screen for the best species for use in synbiotic products to allow better survival and efficacy.

Issues impairing the success of neural implant technology

By monitoring signals from the central nervous system, humans can be provided with a novel extra channel of communication that can, for example, be used for the voluntary control of peripheral devices. Meanwhile, stimulation of neural tissue can bring about sensation such as touch, can facilitate feedback from external, potentially remote devices and even opens up the possibility of new sensory input for the individual to experience. The concept of successfully harnessing and stimulating nervous system activity is though something that can only be achieved through an appropriate interface. However, interfacing the nervous system by means of implant technology carries with it many problems and dangers. Further, results achieved may not be as expected or as they at first appear. This paper describes a comparative study investigating different implant types and procedures. It is aimed at highlighting potential problem areas and is intended to provide a useful reference explaining important tolerances and limits.