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The research in robotics requires efficient and flexible software tools, which supports the user in modelling and simulating the robot dynamics. In order to design a decoupled control of any robot, the exact dynamic models of these robots have to be obtained. This paper presents a computer-aided method, to achieve the dynamic model of any robot. The software first evaluates the basic data of the robot kinematics and dynamics, which are fundamental for the equation of motion and for the digital simualtion of the robot dynamics. Then the tasks of an industrial controller for any robots are simulated to achieve realistic input values for the evaluation of forces/torques with the equation of motion and for the digital simulation of the robot dynamics. Finally the equation of motion is generated in a numerical-symbolical form.

This study was undertaken to assess more comprehensively and with greater differentiation the reduction in the absolute electrical muscle activity (aEA) determined by different investigations in the permanent performance threshold range of the cardiovascular system (HKS) by means of the behaviour of the aEA of the highly stressed leg muscles and little stressed forearm muscles. Six healthy, untrained male subjects operated a hand ergograph alone in one test, and, in four more tests, in combination with a constant bicycle ergometer load of 40, 60, 80, and 100 W, respectively. As a result of these tests, a relative reduction in aEA for the leg muscles and an absolute reduction in aEA for the forearm muscles could be identified in the permanent performance threshold range of the HKS. Therefore, aEA is also considered to be an indicator of general stress that can define the permanent performance threshold range of the HKS more completely. The reduction in aEA is probably an expression of a negative feedback from the cardiovascular system to the neuromuscular system induced by the central nervous system.

The crystal structure of 2-phenyl-4,4,4′,4′,5,5,5′,5′-octamethyl-2,2′-spirobi-(1,3,2-λ5-dioxastibolan) has been determined by single crystal X-ray diffraction. The central antimony atom shows slightly distorted trigonal bipyramidal conformation. 1H NMR and 13C NMR spectra are reported and from this point of view the structure of the compound in solution is discussed.

Die Dehydratisierung von NaaPHO3 · 5 H2O zum wasserfreien Salz wurde mit Thermogravimetrie und Differentialthermoanalyse untersucht. Die Entwasserung verlauft uber die Stufe eines intermediaren niederen Hydrates, Na2PHO3 · 0,5 H2O. Einkristalle des Hemihydrates konnten aus Losung gezuchtet werden; es kristallisiert rhomboedrisch, Raumgruppe R32, R3m oder R3m, mit a = 18,918(5) s und α = 33,00(2)°. – Die Kristallstruktur von Na2PHO3 · 5 H2O wurde neu bestimmt. Das Pentahydrat kristallisiert orthorhombisch, Raumgruppe Pnm21 mit a = 7,109(1), b = 6,447(1), c = 9,230(2) A. Die Struktur ist aus Schichten von kanten- und eckenverknupften Na-Koordinationspolyedern aufgebaut. Die Schichten werden durch Wasserstoffbruckenbindungen der Wassermolekule zu einem dreidimensionalen Strukturverband verknupft. On the Hydrates of Na2PHO3, Phase Relations and Crystallographic Investigations Dehydration of Na2PHO3,5 H2O to the respective anhydrous salt was investigated by thermogravimetry and differential thermal analysis. In the course of dehydration an intermediate lower hydrate is formed, Na2PHO3,0.5 H2O. Single crystals of this phase were grown from solution. Na2PHO3,0.5 H2O is rhombohedral, space group R32, R3m or R3m, with a = 18.918(5) A and α = 33.00(2)°. – The crystal structure of Na2PHO3,5 H2O was redetermined. The pentahydrate is orthorhomic, space group Pnm21, with a = 7.190(1), b = 6.447(1), c = 9.230(2) A. The structure consists of layers of Na-coordinating polyhedra which share edges and vertices. The layers are connected to a threedimensional structure by hydrogen bonds of the water molecules.

Durch Umaminierung von Methylbis(dimethylamino)-phosphan mit N-Methyl-o-aminophenol oder N,N′-Dimethylamino-o-phenylendiamin wurden 2,3-Dimethyl-1,3,2λ3-benzooxazaphosphol bzw. 1,2,3-Trimethyl-1,3,2λ3-benzodiazaphosphol erhalten. Diese Verbindungen konnten durch Oxydations- und Disproportionierungsreaktionen in spirocyclische λ5-Phosphole uberfuhrt und charakterisiert werden. Die Kristallstruktur von 2-Methyl-2,2′-spirobi(1,3-dimethyl-1,3,2λ5-benzodiazaphosphol) mit trigonal-bipyramidaler Molekulgeometrie ist angegeben. Benzooxaza- and Benzodiaza-λ3-Phospholes and their Conversion to Spirocyclic λ5-Phospholes 2,3-Dimethyl-1,3,2λ3-benzooxazaphosphole and 1,2,3-trimethyl-1,3,2λ3-benzodiazaphosphole are obtained by transamination of methylbis(dimethylamino)phosphane with N-methyl-o-aminophenol and N,N′-dimethylamino-o-phenylenediamine. These compounds are converted by oxidation and disproportionation reactions to spirocyclic λ5-phospholes. The crystal structure of 2-methyl-2,2′-spirobi(1,3-dimethyl-1,3,2λ5-benzodiazaphosphole) is established and a trigonal bipyramidal geometry of the molecule has been found.

The robot dynamics consists of the dynamics of the mechanics, the servo-drives, and the robot controller structure. The dynamics of the mechanics is simulated by the equation of motion which is set up automatically by a computer program. The robot controller is taken into account too, to simulate the robot dynamics. In order to control the robot axes decoupled, the moment at support, nonlinear effects as the Coulomb friction and the variable moment of inertia has to be known. Therefore an extended Kaiman filter is designed and tested, to identify these signals. Since the filter is based upon a linearization it is very sensitive to the start a-priori estimate and co-variances and the driving motor torque.

The title compound, C17H29OBr, crystallizes in space group P21/c in a tetramolecular unit cell of dimensions a= 11.945, b = 12-204, c= 14-129/~ and fl = 124-65 °. Determination of the crystal structure with 1806 observed structure amplitudes, collected with Cu K~ radiation on an automatic diffractometer, yielded RRR configuration of the three asymmetric carbon atoms, chair form of the cyclohexane ring with axial(bromo)-equatorial substitution and a near half-chair conformation of the cyclopentane ring with the keto carbon as the unique atom. All 29 hydrogen atoms were located in a difference map.

Gold selenide bromide, AuSeBr, crystallizes with space group Pnma and eight formula units per unit cell. The lattice parameters are: a = 6.77 A, b = 12.22 A, and c = 7.38 A. The crystal structure was determined from a complete set of three-dimensional Mo- K α diffractometer data. Two gold atoms on mirror planes of the space group and one nonmetal atom of each kind in general positions form infinite ribbons parallel to the a axis. In these ribbons Au(1) is bonded to two Br atoms at 2.46 A and two Se atoms at 2.45 A, while Au(2) makes four bonds at 2.49 A to Se atoms only. In both cases the coordination is of a planar distorted square type. For the bridging Se atom the coordination is trigonal pyramidal. The Br atom occupies terminal positions. The ribbons are interlocked into sheets perpendicular to the b axis.

Phenylendgruppen in aromatischen Polycarbonaten sind IR-spektroskopisch nach einer Kompensationsmethode bis zu 0,05% Phenyl erfasbar. Die phenolischen OH-Endgruppen im Polycarbonat konnen ebenfalls IR-spektroskopisch und unabhanging davon photometrisch bis zu einer Nachweisgrenze von 0,001% ermittelt werden. Die Endgruppenanalysen gestatten die Berechnung des Zahlenmittels des Molekulargewichtes. Diese Werte stimmen gut mit nach anderen Methoden bestimmten Molekulargewichten uberein. Phenyl end-groups in aromatic polycarbonates may be determined IR-spectroscopically by a compensation method. Even 0.05% of phenyl can be detected. The phenolic hydroxyl end-groups in polycarbonates may also be determined, Up to 0.001% of phenolic hydroxyl end-groups can be estimated photometrically. The end-group analyses allow the calculation of the number average of the molecular weight. The values of the molecular weight are in good agreement with those determined by other methods.

Es wird uber eine photometrische Bestimmung von Titan in molybdanfreien und molybdanhaltigen Stahlen mit Dihydroxyphenylfluoron berichtet. Die Methode eignet sich gut fur rasch durchzufuhrende Betriebsanalysen.

Trans-[Co(CN) 2 (C 2 H 8 N 2 ) 2 ] + •ClO 4 − cristallise dans le systeme monoclinique, groupe d'espace C2/c et sa structure est affinee jusqu'a R=0,037. Coordination octaedrique deformee autour de Co

[W 2 S 4 {(C 2 H 5 ) 2 PS 2 } 2 ] cristallise dans P2 1 /c avec affinement jusqu'a 0,037. Chaque atome ω a une coordination egale a 5, du type pyramidale, a base carree, chaque sommet etant occupe par un atome S