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Automating complex tasks using robotic systems requires skills for planning, control and execution. This paper proposes a complete robotic system for maintenance automation, which can automate disassembly and assembly operations under environmental uncertainties (e.g. deviations between prior plan information). The cognition of the robotic system is based on a planning approach (using CAD and RGBD data) and includes a method to interpret a symbolic plan and transform it to a set of executable robot instructions. The complete system is experimentally evaluated using real-world applications. This work shows the first step to transfer these theoretical results into a practical robotic solution. Note to Practitioners—This paper is inspired by the actual deficit to automate maintenance tasks in manufacturing environments through robotic systems. The focus of this work is on providing a practical robotic solution which can automate maintenance tasks completely autonomously. For this, the different skills from manipulation planning to the control and execution are explained. One main aspect of this work is to show how to create elementary robot motion tasks from symbolic plans. The second important part is to explain the practical capabilities applied on real-world applications.

To optimize removal of organic micropollutants from the water cycle, understanding the processes during activated sludge treatment is essential. In this study, we hypothesize that aliphatic amines, which are highly abundant among organic micropollutants, are partly removed from the water phase in activated sludge through ion trapping in protozoa. In ion trapping, which has been extensively investigated in medical research, the neutral species of amine-containing compounds diffuse through the cell membrane and further into acidic vesicles present in eukaryotic cells such as protozoa. There they become trapped because diffusion of the positively charged species formed in the acidic vesicles is strongly hindered. We tested our hypothesis with two experiments. First, we studied the distribution of the fluorescent amine acridine orange in activated sludge by confocal fluorescence imaging. We observed intense fluorescence in distinct compartments of the protozoa, but not in the bacterial biomass. Second, we investigated the distribution of 12 amine-containing and eight control micropollutants in both regular activated sludge and sludge where the protozoa had been inactivated. In contrast to most control compounds, the amine-containing micropollutants displayed a distinctly different behavior in the noninhibited sludge compared to the inhibited one: (i) more removal from the liquid phase; (ii) deviation from first-order kinetics for the removal from the liquid phase; and (iii) higher amounts in the solid phase. These results provide strong evidence that ion trapping in protozoa occurs and that it is an important removal mechanism for amine-containing micropollutants in batch experiments with activated sludge that has so far gone unnoticed. We expect that our findings will trigger further investigations on the importance of this process in full-scale wastewater treatment systems, including its relevance for accumulation of ammonium.

Data Envelopment Analysis (DEA) is a widely used tool to estimate relative efficiencies. However, this methodology encounters issues when between-group comparisons with variable returns of scale (VRS) are of interest. In this specification efficiency scores can be undefined when the projection of the efficiency estimation of an observation from one group does not have an intersection with the frontier of the other group. To address this issue, a hyperbolic efficiency estimation can be used. Up to now, the literature lacks consideration of weight restrictions and non-discretionary variables in the hyperbolic DEA method. Weight restrictions allow redefining the production possibility set (PPS), while non-discretionary variables adjust the model’s orientation. Considering these factors, it is possible to incorporate prior knowledge, substitution effects, and increase discriminatory power. This paper introduces the respective mathematical formulations and the practical implementation in statistical software. The estimation methods have been combined in an R-package called hyperbolicDEAin order to facilitate the application of hyperbolic DEA with weight restrictions, non-discretionary variables, and additional functionalities. An empirical example of fish farms illustrates the advantages of the introduced methodologies and the functionalities of the R-package.

Jet streams are important sources of non‐orographic internal gravity waves and clear air turbulence (CAT). We analyze non‐orographic gravity waves and CAT during a merger of the polar front jet stream (PFJ) with the subtropical jet stream (STJ) above the southern Atlantic. Thereby, we use a novel combination of airborne observations covering the meso‐scale and turbulent scale in combination with high‐resolution deterministic short‐term forecasts. Coherent phase lines of temperature perturbations by gravity waves stretching along a highly sheared tropopause fold are simulated by the ECMWF IFS (integrated forecast system) forecasts. During the merging event, the PFJ reverses its direction from approximately antiparallel to parallel with respect to the STJ, going along with strong wind shear and horizontal deformation. Temperature perturbations in limb‐imaging and lidar observations onboard the research aircraft HALO during the SouthTRAC campaign show remarkable agreement with the IFS data. Ten hours earlier, the IFS data show an “X‐shaped” pattern in the temperature perturbations emanating from the sheared tropopause fold. Tendencies of the IFS wind components show that these gravity waves are excited by spontaneous emission adjusting the strongly divergent flow when the PFJ impinges the STJ. In situ observations of temperature and wind components at 100 Hz confirm upward propagation of the probed portion of the gravity waves. They furthermore reveal embedded episodes of light‐to‐moderate CAT, Kelvin Helmholtz waves, and indications for partial wave reflection. Patches of low Richardson numbers in the IFS data coincide with the CAT observations, suggesting that this event was accessible to turbulence forecasting. Gravity waves play an in important role in vertical and horizontal energy transport in the atmosphere and are significant factors in wheather forecasting and climate projections. Among other processes, tropospheric jet streams are known to be sources of gravity waves. They furthermore can be accompanied by tropopause folds (i.e., local tropopause depressions, where stratospheric air can reach deeply into the troposphere) and turbulence, which is relevant for aviation safety. Using a novel combination of airborne observations and data by a state‐of‐the‐art forecasting system, we analyze gravity waves and turbulence during a merger of tropospheric jet streams above the southern Atlantic. The observations show a high degree of agreement with the forecast data from the troposphere to the stratosphere. Ten hours earlier, the forcast data show an “X‐shaped” gravity wave structure that emerges from a highly sheared tropopause fold between the merging jet streams. Fast in situ observations at the flight level provide information on the characteristics of the observed waves and show light‐to‐moderate turbulence, small‐scale waves and indications for partial wave reflection. The observed turbulence events are consistently located in regions where the forecast data suggest potential for turbulence. Non‐orographic internal gravity waves and clear air turbulence are observed in merging jet streamsState‐of‐the art high resolution forecast agrees with novel combination of airborne sensors“X‐shaped” gravity wave feature resulting from merging jet streams at a highly sheared tropopause fold Non‐orographic internal gravity waves and clear air turbulence are observed in merging jet streams State‐of‐the art high resolution forecast agrees with novel combination of airborne sensors “X‐shaped” gravity wave feature resulting from merging jet streams at a highly sheared tropopause fold

For lanthanides, segmented contracted Gaussian basis sets of double-ζ valence to quadruple-ζ valence quality are presented, with two different polarization sets for each level of quality. The bases are designed for use in connection with small-core Wood–Boring effective core potentials. A set of compounds representing most lanthanides in their common oxidation states is used to assess the quality. Parameters investigated were atomization energies, dipole moments, and structure parameters for Hartree–Fock, density functional, and correlated (Møller–Plesset) methods. So, the “def2” basis set series is extended to lanthanides with errors that are very similar to those previously obtained for the other elements with this type of basis set. Furthermore, for lanthanides, auxiliary bases for density fitting of Coulomb and Hartree–Fock exchange matrices are presented and tested.

Results from pilot studies indicate that palliative cancer patients report increased well-being and less fatigue after physical activity. This study aimed to explore how palliative cancer patients experienced physical activity. A qualitative design with semi-structured interviews was used. Eleven palliative cancer patients over 18 years old with different diagnoses and Eastern Cooperative Oncology Group Scale performance status levels of between 1 and 3 were interviewed. Four main themes emerged: routines of everyday life, less fatigue, professional guidance, and hope. The first theme comprised two categories: something to do, and being together with others in a similar situation. The theme professional guidance also comprised two categories: the physiotherapist as tutor, and the physiotherapist as motivator. Some cancer patients in palliative care who participated in physical activity experienced less fatigue and enhanced energy. Physical activity helps to bring structure to everyday life and gives a feeling of hope for the future.

Recently, it has been suggested that soil organic C (SOC) does not always respond linearly to increasing C input, thereby limiting the rate and efficiency of C stabilization in soils. Therefore, we postulated that when a soil is exposed to a broad range of C inputs through a range of manure treatments, it will show C saturation behavior and different SOC pools will saturate at different rates. To test this, different SOC pools were isolated by physical fractionation techniques from a long‐term agricultural experiment in Lethbridge, Canada. In this experiment, manure has been applied since 1973 at rates of 0, 60, 120, and 180 Mg ha−1yr−1(wet weight). In the total mineral soil as well as the small macroaggregates (250–2000 μm), microaggregates (53–250 μm), and the silt plus clay fraction (<53 μm), an increase was observed in SOC contents with an increase in manure application rate to 120 Mg ha−1yr−1However, no additional C was sequestered when the manure application rate was augmented to 180 Mg ha−1yr−1, indicating C saturation in these SOC pools. Large macroaggregates (>2000 μm) were the only water‐stable aggregate fraction that increased in C content across all manure input levels. Further physical separation of macroaggregates into subpools by microaggregate isolation showed that coarse (>250 μm) particulate organic matter (POM) was the fraction that accounted most for the increase in C content of the large macroaggregates. Furthermore, the turnover of large macroaggregates increased with increasing manure applications, as indicated by decreased formation and stabilization of intramicroaggregate POM within the large macroaggregates. We conclude that as C input increases, the mineral fraction of a soil saturates and consequently additional C input will only accumulate in labile soil C pools that have a relatively faster turnover.

An exact and compact analytical formalism has been developed to calculate the Q factor for circular Bragg resonators. The electromagnetic fields, energy, and power flow have been expressed analytically relying on the transfer matrix coefficients. The Q factor has been derived for both TM and TE polarizations. The proposed formalism is then compared with two numerical methods.

The 1.8 Å resolution de novostructure of nucleoside 2-deoxyribosyltransferase (EC 2.4.2.6) from Trypanosomabrucei (TbNDRT) has been determined by SADaphasing in an unliganded state and several ligand-bound states. This enzyme is important in the salvage pathway of nucleoside recycling. To identify novel lead compounds, we exploited “fragment cocktail soaks”. Out of 304 compounds tried in 31 cocktails, four compounds could be identified crystallographically in the active site. In addition, we demonstrated that very short soaks of ∼10 s are sufficient even for rather hydrophobic ligands to bind in the active site groove, which is promising for the application of similar soaking experiments to less robust crystals of other proteins.

Summary.: The vacuole is a characteristic organelle of plant cells and fulfills several important functions related to metabolism and growth of the cell. To shed light on the details of vacuolar structural changes in plant cells, we explored the three-dimensional organization and dynamics of living Nicotiana tabacum L. cv. Bright Yellow 2 cell vacuoles by real-time confocal time-lapse imaging. For imaging, the cells were pulse-labeled with the amphipathic styryl dye FM1-43 (N-(3-triethylammoniumpropyl)-4-(4-(dibutylamino)styryl)pyridinium dibromide), which is delivered to the plant vacuole by endocytic uptake and then incubated overnight. Imaging of the membrane-labeled vacuole revealed a complex vacuole morphology underlaid by constant remodeling. The vacuole is traversed by multiple transvacuolar strands which move along each other and fuse in multiple manners. New strands were created by fission of large membrane sheets. Endocytic vesicle trafficking was followed within the dynamic transvacuolar strands. The movement occurred in a stop-and-go fashion with an average vesicle velocity of 0.46 μm/s and a peak velocity of 0.82 μm/s. Transvacuolar-strand reduction and creation is a characteristic event observed during mitosis. Here we propose a mechanistic model for the alteration of the number of transvacuolar strands, on the basis of their fusion and fission.

Quantum information processing is performed with single trapped Ca+ions, stored in a linear Paul trap and laser–cooled to the ground state of their harmonic quantum motion. Composite laser–pulse sequences were used to implement SWAP gate, phase gate and controlled–NOT gate operations. Stark shifts on the quantum–bit transitions were precisely measured and compensated. For a demonstration of quantum information processing, a Deutsch–Jozsa algorithm has been implemented using two quantum bits encoded on a single ion.

A new type of analysis has been developed to determine transition probabilities of spectral lines emitted from optically thin, multi-element, arc plasmas in local thermodynamic equilibrium (LTE). Provided the ionization energy of the element of interest is considerably lower than that of the other elements, this method is independent of demixing effects for a fairly wide temperature range. The technique has been applied to spectroscopic data obtained from wall-stabilized arcs operated at atmospheric pressure, first in a mixture of argon and sulfur hexafluoride (SF6), and second in SF6. A trace of hydrogen is added in both experiments in order to determine the electron density from the measuredHß hydrogen line width. The experimental data do not contradict the assumption of LTE. The transition probabilities for the SI 4695 Å, SI 5279 Å, SII 5320 Å, and SII 5454 Å lines are in good agreement with those listed in the NBS critical data compilation.

The continuous emission of a cascade arc operated in argon at atmospheric pressure was investigated using side-on intensity measurements in the spectral range 3,700–7,000 å. Agreement to within the accuracy of the measurement was found between the present experimental continuum data and Schlüter's theoretical values. Recently published experimental results forλ≦4,000 å andλ≈ 6,500 å were confirmed.

•Limitations in ADL were the driving factor within the QOL questionnaire.•Sensorimotor function revealed no association with QOL.•Levels of satisfaction with life, depression, and fatigue were predictors of QOL.

•The WSS can predict the EDSS with an R²adjustedof 0.81•MS patients improved by 0.21 WSS points in average during 17d of rehabilitation•Main contributing factor was gait quality•The improvement during rehabilitation could not be predicted

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