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  • 1
    Online Resource
    Online Resource
    Wiley ; 2023
    In:  Chemistry – A European Journal Vol. 29, No. 22 ( 2023-04-18)
    In: Chemistry – A European Journal, Wiley, Vol. 29, No. 22 ( 2023-04-18)
    Abstract: In the search for high‐performance and environmentally friendly energetic materials, the derivatization of known materials is an often‐applied concept to fulfill modern‐day demands. Surprisingly, the long know pentaerythritol tetranitrate (PETN) has only been derivatized to a limited extent. PETN shows a brought application in energetic materials or pharmaceutics. In this work, the PETN backbone is modified by introducing nitramine, ionic nitramine, amine, ionic amine and tetrazole functionalities. The obtained and structurally similar compounds allow good comparability and insights into functional group effects on sensitivity, thermal behavior and performance. The functionalizations result in melting points in the range of 64 to 126 °C. Some compounds are therefore potential candidates to replace toxic TNT.
    Type of Medium: Online Resource
    ISSN: 0947-6539 , 1521-3765
    URL: Issue
    RVK:
    Language: English
    Publisher: Wiley
    Publication Date: 2023
    detail.hit.zdb_id: 1478547-X
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  • 2
    In: Journal of Field Robotics, Wiley, Vol. 37, No. 5 ( 2020-08), p. 889-919
    Abstract: Solving mobile manipulation tasks in inaccessible and dangerous environments is an important application of robots to support humans. Example domains are construction and maintenance of manned and unmanned stations on the moon and other planets. Suitable platforms require flexible and robust hardware, a locomotion approach that allows for navigating a wide variety of terrains, dexterous manipulation capabilities, and respective user interfaces. We present the CENTAURO system which has been designed for these requirements and consists of the Centauro robot and a set of advanced operator interfaces with complementary strength enabling the system to solve a wide range of realistic mobile manipulation tasks. The robot possesses a centaur‐like body plan and is driven by torque‐controlled compliant actuators. Four articulated legs ending in steerable wheels allow for omnidirectional driving as well as for making steps. An anthropomorphic upper body with two arms ending in five‐finger hands enables human‐like manipulation. The robot perceives its environment through a suite of multimodal sensors. The resulting platform complexity goes beyond the complexity of most known systems which puts the focus on a suitable operator interface. An operator can control the robot through a telepresence suit, which allows for flexibly solving a large variety of mobile manipulation tasks. Locomotion and manipulation functionalities on different levels of autonomy support the operation. The proposed user interfaces enable solving a wide variety of tasks without previous task‐specific training. The integrated system is evaluated in numerous teleoperated experiments that are described along with lessons learned.
    Type of Medium: Online Resource
    ISSN: 1556-4959 , 1556-4967
    URL: Issue
    Language: English
    Publisher: Wiley
    Publication Date: 2020
    detail.hit.zdb_id: 2224269-7
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  • 3
    In: Clinical and Experimental Dental Research, Wiley, Vol. 8, No. 4 ( 2022-08), p. 912-922
    Abstract: Removable partial dentures (RPDs) are inserted with the aim to restore masticatory function. There is however inconsistent evidence supporting the alleged improvements, posterior occlusal contacts being one of the decisive factors. We hypothesized that the distribution of abutment teeth in RPDs influences masticatory performance and functional parameters. To evaluate the masticatory performance and functional parameters in patients with a RPD using a single mathematical parameter (tilting index [TI]) for both jaws that predicts biomechanical behavior on the basis of the distribution of abutment teeth. Materials and Methods Masticatory performance was measured in patients wearing long‐time adapted RPDs using the standardized test food optocal, yielding the mean particle size ( X 50 ). Mastication on the preferred and nonpreferred chewing sides was analyzed. Total muscle work (TMW) was calculated using bipolar electromyographic recordings of the masseter and anterior temporalis muscle. Functional parameters were subjected to multiple linear regression analysis including X 50 as a dependent variable and functional units (FU), the number of teeth, bite forces, and sagittal and frontal components of TI (TI  α and TI  β ) as independent variables. Results When the preferred chewing side was tested, none of the investigated parameters correlated significantly with X 50 . In contrast, chewing on the nonpreferred side was correlated significantly with performance for most variables ( p   〈  .05). This means that increased dental support improved chewing performance with RPDs under these conditions. Conclusions In well‐adapted RPDs, the distribution of abutment teeth as expressed by the tilting index seems to be of subordinate importance for masticatory performance.
    Type of Medium: Online Resource
    ISSN: 2057-4347 , 2057-4347
    URL: Issue
    Language: English
    Publisher: Wiley
    Publication Date: 2022
    detail.hit.zdb_id: 2829558-4
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