There is, I think, something ethereal about i —the square root of minus one. I remember first hearing about it at school. It seemed an odd beast at that time—an intruder hovering on the edge of reality.

Usually familiarity dulls this sense of the bizarre, but in the case of i it was the reverse: over the years the sense of its surreal nature intensified. It seemed that it was impossible to write mathematics that described the real world in …

I and i

抗原变异可使得多种致病微生物易于逃避宿主免疫应答。表达在感染红细胞表面的恶性疟原虫红细胞表面蛋白1（PfPMP1）与感染红细胞、内皮细胞、树突状细胞以及胎盘的单个或多个受体作用，在黏附及免疫逃避中起关键的作用。每个单倍体基因组var基因家族编码约60种成员，通过启动转录不同的var基因变异体为抗原变异提供了分子基础。

疟原虫var基因转换速率变化导致抗原变异[英]／Paul H, Robert P, Christodoulou Z, et al//Proc Natl Acad Sci U S A

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Principles Of Fluorescence Spectroscopy

Nature’s hierarchical materials

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Principles Of Optics Electromagnetic Theory Of Propagation Interference And Diffraction Of Light

This paper presents the utilization of a disturbance observer (DOB) with robust loop shaping filter to achieve robust stability in presence of significant plant uncertainty. Finite element analysis together with frequency response measurements are used to analyze position dependent plant uncertainty. Three different shaping filter are proposed including elliptic filter and an adaptive notch filter. The different concepts are implemented on a dual axis precision motion platform, which is actuated by direct-drive permanent magnet synchronous motors (PMSMs). Experimental validation is carried out to investigate the performance of the system. Using the proposed robust control, the angular precision is improved by a factor of 2.2 from $\pmb{1.03\ \mu} \mathbf{rad}$ to $\pmb{0.46\ \mu}\mathbf{rad}$ , and this level of precision is maintained over the entire positioning and velocity range.

Analysis and Robust Control of an Precision Motion Platform Using Disturbance Compensation

Automation system engineering becomes more complex, due to the trend toward more flexible, reconfigurable, and modular design approaches, like Industry 4.0. For the modeling and design of the according software, two standards are present: IEC 61131-3 and IEC 61499. In order to satisfy the requirements for modern, large scale, highly distributed applications while also supporting still existing legacy systems, the demand for a combined development framework arises, where the best of breed tool can be chosen for a given automation task. Considering that, the IEC 61499 model is extended to allow the dual development and execution of IEC 61131-3 programs, and enabling easy and correct interaction between the two paradigms. In order to verify the validity of the chosen approach, an IEC 61499 development tool and a runtime environment is modified to support IEC 61131-3. A sample application is implemented, which comprises a pure IEC 61131-3 part with a 1 ms cycle time, a pure IEC 61499 part, and a part with interaction between both subparts, in order to evaluate possible interference between the runtime parts. Experimental results show that no interference is occurring, and the chosen development approach allows the seamless integration of IEC 61131-3 and IEC 61499 in one combined development framework.

A Novel Approach for Integrating IEC 61131-3 Engineering and Execution Into IEC 61499

Vibration compensation platform for robot-based nanoscale measurements

The demodulation of mechanical oscillations is essential for the operation of micro- and nanometer-scale transducer systems, such as resonant MEMS mirrors and cantilever-based sensors. The use of external demodulators, such as lock-in amplifiers and spectrum analyzers is not always desired due to their large size, complexity, and cost. The method presented in this article enables simplified demodulation of the oscillation of mechanical oscillators with integrated deflection sensors. By configuring two deflection sensors in separate bridge circuits, which are supplied with in-phase and quadrature sinusoidal signals, the amplitude, and phase of the mechanical oscillation can directly be measured without additional demodulation. The method is implemented and experimentally verified by demodulating the oscillation of a self-sensing Atomic Force Microscopy cantilever with integrated piezoresistive elements.

Georg Schitter

Papers

Analysis and Robust Control of an Precision Motion Platform Using Disturbance Compensation

A Novel Approach for Integrating IEC 61131-3 Engineering and Execution Into IEC 61499

Vibration compensation platform for robot-based nanoscale measurements

A Mechatronic Lock-In Amplifier: Integrating Demodulation in Sensor Electronics for Measuring Mechanical Oscillations

Complex Valued State Space Model for Weakly Nonlinear Duffing Oscillator with Noncollocated External Disturbance