摘要:
To provide a vehicle having high operability and its control method. A vehicle includes a passenger seat on which a passenger rides on, a chassis that support the passenger seat, wheels that move the chassis, a force sensor that outputs a measurement signal according to a force exerted on a seat surface of the passenger seat, a drive unit that drives the passenger seat so as to change an angle of the seat surface of the passenger seat, and a control calculation unit that calculates a reference input used to drive the wheels and the drive unit based on a drive amount of the drive unit, a balanced position posture of the passenger seat, and the measurement signal from the force sensor.
摘要:
In a method for controlling a robot arm, which is particularly suitable for use in medical applications, a robot arm (10) with a redundant number of joints is used. A torque acing in at least one joint (12a, 12b) is sensed. By means of a control device, the torque acting in this joint (12a, 12b) is controlled to become substantially 0.
摘要:
A process is provided for the epoxidation of olefins with percarboxylic acid in a reaction mixture consisting of an aqueous phase and an organic phase, the percarboxylic acid being formed in situ in the aqueous phase from hydrogen peroxide and a carboxylic acid or a carboxylic anhydride, and the olefins being dissolved in an organic solvent in the organic phase, wherein the epoxidation is carried out in several steps, each step being carried out with a fresh aqueous phase and the aqueous phase being separated off after each step.
摘要:
Fatty acid derivatives based on epoxidized unsaturated fatty acid esters or triglycerides and reacted with amines such as hydroxy- and/or amino-substituted hydrophilic amines or amino acids and/or with alkanols or with water on the epoxy group and/or the carboxylic ester groups are described. These fatty amides are suitable as surfactants in detergents and cleaners.
摘要:
The invention relates to a packaging for a food product comprising a container with a receptacle closed by a lid and a jacket that surrounds the container and in contact with which the latter is mounted, and its method of manufacture.According to the invention, this lid (4) is covered with at least one element (6) for identifying the product which is pressed thereon by removal of at least one zone of the jacket of predetermined geometry and forming this element.The packaging according to the invention is manufactured by: a) filling the container by means of the said product, b) closure of the container, thus filled, by its lid, c) positioning of the jacket around the container so that this zone to be removed is located facing a predetermined location of the lid, then d) stamping (A) the jacket in this zone in order to press this element onto the lid, this element preferably being pre-spread with adhesive in order to adhere to the lid after this stamping.
摘要:
The present invention relates to a process for preparing substituted 2-arylmalonic esters of the general formula I in which R is C1-C6-alkyl or C1-C4-alkoxy-C1-C4-alkyl; Ar is phenyl or a heteroaromatic 5- or 6-membered ring; where each carbon atom present in the radicals mentioned above optionally carries a substituent RA; RA is F, Cl, CN, NO2, C1-C4-alkyl, C1-C4-haloalkyl, C1-C4-alkoxy, C1-C4-haloalkoxy, etc., or two adjacent substituents RA together with the carbon atoms to which they are attached form a ring; and where a malonic ester is reacted with a base and an aryl bromide in the presence of a copper salt, which comprises employing from 0.1 to 0.65 molar equivalents of the base per molar equivalent of the malonic ester.
摘要:
Fatty acid derivatives based on epoxidized unsaturated fatty acid esters or triglycerides and reacted with amines such as hydroxy- and/or amino-substituted hydrophilic amines or amino acids and/or with alkanols or with water on the epoxy group and/or the carboxylic ester groups are described. These fatty amides are suitable as surfactants in detergents and cleaners.
摘要:
The invention relates to a packaging for a food product comprising a container with a receptacle closed by a lid and a jacket that surrounds the container and in contact with which the latter is mounted, and its method of manufacture.According to the invention, this lid (4) is covered with at least one element (6) for identifying the product which is pressed thereon by removal of at least one zone of the jacket of predetermined geometry and forming this element.The packaging according to the invention is manufactured by: a) filling the container by means of the said product, b) closure of the container, thus filled, by its lid, c) positioning of the jacket around the container so that this zone to be removed is located facing a predetermined location of the lid, then d) stamping (A) the jacket in this zone in order to press this element onto the lid, this element preferably being pre-spread with adhesive in order to adhere to the lid after this stamping.
摘要:
A process is described for preparing 3-trifluoromethylphenyl 4-cyanobenzyl ketone by reacting a C1–C2-alkyl 3-trifluoromethylbenzoate with 4-tolunitrile in an aprotic polar solvent or an aprotic polar solvent mixture in the presence of at least an equimolar amount of a base which is selected from potassium alkoxides of primary C1–C4-alkanols.
摘要:
Multifunctional polymers containing polymerized units of (a) α-Acyloxyacrylonitrile, α-haloacrylic acid, α-acyloxyacrylic ester and/or α-hydroxyacrylic acid, (b) monoethylenically unsaturated carboxylic acids, (c) vinyl esters of saturated aliphatic monocarboxylic acids and/or vinyl alcohol and optionally (d) other monoethylenically unsaturated monomers copolymerizable with said monomers (a) to (c) and optionally (e) crosslinkers containing at least two ethylenically unsaturated double bonds and having a K value of at least 7 (determined after H. Fikentscher in acetone at 25° C. and a polymer concentration of 1% by weight), processes for preparing multifunctional polymers by copolymerizing monomer mixtures of (a) α-acyloxyacrylonitrile, α-haloacrylic acid and/or α-acyloxyacrylic ester, (b) monoethylenically unsaturated carboxylic acids, (c) vinyl esters of saturated aliphatic monocarboxylic acids and optionally (d) other monoethylenically unsaturated monomers copolymerizable with said monomers (a) to (c) and optionally (e) crosslinkers containing at least two ethylenically unsaturated double bonds in the presence of polymerization initiators that form free radicals and partially or completely hydrolyzing the polymerized monomer units (a) and (c) in the copolymers thus obtainable and use of the multifunctional polymers in laundry detergents and cleaners, to bind polyvalent metal ions, as a stabilizer in textile bleaching and the bleaching of pulp for papermaking.