Abstract: A method and corresponding apparatus for collision-free motion planning of a first manipulator in a first working space and a second manipulator in a second working space, wherein the first and second working spaces at least partially overlap. The method includes the steps of importing a first dynamic roadmap for a first configuration space of the first manipulator, wherein the first dynamic roadmap includes a first search graph and a first mapping between the first working space and the first search graph, and importing a second dynamic roadmap for a second configuration space of the second manipulator, wherein the second dynamic roadmap includes a second search graph and a second mapping between the second working space and the second search graph. Furthermore, the motion of the first manipulator and the second manipulator are coordinated based on the first dynamic roadmap and the second dynamic roadmap.

Abstract: A method and an apparatus for controlling a robot during an interaction with its environment includes solving an optimization problem for calculating an optimal control variable as an input for a robot controller. The optimization problem is based on interaction dynamics and robot dynamics.

Abstract: A method and corresponding apparatus for collision-free motion planning of a first manipulator in a first working space and a second manipulator in a second working space, wherein the first and second working spaces at least partially overlap. The method includes the steps of importing a first dynamic roadmap for a first configuration space of the first manipulator, wherein the first dynamic roadmap includes a first search graph and a first mapping between the first working space and the first search graph, and importing a second dynamic roadmap for a second configuration space of the second manipulator, wherein the second dynamic roadmap includes a second search graph and a second mapping between the second working space and the second search graph. Furthermore, the motion of the first manipulator and the second manipulator are coordinated based on the first dynamic roadmap and the second dynamic roadmap.

Abstract: A method for supplying and inserting document sets into associated envelopes, in which the document sets are supplied to an insert station in a document material stream and the envelopes are supplied to the insert station in an envelope material stream, to allow mail pieces to be collated with high reliability. In the insert station, the document set supplied in each case is inserted into the relevant envelope supplied at the same time, wherein for each document set, the position thereof in the document sequence and an associated document identification code are determined, and for each envelope, the position thereof in the envelope sequence and an associated envelope identification code are determined, and a document set and an envelope are supplied to the insert station only as a pair when it is confirmed that the envelope pending supply is individually associated with the document set pending supply.

Abstract: A method for supplying document sets (4) and inserting document sets into associated envelopes (2), in which the document sets (4) are supplied to an insert station (10) in a document material stream formed by a sequence of document sets (4) and the envelopes (2) are supplied to the insert station in an envelope material stream formed by a sequence of envelopes (2), said method being intended to allow the mail pieces consisting of the document sets (4) and the envelopes (2) to be collated with particularly high reliability and precision in a particularly simple manner.

Abstract: In a mail inserting machine that a user uses to process mailpieces for a prepaid quantity, a counter is installed in an inaccessible manner to keep count of the processed mailpieces. The machine is disabled when the prepaid quantity is used up. In order to allow the user to pay for additional quantity, the manufacturer embeds a finite number of unlocking codes in the machine. Each code for the particular machine is activated in sequence. When the user needs to replenish the inserter counter, he calls the service counter and gives his machine serial number. The user is given the next unlocking code after he agrees to pay for the additional amount. The user can enter the code to unlock the additional preset quantity. The same code will not work again. In a further embodiment, the rate of mailpiece processing is also monitored to ensure that design limitations are not exceeded. The machine is automatically shut down when a predetermined processing rate is exceeded.

Abstract: In a mail inserting machine that a user uses to process mailpieces for a prepaid quantity, a counter is installed in an inaccessible manner to keep count of the processed mailpieces. The machine is disabled when the prepaid quantity is used up. In order to allow the user to pay for additional quantity, the manufacturer embeds a finite number of unlocking codes in the machine. Each code for the particular machine is activated in sequence. When the user needs to replenish the inserter counter, he calls the service counter and gives his machine serial number. The user is given the next unlocking code after he agrees to pay for the additional amount. The user can enter the code to unlock the additional preset quantity. The same code will not work again. In a further embodiment, the rate of mailpiece processing is also monitored to ensure that design limitations are not exceeded. The machine is automatically shut down when a predetermined processing rate is exceeded.

Abstract: A device and a process for charging of rechargeable NiCd, Ni-metal hydride or lithium batteries (12) of implants by transcutaneous transmission of electric power from an external power transmission part (11) to a power receiving part (10) which forms a part of the implant. The charging device is provided with a charging current detector (27, 32, 34) which, in a first charging phase (T1), allows a relatively high charging current (IL) to flow and which, after the cell voltage (UZ) of the battery has reached a predetermined limiting charging voltage (UG), in a second charging phase (T2), reduces the charging current as compared to the charging current which flows at the end of the first charging phase. The charging current detector is made such that, during the second charging phase, it sets the charging current to a value causing the cell voltage during the second charging phase to be kept at least approximately at a predetermined constant voltage value (UG).

Abstract: A protective device for a repeatedly rechargeable electrochemical battery (10) with a battery housing (12), the protective device having at least one switching element (86) which can be activated by a detector element (62) and which is designed or adjusted to prevent recharging and/or discharging of the battery (10) in an impermissible operating state thereof. The protective device has a hermetically sealed protective housing (54) which holds the battery housing (12). An impermissible operating state of the battery (10) causes a change in shape (deflection) to be impressed on the detector element (62). Preferably, the at least one switching element (86) is made as a make contact which electrically short circuits a recharging circuit supplied by a charging device when a predetermined expansion in the volume of the battery housing (12) and/or gas escape therefrom occurs. The protective device is part of an implantable device, such as a hearing aid.

Abstract: An implantable unit with at least one contact arrangement for connection of an electrical or electronic device (11), which is hermetically sealed within a housing (10), to at least one cable set (12, 14) that is routed out of the housing. The contact arrangement has a first contact (22), a second contact (30) supported on an elastic body (16), a closing mechanism (18, 19, 20) for engaging the front of the first contact to the front of the second contact and at least one sealing land (28) which surrounds the first contact, which is pressed into the elastic body when the contacts engage, and which seals the contacts relative to the outside of the unit.

Abstract: Measurements of acids in air can be greatly falsified by the content of carbon dioxide in the air in spite of the low solubility of carbon dioxide in water and its low dissociation constant. When the measurements are made after a simple absorption of the acid residues in the air in an absorption solution. The air separated from the absorption solution on its way to measurement is cleaned of carbon dioxide by exposure to silica gel and soda-lime and then is used to clean the absorption solution of carbon dioxide in a similar exposure of air to the liquid. The measurement of the acidity of the solution thus cleaned of carbon dioxide provides reliable measurements of strong acid residues in air and can be carried out on a continuous basis.

Abstract: Air containing water-soluble oxidizing agents, usually predominantly hydrogen peroxide, is exposed in concurrent flow to water that may be acidified if the air contains interfering acidic reducing agents such as sulfur dioxide. After that exposure the gas is separated from the liquid and, if the stripping liquid has been acidified, it is then neutralized. The neutral stripping liquid containing the oxidizing agents is mixed and then reacted with an iodide solution in the presence of a catalyst, after which the reaction products are passed, as the cathode solution, through an electrochemical concentration cell which has an anode chamber filled with a concentrated iodide solution as an anode solution.