Abstract: A method of reducing feedback action on a timely flow of current, which is drawn by a load from a network via rectifier, by active filtering of upper harmonics, which are superimposed on a network first harmonic, with a power factor corrector circuit with a pulse-width modulation of a switch signal which influences the current drawn from the network and flowing through a boost-converter, with the method including dividing a current path between the rectifier (2) and the load (10) in a plurality of parallel channels (It, Jt), and providing in each channel (It, Jt) a similarly active filter, with switch signals of both active filters having a substantially same pulse-width modulation and being phase-sifted relative to each other so that a reduced ripple of the total current, which results form cumulative superimposition of currents in separate channels, is produced at a network input (9); and an active filter for effecting the method.

Abstract: The invention relates to a device for heating hairdressing scissors, forming a unit (3) comprising openings (2, 2') which can be used as holders (7, 7') into which pairs of scissors (5, 5') can be inserted, and heating devices (6, 6'), each of the heating devices (6, 6') encircling the space into which the pair of scissors is to be inserted.

Abstract: With the improved path finding method a self-propelled mobile unit determines a path around obstacles. A heuristic avoidance strategy is used, whereby the mobile unit, when encountering an obstacle, first evades by taking a first direction and implements an avoidance procedure up to a limit value if it cannot move around the obstacle. Subsequently, the unit returns to the point of departure of the avoidance maneuver and attempts to evade in the other direction. If it is likewise not possible to move around the obstacle in this direction before the limit value is reached, the barrier for the deviation in the avoidance maneuver is incremented. The unit then again attempts to move around the obstacle, first in the original avoidance direction. The limit value is increased again after respectively two more abortive attempts. The procedure is implemented until a path around the obstacle has been found and the destination can be reached.

Abstract: An improved method for the orientation of autonomous mobile units is provided. Collision distances to obstacles are thereby calculated on the basis of the steering and drive geometry of the movable unit. On the basis of these distances, allowed steering angle ranges for the unit are defined. Additionally, a defined observation horizon is prescribed for the sensor equipment of the unit. The obstacles to be evaluated are within this horizon. Moreover, a safety zone is defined around the unit in which no obstacles can be located; otherwise, travel in reverse is triggered. For route optimization of the unit, steering angle ranges that derive from different observation horizons and safety zones are combined on a case-by-case basis. By reducing the safety margin only in narrow passages down to the housing contour of the unit in the extreme case, the maximum steering angle can be utilized.

Abstract: A method for making a trunnion for a rocker arm or a finger lever of an internal combustion engine from a piece of rod-shaped ground stock by removal of a peripheral section to produce a flat bearing surface including forming the round stock into a barrel-shaped blank by upsetting, shaping the barrel-shaped blank into a rotationally symmetrical element including a central shoulder having a uniform diameter which is greater than the diameter of the trunnion and removing the peripheral section at any point from the central shoulder by shearing from two sides thereof in an axial direction of the rotationally symmetrical element whereby any cutting plane material from the central shoulder is directed towards a sheared surface whereby the bearing surface is a hardened surface.

Abstract: A method of rolling up short strands of hair in the process of giving a permanent wave to a person, a holding strip and a curling device including a curling rod used in the method are related. The holding strip is placed about a strand of hair such that the holding strip forms an extension of the strand of hair. The holding strip with the strand of hair fixed to it is rolled up by the curling device. For this purpose, the curling rod engages the holding strip at an end away from the persons's head and it is rotated and moved toward the head thereby rolling up the holding strip and strand of hair. The holding strip therefore serves as a roller for the strand of hair.

Abstract: Different bonus values and penalty values are allotted for each partial task of the unit such as, for example, drive from A to B, hold your positional uncertainty below a specific threshold, or draw up a map of the surroundings and add landmarks to it. Performance weightings for the individual tasks are yielded, in conjunction with a need to carry the latter out, after analysis of the bonus values and penalty values, and are evaluated in a control unit. Furthermore, in the context of the method a local planning horizon is specified in which the surroundings of the unit are subdivided into grid cells. Preferred directions, which lead the unit by the shortest path to already known or unconfirmed landmarks are stored for these grid cells, with the aim of reducing the positional uncertainty, or of being able to confirm a landmark. All the different routes which are possible within the framework of this grid are then investigated as to what contribution they make to enable the unit to reach the goal.

Abstract: A method is provided for improving the localization of a robot autonomous mobile unit. A slippage is predicted along a path that the unit is to traverse may be predicted, in that a simplified absolute path trajectory is determined, and based on the unit geometry and motion behavior of three-wheel kinematics, an imaginary slippage derives in the end position. This imaginary slippage can be calculated for various end positions and the most beneficial travel path can thus be selected from a starting point.

Abstract: The new compounds of formulaA--O--CO--Z (I)(wherein A and Z are defined as explained in the specification) can be prepared by conventional methods; they are suitable as active substances for pharmaceutical compositions.

Abstract: A system is provided for sensing an exit direction of a flexible supply line relative to an apparatus, such as robot or autonomous mobile unit. A method is also provided for planning the movement of such a unit based partly on such supply line direction data. The system includes a pressure sensor a least partially disposed around an exit opening through which the supply line is feedably guided. Upon contact at a given point on the sensor from the supply line, the sensor emits a signal corresponding to a particular exit direction. From this signal, a probable exit direction is inferred and a more precise movement planning is enabled, avoiding measurement errors that arise when the cable is run over can be avoided, or avoiding knottings of the cable.

Abstract: An improved method and apparatus for constructing a cellularly structured environment map of a self-propelled, mobile unit is provided. Examples of such self-propelled, mobile units are household robots, self-propelled vacuum cleaners and industrial transport vehicles. To this end, a higher increment for the occupancy degree of a currently evaluated cell is selected for near objects. Further, the occupancy degree is also incremented dependent on a velocity. As an additional measure given standstill of the unit, all cells of the environment map that are located within the aperture cone of a wavefront that emanates from the sensor of the mobile unit are modified in terms of their occupancy degree values. Additionally, a blind zone in which grid cells of the environment map experience no modification of the occupancy degree is defined around the mobile unit.

Abstract: The method produces an improved cellularly structured environment map of a self-propelled mobile unit which orients itself using sensors based on wave reflection. In detail, the following measures are implemented. First, an error of discrete representation in the positional determination of the self-propelled mobile unit is avoided in that the position of the self-propelled mobile unit within an originating cell of the coordinate system of the environment map is also used for identifying the location of obstacles. Further, a smaller cell size is employed in the proximity of the self-propelled mobile unit in order to facilitate maneuvering between obstacles located close to one another. Further, two separate grid maps are maintained, one containing the unit with a rotational orientation and the other being rotated by a rotational angle relative to the global environment map for a fast occupation of a plurality of cells with values.

Abstract: The method provides a better incorporation of a defined safety interval from obstacles in the route planning of a self-propelled mobile unit. By contrast to methods that were hitherto standard, a shell with equidistant spacing from a housing of the self-propelled mobile unit is not placed around the mobile unit; rather, the safety interval is calculated via the route at a drive wheel of the self-propelled mobile unit. That is, the kinematics of the self-propelled mobile unit are first used in the calculation of the safety interval from obstacles. The advantage is that better maneuverability is achieved between obstacles located close to one another.

Abstract: The new compounds of formulaA--O--CO--Z (I)(wherein A and Z are defined as explained in the specification) can be prepared by conventional methods; they are suitable as active substances for pharmaceutical compositions.

Abstract: Compounds of the formula ##STR1## of which, in exemplary compounds, the thienyl group is attached via the 2-position and:(a) A is 3.alpha.-(6.beta., 7.beta.-epoxy)-tropanyl methobromide and R.sub.1 is 2-thienyl;(b) A is 3.alpha.-(6, 7dehydro)-tropanyl methobromide and R.sub.1 is 2-thienyl;(c) A is 3.beta.-tropanyl methobromide and R.sub.1 is 2-thienyl; and,(d) A is 3.alpha.-(N-isopropyl)-nortropanyl methobromide and R.sub.1 is cyclopentyl.These are anticholinergics. Administered by inhalation, they are useful for the treatment of chronic obstructive bronchitis or slight to moderately severe asthma. Administered by the intravenous or oral routes, they are useful for the treatment of vagally induced sinus bradycardia.

Abstract: A hairdressing device comprises a hand held unit, a blower assembly, a hose and a warm-air line. The hand held unit includes a cylindrical hair roller defining an axis of rotation and having a plurality of openings, a motor for rotatably driving the hair roller about its axis of rotation, and a nozzle through which air is blown against the hair roller in a direction perpendicular to the hair roller axis of rotation. The blower assembly includes a blower housing and a blower including a motor disposed in the blower housing. The hose connects the hand held unit to the blower such that air is drawn by the blower through the plurality of openings in the hair roller, the hose and into the housing, from which the drawn air exits. The warm-air line connects the hand held unit to the blower housing, such that air aspirated by the blower to cool the blower motor is delivered as warm-air through the warm-air line to the nozzle.

Abstract: 3-Bromo-2,6-dimethoxybenzamides useful as neuroleptic agents are described.

Abstract: Tetrahydrobenzothiazole derivatives of the formula ##STR1## wherein n is 1, 2 or 3 and R.sub.1, R.sub.2, R.sub.3, R.sub.4, R.sub.5 and R.sub.6 are defined substituents, said derivatives (I) being suitable as active compounds for treating parkinsonism or Parkinson's Disease.

Abstract: A composite plate contains a core layer with a honeycomb structure between two cover layers, the first cover layer of which carries a decorative panel and the second cover layer of which carries a rear protective plate. The adhesive bonds of the composite plate consist of a layer of a relatively nonflammable adhesive. The protective element, made of a silicate base (but without asbestos) or a non-combustible mineral substance base, is adhesively bonded to the rear side of the composite plate.

Abstract: This invention relates to new tetrahydrobenzthiazoles of general formula ##STR1## wherein R.sub.1 represents a hydrogen atom, an alkyl group, an alkenyl or alkynyl group, an alkanoyl group, a phenyl alkyl or phenyl alkanoyl group, while the above mentioned phenyl nucleic may each be substituted by 1 or 2 halogen atoms,R.sub.2 represents a hydrogen atom or an alkyl group,R.sub.3 represents a hydrogen atom, an alkyl group a cycloalkyl group, an alkenyl or alkynyl group, an alkanoyl group, a phenyl alkyl or phenyl alkanoyl group, while the phenyl nucleus may be substituted by fluorine, chlorine or bromine atoms,R.sub.4 represents a hydrogen atom, an alkyl group, an alkyl or alkenyl group, orR.sub.3 and R.sub.4 together with the nitrogen atom between them represent a pyrrolidino, piperidino, hexamethyleneimino or morpholino group, the enantiomers and the acid addition salts thereof.The compounds of general formula I above in which one of the groups R.sub.1 or R.sub.3 or both groups R.sub.1 and R.sub.