Solution of Einstein’s Causality Problem: The AHK Theorem

'Chance' is defined as an event on the time scale withour any cause before it appears. That means, that cause and effect is identical. This is the only way to integrate chance into a consistent theory of causality. The identity of cause and effect is called AHK theorem (Aristotle-Hegel-Kaiser)

The KIT swiss knife gripper for disassembly tasks: a multi-functional gripper for bimanual manipulation with a single arm

© 20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.This work presents the concept of a robotic gripper designed for the disassembly of electromechanical devices that comprises several innovative ideas. Novel concepts include the ability to interchange built-in tools without the need to grasp them, the ability to reposition grasped objects in-hand, the capability of performing classic dual arm manipulation within the gripper and the utilization of classic industrial robotic arms kinematics within a robotic gripper. We analyze state of the art grippers and robotic hands designed for dexterous in-hand manipulation and extract common characteristics and weak points. The presented concept is obtained from the task requirements for disassembly of electromechanical devices and it is then evaluated for general purpose grasping, in-hand manipulation and operations with tools. We further present the CAD design for a first prototype.Peer ReviewedPostprint (author's final draft

Mermin-Wagner fluctuations in 2D amorphous solids

In a recent comment, M. Kosterlitz described how the discrepancy about the lack of broken translational symmetry in two dimensions - doubting the existence of 2D crystals - and the first computer simulations foretelling 2D crystals at least in tiny systems, motivated him and D. Thouless to investigate melting and suprafluidity in two dimensions [Jour. of Phys. Cond. Matt. \textbf{28}, 481001 (2016)]. The lack of broken symmetries proposed by D. Mermin and H. Wagner is caused by long wavelength density fluctuations. Those fluctuations do not only have structural impact but additionally a dynamical one: They cause the Lindemann criterion to fail in 2D and the mean squared displacement not to be limited. Comparing experimental data from 3D and 2D amorphous solids with 2D crystals we disentangle Mermin-Wagner fluctuations from glassy structural relaxations. Furthermore we can demonstrate with computer simulations the logarithmic increase of displacements predicted by Mermin and Wagner: periodicity is not a requirement for Mermin-Wagner fluctuations which conserve the homogeneity of space on long scales.Comment: 7 pages, 4 figure

Global approaches to understanding ubiquitination

Ubiquitination - the linkage of one or more molecules of the protein ubiquitin to another protein - regulates a wide range of biological processes in all eukaryotes. We review the proteome-wide strategies that are being used to study aspects of ubiquitin biology, including substrates, components of the proteasome and ubiquitin ligases, and deubiquitination