Technological aspects in the development of a mobile bricklaying robot

This paper presents a process for automated masonry construction on a building site by means of a mobile robot. A scenario for the on-site operation of a man-machine-system comprising the mobile bricklaying robot and a skilled worker is outlined. An automated method for the application of thin-bed mortar is presented and verified by experiments. Furthermore, the vacuum handling system of the bricklaying robot and a device which integrates technological functions such as calibration of the brick position, determination of material tolerances and application of bonding material in a single unit are described in detail. Finally, the realised prototype of the mobile bricklaying robot is presented.

Highly oxygenated sesquiterpenes from Polyachyrus sphaerocephalus and further constituents from chilean mutisieae

The aerial parts of Polyachyrus sphaerocephalus gave seven new eudesmane derivatives and a germacra-dien-diol while a reinvestigation of P. fuscus afforded a new caryophyllene, two nerolidolglycosides, a curcumene and two bisabolene derivatives. Chaetanthera euphrasioides gave a clerodane and Ch. chilensis two thiophene acetylenes while several other species only gave known compounds. The structures were elucidated by high field NMR techniques. Chemotaxonomic aspects are discussed briefly. © 1992