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I. In several experiments the kinetics and questionable mutial influences of Methanol, Propanol-1 and Isobutanol were examined while Ethanol was present. II. In five different experiments 30 persons got separate congeners (7 mg Methanol/kg body weight, 5 mg Propanol-1/kg body weight, 5 mg Isobutanol/kg body weight) with 0.8 g Ethanol/kg body weight. The times of drinking took both 30 and 60 minutes. Blood samples were taken partly half hourly, partly every quarter of an hour while the experiments took 4 to 9.5 hours. III. Apart from shown exceptions the curves of the Ethanol concentrations during the phases of elimination showed the familiar linear slope, whereas the corresponding Methanol concentrations went up on average of 0.17 mg/kg/hour. Propanol-1 as well as Isobutanol took exponential courses in their phases of elimination. The corresponding results have been shown and discussed in detail.

Motiviert durch ein Anwendungsbeispiel wird die Komfortzone für mobile, kinematisch redundante Manipulatoren definiert. Die Lage und Orientierung der Basis des Manipulators und die Gelenkwinkel werden so gewählt, dass ausgesuchte Zielfunktionen minimal werden. Diese Zielfunktionen werden aus bekannten Maßen wie kartesische Geschwindigkeit, Kraft und Steifigkeit abgeleitet. Sie werden abhängig von den Parametern der Basis und den Gelenkwinkeln des Manipulators bestimmt, wobei nur ein Unterraum an möglichen Konfigurationen aufgrund der vorgegebenen Lage und Orientierung des Endeffektors (EE) für die Optimierung frei wählbar ist. Es werden im Sinne der multikriteriellen Optimierung Pareto-Fronten errechnet, welche durch vordefinierte Grenzen (z.B. minimale erreichbare Kraft oder minimale erreichbare Geschwindigkeit) begrenzt werden. Motivated by an application example, the comfort zone for mobile kinematically redundant manipulators is defined. The position and orientation of the mobile platform (=base of the manipulator) and the joint angles are selected in such a way that selected target functions are minimized. These objective functions are derived from known measures such as Cartesian velocity, force and stiffness. The objective functions are evaluated depending on the parameters of the base and the joint angles of the manipulator, whereby only a subspace of possible configurations is freely selectable for optimization due to the given position and orientation of the end effector (EE). Pareto-fronts are calculated in the sense of multi-criteria optimization, which are limited by, e.g., minimum achievable force or minimum achievable speed. IFToMM D-A-CH Konferenz, vol. 2020Sechste IFToMM D-A-CH Konferenz 2020: 27./28. Februar 2020, Campus Technik Lienz