Robust pole assignment for incomplete nonlinear decoupling applied to robots

A robustness analysis and synthesis for incomplete nonlinear decoupling for a class of nonlinear systems is discussed. Rigid and elastic-joint robot models belong to this class. For the elastic case, a transformation facilitates the robustness analysis under a weak assumption. Charts with H ₁- and H - norms of closed-loop disturbance transfer functions of the nonlinear-decoupled system are presented for a robust pole assignment.     

Preparation and properties of close-packed composite materials

Monodisperse silica particles of about 0.3m diameter are suspended in methacrylate monomer using a carefully selected dispersant. Many steric dispersants are hydrocarbon chains with a reactive end-group. These are not effective as dispersants for silica in moderately polar solvents, such as esters and the methacrylate monomers. Good dispersion was obtained with a methacrylate polymer terminated by a chlorosilane end group. Settling or centrifugation of these unagglomerated dispersions gives well-packed particle beds. Polymerization of the surrounding monomer produces composite materials with high packing fractions and a high degree of regularity. Moduli and strengths of these composites are reported.     

Comparison of different methods to determine the spreadability and firmness of processed cheese

Summary Current texture-measuring instruments and a recently developed measuring method (two-dimensional measuring of the force necessary to spread a sample) were compared in measuring the spreadability of processed cheese. How far subjective assessment by a qualified panel correlates with the instrumental results in determining spreadability and firmness was also investigated. Samples of processed cheese with various consistencies were measured by an Universal testing machine, a buttermeasuring instrument (DIN 10331), a rotational-type rheometer (oscillation mode) and a two-dimensional force measuring instrument. The evaluation of the results shows that an oscillating rheometer is most suitable to measure the spreadability of processed cheese; the correlation coefficient (r) between the dynamic Weissenberg number, calculated from parameters of the rheometer, and the subjective judgement by the panel wasr=0.91. For the determination of firmness the two-dimensional force measuring instrument is most suitable. The correlation coefficient between the parameter tangential energy (S _t) and the sensorially evaluated firmness wasr=0.95.

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Vergleich verschiedener Bestimmungsmethoden für die Streichfähigkeit und Festigkeit von Schmelzkäse

Zusammenfassung Verschiedene gebräuchliche Meßinstrumente und ein neu entwickeltes Gerät zur zweidimensionalen Messung der Kräfte, die zum Ausstreichen einer Probe erforderlich sind, wurden vergleichend zur Charakterisierung der Streichfähigkeit von Schmelzkäse erprobt. Dabei wurde auch geprüft, inwieweit die subjektiven Beurteilungen eines qualifizierten Prüferpanels mit den Meßwerten für Streichfähigkeit und Festigkeit korrelierten. Gemessen wurde mit einer Universalprüfmaschine, dem Butterprüfgerät (DIN 10331), einem Rotationsrheometer und mit dem zweidimensional registrierenden Kraftmeßgerät. Dabei zeigte sich, daß das Rheometer im oscillierenden Modus die Streichfähigkeit am besten zu charakterisieren vermag. Die Korrelation zwischen den Rheometerwerten, berechnet als dynamische Weissenbergzahl, und den sensorisch ermittelten Werten für die Streichfähigkeit betrugr=0,91. Zur Bestimmung der Festigkeit ist das zweidimensional registrierende Kraftmeßgerät am besten geeignet, was sich in einem Korrelationskoeffizienten vonr=0,95 zwischen dem ParameterS _t und den im Sensoriktest ermittelten Werten für dieFestigkeit ausdrückt.

     

The coming revolution in information systems

A revolution is coming--is absolutely essential--in healthcare. The chief information officer must be among the generals who plan battle strategies and lead the campaigns to fight inflating costs and overwhelming demands. Without their leadership and expertise, armies of healthcare providers are destined to fail, and legions of citizens will fall victim to a system inadequate to meet their needs.     

Subcritical crack growth in partially stabilized ZrO2(MgO)

The room temperature slow crack growth resistance in air ( 50% relative humidity) and in water for large cracks in MgO-partially stabilized zircoba (PSZ) improves with increase in critical fracture toughness,K _lc. Ageing the as-fired PSZ at 1400° C for 8 h results in decreasing K_lc from 8.5 MPa m^1/2 to 6 M Pa M^1/2. The ageing treatment also promotes the growth of eutectoid decomposition products on grain boundaries that is accompanied by a decrease in the dependence (A the change in Region I crack velocity with a change in the applied stress intensity. Calculated times to failures are markedly decreased in the aged as compared to the as-fired PSZ ceramic.     

Comparison of mainline and alternate approaches to fusion energy

The tokamak and tandem mirror concepts are compared with alternate confinement concepts using the criteria established in DOE/ET-0047, An Evaluation of Alternate Magnetic Fusion Concepts 1977. The concepts are evaluated and rated in each of three broad categories: confidence in physics and technology, and reactor desirability. The STARFIRE and MARS reactors are used as a basis for comparing the mainline tokamak and tandem mirror concepts with the alternate concepts evaluated in DOE/ET-0047. Two recent alternate concepts, theohmically heated toroidal experiment (OHTE) and thecompact reversed field pinch reactor (CRFPR), are also evaluated. Results indicate that the physics of the mainline tokamaks and tandem mirrors is better understood than that of most alternate concepts. Both mainline concepts rank near the middle for technology requirements, and both rank near or at the bottom when compared with the reactor desirability of alternate concepts.     

A 2.5n lower bound on the monotone network complexity of T 3 n

Summary The k-th threshold function, T _k ⁿ , is defined as: where x _i{0,1} and the summation is arithmetic. We prove that any monotone network computing T _3/n(x ₁,...,x _n) contains at least 2.5n-5.5 gates.This research was supported by the Science and Engineering Research Council of Great Britain, UK     

Gezielte Nutzung biologischer Systeme

Directed exploitation of biological systems . During the past few decades, our knowledge of molecular process responsible for genetics has increased dramatically. Discovery of the giant molecule deoxyribonucleic acid – abbreviated as DNA – as the carrier of genetic information heralded in a development which nowadays permits us to effect directed changes in the genetic material of an organism. Thus we can provide easily cultured microorganisms with genes which were previously located in a completely different genetic environment. This helps us to obtain high yields of proteins or other substances which were formerly very difficult to obtain. Higher organisms such as animals and plants can also undergo modification of their genetic equipment. This adds a new dimension to the breeding of such species. Above all, genetic engineering provides new insights into the enormously complex interplay of molecules which go to make up a living cell. The resulting understanding of life processes on a molecular level permits recognition of malfunction and therapy of the ensuring disease by new drugs. In addition to these positive aspects, genetic engineering provides scope for conducting experiments whose ethical implications demand very earnest consideration.     

Keeping properties of edible oils—Part I. The use of accelerated tests for assessment of the keeping properties of oils and the value of antioxidants

Assessment of oil quality by two accelerated oxidation tests gave little or no correlation with organoleptic asessment during storage. Improvements in quality of oils refined in the factory, to which antioxidants had been added, are indicated by the accelerated tests but are not reproduced in normal storage. Howver a treatment of the oils with alumina, as a part of the refining process replacing earth bleaching, appears to remove antagonistic factors, and under these circumstances the addition of antioxidant has a pronounced effect.