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  • Calcium displacement  (1)
  • constraint analysis  (1)
  • Springer  (2)
  • American Geophysical Union (AGU)
  • American Physical Society
  • 2005-2009
  • 1990-1994  (2)
  • 1905-1909
  • 1993  (2)
Collection
Publisher
  • Springer  (2)
  • American Geophysical Union (AGU)
  • American Physical Society
Years
  • 2005-2009
  • 1990-1994  (2)
  • 1905-1909
Year
  • 1993  (2)
  • 1
    Electronic Resource
    Electronic Resource
    Springer
    Journal of intelligent and robotic systems 7 (1993), S. 233-254 
    ISSN: 1573-0409
    Keywords: Quadratic half-plane ; positive quadratic space ; model and parameter mismatch ; constraint analysis
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract The stability of the PUMA-560 robot manipulator is investigated under model mismatch using PD and PID controllers. Craig's quadratic half-plane constraint analysis is applied, and conditions are found in terms of calculated position and velocity error upper bounds to guarantee the stability of the robot arm under PD control. The theory is extended to guarantee stability under PID control using the modified positive quadratic space constraint analysis. Dynamic model mismatch is assumed to result from incomplete knowledge of the link masses, centers of mass and radii of gyration. The results indicate stability regions under different percentages of individual and combined parameter mismatch in the model.
    Type of Medium: Electronic Resource
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  • 2
    Electronic Resource
    Electronic Resource
    Springer
    Planta 192 (1993), S. 104-109 
    ISSN: 1432-2048
    Keywords: Aluminum toxicity ; Calcium displacement ; Electrical potential ; Root ; Triticum
    Source: Springer Online Journal Archives 1860-2000
    Topics: Biology
    Notes: Abstract Several mineral rhizotoxicities, including those induced by Al3+, H+, and Na+, can be relieved by elevated Ca2+ in the rooting medium. This leads to the hypothesis that the toxic cations displace Ca2+ from transport channels or surface ligands that must be occupied by Ca2+ in order for root elongation to occur. In this study with wheat (Triticum aestivum L.) seedlings, we have determined, in the case of Al3+, that (i) Ca2+, Mg2+, and Sr2+ are equally ameliorative, (ii) that root elongation does not increase as Ca2+ replaces Mg2+ or Sr2+ in the rooting media, and (iii) that rhizotoxicity is a function solely of Al3+ activity at the root-cell membrane surface as computed by a Gouy-Chapman-Stern model. The rhizotoxicity was indifferent to the computed membrane-surface Ca2+ activity. The rhizotoxicity induced by high levels of tris(ethylenediamine)cobaltic ion (TEC3+), in contrast to Al3+, was specifically relieved by Ca2+ at the membrane surface. The rhizotoxicity induced by H+ exhibited a weak specific response to Ca2+ at the membrane surface. We conclude that the Ca2+-displacement hypothesis fails in the case of Al3+ rhizotoxicity and that amelioration by cations (including monovalent cations) occurs because of decreased membrane-surface negativity and the consequent decrease in the membrane-surface activity of Al3+. However, TEC3+, but not Al3+, may be toxic because it inhibits Ca2+ uptake. The nature of the specific H+-Ca2+ interaction is uncertain.
    Type of Medium: Electronic Resource
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