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  • Articles  (2)
  • Biosolubilization  (1)
  • constraint analysis  (1)
  • Springer  (2)
  • 1995-1999
  • 1990-1994  (2)
  • 1905-1909
  • Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics  (1)
  • Process Engineering, Biotechnology, Nutrition Technology  (1)
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  • Articles  (2)
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  • Springer  (2)
Years
  • 1995-1999
  • 1990-1994  (2)
  • 1905-1909
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Topic
  • Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics  (1)
  • Process Engineering, Biotechnology, Nutrition Technology  (1)
  • Computer Science  (1)
  • Biology  (1)
  • 1
    Electronic Resource
    Electronic Resource
    PD and PID model-based control stability analysis of the PUMA-560 robot manipulator under model mismatch (1993)
    Springer
    Journal of intelligent and robotic systems 7 (1993), S. 233-254 
    Details
    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
    URL: http://dx.doi.org/10.1007/BF01257821
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  • 2
    Electronic Resource
    Electronic Resource
    Colonization and degradation of oxidized bituminous and lignite coals by fungi (1990)
    Springer
    Journal of industrial microbiology and biotechnology 6 (1990), S. 53-59 
    Details
    ISSN: 1476-5535
    Keywords: Bituminous coal ; Biosolubilization ; Penicillium sp. ; Surface colonization
    Source: Springer Online Journal Archives 1860-2000
    Topics: Biology , Process Engineering, Biotechnology, Nutrition Technology
    Notes: Summary APenicillium sp. previously shown to grow on lignite coals degraded an air-oxidized bituminous coal (Illinois #6) to a material that was more than 80% soluble in 0.5 N NaOH. Scanning electron microscopy of the oxidized Illinois #6 revealed colonization of the surface by thePenicillium sp., production of conidia, and erosion of the coal surface. The average molecular weight (MW) of Illinois #6 degraded by the fungus and base-solubilized was approximately 1000 Da. The average MW for base-solubilized Illinois #6 that was not exposed to the fungus was 6000 Da, suggesting solubilizing mechanisms other than base catalysis. A spectrophotometric assay to quantify the microbial conversion of biosolubilized coal was developed. Standard curves were constructed based on the absorbance at 450 nm of different quantities of microbe-solubilized coal. An acid precipitation step was necessary to remove medium and/or microbial metabolites from solubilized coal to prevent overestimation of the extent of coal biosolubilization. Furthermore, the absorption spectra for different coal products varied, necessitating construction of standard curves for individual coals.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/BF01576177
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