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  • Articles  (3)
  • 81.15E  (1)
  • Al3+  (1)
  • constraint analysis
  • Springer  (3)
  • Nature Publishing Group
  • 1990-1994  (3)
  • 1905-1909
  • 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
    Applied physics 54 (1992), S. 293-299 
    ISSN: 1432-0630
    Keywords: 68.55 ; 73.60F ; 78.65J ; 81.15E
    Source: Springer Online Journal Archives 1860-2000
    Topics: Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Physics
    Notes: Abstract Stoichiometric polycrystalline In2Se3 thin films have been grown by elemental evaporation on both glass and quartz substrates. The compositions are examined by DAN fluorimetry and X-ray photoelectron spectroscopy (XPS). Structure of the films are characterized by X-ray diffraction. The structure of this α-form of thin films have been determined to be hexagonal. Optimization of the preparative conditions employed for elemental evaporation, helped in preparing monophasic films by the suppression of other phases to a very minor extent. Influence of annealing conditions on the stoichiometry of the films are investigated in detail.
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  • 3
    Electronic Resource
    Electronic Resource
    Springer
    Plant and soil 134 (1991), S. 167-178 
    ISSN: 1573-5036
    Keywords: Al3+ ; aluminium ; hydroxy-aluminium ; phytotoxicity ; polynuclear aluminium ; rhizotoxicity ; roots ; toxicity
    Source: Springer Online Journal Archives 1860-2000
    Topics: Agriculture, Forestry, Horticulture, Fishery, Domestic Science, Nutrition
    Notes: Abstract The aluminium (III) released from soil minerals to the soil solution under acid conditions may appear as hexaaquaaluminium (Al(H2O)6 3+, or Al3+ for convenience) or may react with available ligands to form additional chemical species. That one or more of these species is rhizotoxic (inhibitory to root elongation) has been known for many decades, but the identity of the toxic species remains problematical for the following reasons. 1. Several Al species coexist in solution so individual species cannot be investigated in isolation, even in artificial culture media. 2. The activities of individual species must be calculated from equilibrium data that may be uncertain. 3. The unexpected or undetected appearance of the extremely toxic triskaidekaaluminium (AlO4Al12(OH)24(H2O)12 7+ or Al13) may cause misatribution of toxicity to other species, especially to mononuclear hydroxy-Al. 4. If H+ ameliorates Al3+ toxicity, or vice versa, then mononuclear hydroxy-Al may appear to be toxic when it is not. 5. The identity and activities of the Al species contacting the cell surfaces are uncertain because of the H+ currents through the root surface and because of surface charges. This article considers the implications of these problems for good experimental designs and critically evaluates current information regarding the relative toxicities of selected Al species. It is concluded that polycationic Al (charge 〉2) is rhizotoxic as are other polyvalent cations.
    Type of Medium: Electronic Resource
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