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  • 1
    Electronic Resource
    Electronic Resource
    Amsterdam : Elsevier
    Biochemical and Biophysical Research Communications 173 (1990), S. 1143-1149 
    ISSN: 0006-291X
    Keywords: [abr] 5'-D; type I iodothyronine 5'-deiodinase ; [abr] BrAcT"4; N-bromoacetyl-L-thyroxine ; [abr] GSH-Px; glutathione peroxidase ; [abr] SDS-PAGE; sodium dodecyl sulfate-polyacrylamide gel ; [abr] T"3; 3,3',5-triiodothyronine ; [abr] T"4; L-thyroxine ; [abr] p27; 27 kDa substrate binding type I 5'-deiodinase subunit
    Source: Elsevier Journal Backfiles on ScienceDirect 1907 - 2002
    Topics: Biology , Chemistry and Pharmacology , Physics
    Type of Medium: Electronic Resource
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  • 2
    Electronic Resource
    Electronic Resource
    Amsterdam : Elsevier
    Biochemical and Biophysical Research Communications 173 (1990), S. 1143-1149 
    ISSN: 0006-291X
    Keywords: [abr] 5'-D; type I iodothyronine 5'-deiodinase ; [abr] BrAcT"4; N-bromoacetyl-L-thyroxine ; [abr] GSH-Px; glutathione peroxidase ; [abr] SDS-PAGE; sodium dodecyl sulfate-polyacrylamide gel ; [abr] T"3; 3,3',5-triiodothyronine ; [abr] T"4; L-thyroxine ; [abr] p27; 27 kDa substrate binding type I 5'-deiodinase subunit
    Source: Elsevier Journal Backfiles on ScienceDirect 1907 - 2002
    Topics: Biology , Chemistry and Pharmacology , Physics
    Type of Medium: Electronic Resource
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  • 3
    Publication Date: 2019-06-28
    Description: An efficient method for computing the minimum distance and predicting collisions between moving objects is presented. This problem has been incorporated in the framework of an in-line motion planning algorithm to satisfy collision avoidance between a robot and moving objects modeled as convex polyhedra. In the beginning the deterministic problem, where the information about the objects is assumed to be certain is examined. If instead of the Euclidean norm, L(sub 1) or L(sub infinity) norms are used to represent distance, the problem becomes a linear programming problem. The stochastic problem is formulated, where the uncertainty is induced by sensing and the unknown dynamics of the moving obstacles. Two problems are considered: (1) filtering of the minimum distance between the robot and the moving object, at the present time; and (2) prediction of the minimum distance in the future, in order to predict possible collisions with the moving obstacles and estimate the collision time.
    Keywords: CYBERNETICS
    Type: NASA-CR-192737 , NAS 1.26:192737 , RPI-CIRSSE-25
    Format: application/pdf
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  • 4
    Publication Date: 2019-06-28
    Description: An optimal control formulation of the problem of collision avoidance of mobile robots in environments containing moving obstacles is presented. Collision avoidance is guaranteed if the minimum distance between the robot and the objects is nonzero. A nominal trajectory is assumed to be known from off-line planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. Furthermore, time consistency with the nominal plan is desirable. A numerical solution of the optimization problem is obtained. Simulation results verify the value of the proposed strategy.
    Keywords: CYBERNETICS
    Type: NASA-CR-191868 , NAS 1.26:191868 , RPI-CIRSSE-83
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  • 5
    Publication Date: 2019-08-14
    Description: An efficient method for computing the minimum distance and predicting collisions between moving objects is presented. This problem is incorporated into the framework of an in-line motion-planning algorithm to satisfy collision avoidance between a robot and moving objects modeled as convex polyhedra. In the beginning, the deterministic problem where the information about the objects is assumed to be certain is examined. L(1) or L(infinity) norms are used to represent distance and the problem becomes a linear programming problem. The stochastic problem is formulated where the uncertainty is induced by sensing and the unknown dynamics of the moving obstacles. Two problems are considered: First, filtering of the distance between the robot and the moving object at the present time. Second, prediction of the minimum distance in the future in order to predict the collision time.
    Keywords: CYBERNETICS
    Type: Automatica (ISSN 0005-1098); 28; 2 Ma
    Format: text
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  • 6
    Publication Date: 2019-08-28
    Description: A formulation that makes possible the integration of collision prediction and avoidance stages for mobile robots moving in general terrains containing moving obstacles is presented. A dynamic model of the mobile robot and the dynamic constraints are derived. Collision avoidance is guaranteed if the distance between the robot and a moving obstacle is nonzero. A nominal trajectory is assumed to be known from off-line planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. A feedback control is developed and local asymptotic stability is proved if the velocity of the moving obstacle is bounded. Furthermore, a solution to the problem of inverse dynamics for the mobile robot is given. Simulation results verify the value of the proposed strategy.
    Keywords: CYBERNETICS
    Type: Automatica (ISSN 0005-1098); 29; 2; p. 309-322.
    Format: text
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  • 7
    Publication Date: 2019-08-28
    Description: It has been experimentally verified that the jerk of the desired trajectory adversely affects the performance of the tracking control algorithms for robotic manipulators. In this paper, the reasons behind this effect are investigated, and an optimization problem that minimizes joint jerk over a prespecified Cartesian space trajectory is stated. The necessary conditions are derived, and a numerical algorithm is presented.
    Keywords: CYBERNETICS
    Type: Cooperative Intelligent Robotics in Space; Nov 06, 1990 - Nov 07, 1990; Boston, MA; United States
    Format: text
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  • 8
    Publication Date: 2019-07-13
    Description: The authors present a Petri net model of the coordination level of an intelligent mobile robot system (IMRS). The purpose of this model is to specify the integration of the individual efforts on path planning, supervisory motion control, and vision systems that are necessary for the autonomous operation of the mobile robot in a structured dynamic environment. This is achieved by analytically modeling the various units of the system as Petri net transducers and explicitly representing the task precedence and information dependence among them. The model can also be used to simulate the task processing and to evaluate the efficiency of operations and the responsibility of decisions in the coordination level of the IMRS. Some simulation results on the task processing and learning are presented.
    Keywords: CYBERNETICS
    Type: IEEE Conference on Decision and Control; Dec 05, 1990 - Dec 07, 1990; Honolulu, HI; United States
    Format: text
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  • 9
    Publication Date: 2019-08-27
    Description: An optimal control formulation of the problem of collision avoidance of mobile robots moving in general terrains containing moving obstacles is presented. A dynamic model of the mobile robot and the dynamic constraints are derived. Collision avoidance is guaranteed if the minimum distance between the robot and the object is nonzero. A nominal trajectory is assumed to be known from off-line planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. Time consistency with the nominal plan is desirable. A numerical solution of the optimization problem is obtained. A perturbation control type of approach is used to update the optimal plan. Simulation results verify the value of the proposed strategy.
    Keywords: CYBERNETICS
    Type: In: 1992 American Control Conference, 11th, Chicago, IL, June 24-26, 1992, Proceedings. Vol. 2 (A93-22776 07-63); p. 1484-1488.
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  • 10
    Publication Date: 2017-04-04
    Description: The Florina basin developed in the Pelagonian Zone, the westernmost zone of the Internal Hellenides, in response to NE–SW extension in the Late Miocene and to a subsequent Pleistocene episode of NW–SE extension. Continuous sedimentation resulted in the accumulation of a 560 m thick succession of Late Miocene to Early Pleistocene lake sediments with intercalated lignites and alluvial deposits. The presence of intercalated volcanic ash beds of Pliocene age evidences volcanic activity related to the exstensional tectonics. Groundwaters in the central part of the Florina plain display high levels of dissolved gases, which often separate in a free gas phase. Their composition is dominated by carbon dioxide, which accounts for 85-99% of these gases. Apart from small amounts of atmospheric gases, minor components are CH4 (0.05-0.4%) and He (3-30 ppm). Carbon isotopic composition ranging from –1.6 to 0.3‰ (vs. VPDB) testifies for a deep (magmatic-hydrothermal) origin of CO2 and also He isotopic composition (0.24-0.55 R/Ra) reveals a small (3.5-8.4%) but significant mantle contribution. Furthermore the water composition of a deep well (Mesochori) shows important contribution from a hydrothermal component, displaying very high Li and B contents and a clear isotopic shift on a δD-δ18O diagram. Geothermometric estimates of the deep reservoir are in the range 150-180 °C. The uprise of mantle gases is related to the main tectonic structures, which probably allowed also magma intrusion episodes whose heat flow sustain the deep hydrothermal system. Because of the huge input of CO2, the shallow groundwaters of the studied area become acidic and consequently strongly aggressive with respect to the host rocks. At the sampling point many waters display pH values down to 5.5, being generally under the lower limit for drinking waters. Intense rock leaching results in metal release to the solution and enhanced metal fluxes in the aqueous system. As such, magmatic-hydrothermal CO2 input produces a “natural pollution” of the aquifer, where maximum admissible concentrations (MAC) fixed by European Union for drinking waters are exceeded at least for Ni, Mn and Fe in most of the analysed samples. Measured values reach respectively up to 30, 1700 and 55000 µg/l (MACs 20, 50 and 200 µg/l). This natural contamination combines with the pollution due to agricultural practices in the Florina plain, which is responsible for elevated nitrate contents (up to 90 mg/l) often exceeding maximum admissible concentration (50 mg/l). The interaction of natural and anthropogenic contamination of the shallow groundwater resources in the Florina area leads to serious water quality issues.
    Description: Unpublished
    Description: Athens, Greece
    Description: 4.4. Scenari e mitigazione del rischio ambientale
    Description: open
    Keywords: Greece ; Florina ; groundwater quality ; carbon dioxide ; 03. Hydrosphere::03.04. Chemical and biological::03.04.03. Chemistry of waters
    Repository Name: Istituto Nazionale di Geofisica e Vulcanologia (INGV)
    Type: Poster session
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