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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
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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.
    Format: text
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  • 10
    Publication Date: 2021-06-14
    Description: Greece, a country characterised by intense seismic and volcanic activity, has a complex geodynamic and geological setting that favours the occurrence of many gas manifestations. In this study, we address the origin of CH4 and light hydrocarbons in cold and thermal emissions discharging along the Hellenic territory. Also, we investigate their possible relationship with the main geochemical composition of the gases and the different geological settings of the sampling sites. For this purpose we collected 101 new samples that were analysed for their chemical (O2, N2, CH4, CO2, He, Ne, Ar, H2, H2S and C2-C6 hydrocarbons) and isotopic (R/RA, δ13C-CO2, δ13C-CH4 and δ2H-CH4) composition. Results show that CH4 presents a wide range of concentrations (from〈0.5 to 925,200 μmol/mol) and isotopic values (δ13C-CH4 from−79.8 to +45.0‰vs. V-PDB; δ2H-CH4 from−311 to +301‰ vs. V-SMOW). Greece was subdivided in four geologic units (External [EH] and Internal [IH] Hellenides, Hellenic Hinterland [HH] and active Volcanic Arc [VA]) and a decreasing CH4 concentration from EH to HH was recognized, whereas CH4 showed intermediate concentrations in VA. The CH4/(C2H6+C3H8) ratios (from 1.5 to 93,200), coupled with CH4 isotopic features, suggest that the light alkanes derive from different primary sources and are affected by secondary processes. An almost exclusive biotic, mainly microbial, origin of CH4 can be attributed to EH gases. Cold gases at IH have mainly a thermogenic origin, although some gases connected to continental serpentinization may have an abiogenic origin. Methane in gases bubbling in thermal waters of IH, HH and VA and fumarolic gases of the VA seem to have an abiogenic origin, although their chemical and isotopic characteristics may have been produced by secondary oxidation of thermogenic CH4, a process that in some of the sampled gases causes extremely positive isotopic values (δ13C-CH4 up to +45.0‰vs. V-PDB and δ2H-CH4 up to +301‰ vs. V-SMOW).
    Description: Published
    Description: 286-301
    Description: 6A. Geochimica per l'ambiente e geologia medica
    Description: JCR Journal
    Keywords: gas geochemistry ; Greece ; methane ; stable isotopes ; geochemistry
    Repository Name: Istituto Nazionale di Geofisica e Vulcanologia (INGV)
    Type: article
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