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This paper addresses the kinematic calibration of the Gantry-Tau parallel kinematic manipulator. It offers two closed-form solutions to this problem, which do not need any initial guess, contrarily to most calibration methods that are based on non-linear least square minimization. This makes the proposed methods applicable by non expert users in a context of mechanical modularity of the robot. Exp
Besides comprising a majority of the world’s population, cities concentrate disproportional amounts of the world’s economy and decision-making power. Further, though urban areas cover only around two percent of the Earth’s surface, they consume 75 percent of its resources. Yet as a hub for social and political movements and centres of technological and institutional knowledge and innovation, citie
Binderless cubic boron nitride tools are available in two forms: single phase cBN and dual phase wBN/cBN (w is wurtzite phase). In this work, a novel heat treatment process involving surface heating using a continuous wave CO2 laser followed by tandem waterjet quenching of the laser beam path was applied to increase the hardness of both forms of boron nitride. Stress-induced phase transitions and
For interconnected systems and systems of large size, aggregating information of subsystems studied individually is useful for addressing the overall stability. In the Lyapunov- based analysis, summation and maximization of separately constructed functions are two typical approaches in such a philosophy. This paper focuses on monotone systems which are common in control applications and elucidates
Windowing of the transmitted blocks in a multicarrier system yields an improved spectral containment of the resulting basis functions, which allows larger transmit power compared to no windowing while fulfilling the power spectral density (PSD) requirements. Most transmit window designs proposed so far aim at maximising the mainlobe energy and thus the spectral containment of the transmit basis fu
Absolute quantification of cerebral blood flow, cerebral blood volume and mean transit time is desirable in the determination of tissue viability thresholds and tissue at risk in acute ischaemic stroke, as well as in cases where a global reduction in cerebral blood flow is expected, for example, in patients with dementia or depressive disorders. Absolute values are also useful when comparing seque
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In this note the objectives of a project financed from European Community in the FP7 to realize a cleaning system for a syngas obtained from the gasification of biomass will be reported. In order to us the obtained sysngas can be transformed with further catalytic processes previously eliminating sulphur chlorine, COS, HCN NH3 and tars.
