A new decentralized nonlinear controller for Robot Manipulators is
presented in this thesis. Based on concepts of Lyapunov stability theory and
some control ideas proposed in [3]-[7], we obtain continuous nonlinear
decentralized control laws which guarantee position and velocity tracking to
within an arbitrarily small error.
Assumptions based on physical...
This research project focuses on the Walla Walla River Basin located on the east side of the states of Oregon and Washington, USA. With the support and collaboration of the Walla Walla Basin Watershed Council, this work embraces four research topics. The first topic includes the feasibility study of artificial...
The results of SDS-PAGE and densitometry indicated that a significant amount of myofibrillar proteins was lost during surimi processing. Microfiltration (MF) was utilized to recover insoluble particulate. The MF-recovered proteins showed highly functional properties in gel hardness, cohesiveness, color, and water retention ability. The soluble proteins concentrated by ultrafiltration (UF)...
This study deals with the patterns of development and distribution
of connective tissue fibers in the placentae and adnexa of the golden
hamster (Mesocricetus auratus Waterhouse). The placentae and
adnexa representing all days of gestation from six to term were
stained for the presence of collagen, reticulin, and elastin. Additionally,...
Following World War II, the United States enjoyed unprecedented power and prestige. The wartime alliance with the Soviet Union quickly collapsed amid mutual suspicion and fear, however, resulting in the Cold War. Science was a significant political component in that ideological conflict. In the United States, inspired by Franklin D....
Studies of δ¹⁸O held in freshwater bivalve shell carbonate are useful for reconstructing paleoclimates and environmental changes and inform interpretations about past human behavior and periods of culture change. Stable isotope analyses (δ¹⁸O) of Margaritifera falcata shells found at the Cooper's Ferry archaeological site located in the lower Salmon River...
Negative feedback has become ubiquitous in science both as a
technique and as a conceptual tool. As a technique, negative feedback
has a long history; devices based in its use were made in
antiquity. It has only been during the last century, however, that
rigorous quantitiative methods have become associated...
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