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Stability problems associated with haptics and robot control with obstacle avoidance are analyzed. Obstacle avoidance algorithms are revised to accomplish stable redesign using absolute stability and passivity theory. A modification of potential functions for haptic rendering and obstacle avoidance allowing stable operation for high stiffness is proposed. The modification leads to velocity-depende

Abstract in French L'AUTEUR RAPPELLE COMMENT L'EAU PARTICIPE AUX PHENOMENES QUI CONDUISENT A LA DETERIORATION DU BETON ET INDIQUE DES EXEMPLES DE CONDITIONS D'HUMIDITE CRITIQUE DANS LES PHENOMENES DE REACTIONS ALCALI-SILICE, D'EFFLORESCENCES, ET DE CORROSION. IL DECRIT LE COMPORTEMENT HYGROTHERMIQUE DU BETON A L'AIDE DES LOIS DE CONSERVATION DE L'ENERGIE ET DE LA MASSE. DANS LE CAS DU BETON DURCI,

Popular Abstract in Swedish Kraven på bränslesnåla och rena motorer har ökat under de senaste åren. Det började med att priset på olja steg kraftigt i början av 2000-talet. Kraven växte sedan ytterligare i kölvattnet av debatten kring växthuseffekten där koldioxid, en av de dominerande produkterna vid förbränning, spelar huvudrollen. Med tanke på att sänkt bränsleförbrukning rör både ekonomiska ocIn the last decade diesel combustion has developed in a new direction. Research has been carried out trying to prolong the ignition delay and enhance fuel/air premixing to avoid diffusion combustion as well as lowering the combustion temperature through use of EGR. One of these new combustion concepts is Partially Premixed Combustion (PPC). PPC is aimed to provide combustion with low smoke and NOx

A comprehensive bulk and surface investigation of high-quality In2O3(001) single crystals is reported. The transparent-yellow, cube-shaped single crystals were grown using the flux method. Inductively coupled plasma mass spectrometry (ICP-MS) reveals small residues of Pb, Mg, and Pt in the crystals. Four-point-probe measurements show a resistivity of 2.0 +/- 0.5 x 10(5) Omega cm, which translates

In this paper, we attempt to reveal the nature of the chemical and electromagnetic mechanisms of tip-enhanced Raman scattering (TERS). Direct visual evidence regarding the chemical mechanism via charge transfer was obtained with charge difference density. It is found that there are several kinds of charge transfer: (1) tip to molecule, (2) surface to molecule, (3) tip and surface to molecule simul

This article discusses the ability of information criteria toward the correct selection of different especially higher-order generalized autoregressive conditional heteroscedasticity (GARCH) processes, based on their probability of correct selection as a measure of performance. Each of the considered GARCH processes is further simulated at different parameter combinations to study the possible eff

Feathers are amongst the most complex epidermal structures known, and they have a well-documented evolutionary trajectory across non-avian dinosaurs and basal birds. Moreover, melanosome-like microbodies preserved in association with fossil plumage have been used to reconstruct original colour, behaviour and physiology. However, these putative ancient melanosomes might alternatively represent micr

A complete reliability study of the DC and RF characteristics for InGaAs nMOSFETs with aluminium oxide/ hafnium oxide dielectric is presented. The main stress variation at high frequencies is related to a threshold voltage shift, whereas no decrease is found in the maximum of the cut-off frequency and RF-transconductance. Constant gate stress leads to a charge build up causing a threshold voltage

The previously reported complex trans-[IrHCl{cis-1,3-bis-(di-tert-butylphosphino)methyl} cyclohexane] (2) forms the 18-electron carbonyl compound anti-[Ir(CO)HCl{cis-1,3-bis-((di-tert-butylphosphino)methyl)} cyclohexane] (5a)upon reaction with 1 atm CO. The structural isomer syn-[IrH(CO)Cl{cis-1,3-bis-((di-tert- butylphosphino)methyl)}cyclohexane] (5b)is obtained directly upon complexation of the

A key structure in so-called metamaterial mediums is the elementary split-ring resonator. We consider in this paper the low-frequency electromagnetic scattering by a split-ring particle modelled as a perfectly conducting wire ring, furnished with a narrow gap, and derive analytical solutions for the electric and magnetic dipole moments for different kinds of incidence and polarisation in the quasi

The terminase motors of bacteriophages have been shown to be among the strongest active machines in the biomolecular world, being able to package several tens of kilobase pairs of viral genome into a capsid within minutes. Yet, these motors are hindered at the end of the packaging process by the progressive buildup of a force-resisting packaging associated with already packaged DNA. In this experi

The make-or-buy decision is analyzed in a simple framework combining contractual incompleteness with the existence of an imperfect but contractible performance measure. Contractual incompleteness gives rise to two regimes, identified with make and buy. The performance measure on which comprehensive contracts can be written is imperfect in the sense of being subject to manipulation. The performance

This letter reports on room-temperature electrical measurements of a Au/Ti-HfO2-InP/InGaAs diode fabricated by atomic layer deposition and electron beam lithography. At forward bias voltages, the diode shows memristor characteristics, whereas at reverse bias voltages, the diode can be characterized as a memcapacitor. A parasitic accumulation layer of charges formed at the high-kappa oxide/InP inte

The semiconductor tracker is a silicon microstrip detector forming part of the inner tracking system of the ATLAS experiment at the LHC. The operation and performance of the semiconductor tracker during the first years of LHC running are described. More than 99% of the detector modules were operational during this period, with an average intrinsic hit efficiency of (99.74 +/- 0.04)%. The evolution