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Force/Vision Based Active Damping Control of Contact Transition in Dynamic Environments

When a manipulator interacts with objects with poorly damped oscillatory modes, undesired oscillations and bouncing may result. In this paper, we present a method for observer-based control of a rigid manipulator interacting with an environment with linear dynamics.The controller injects a desired damping into the environment dynamics, using both visual-and force sensing for stable control of the

The role of TGF-§ in hematopoiesis

Transforming growth factor-§ (TGF-§) is a potent, multifunctional growth factor affecting virtually all cell types, regulating critical physiological processes like immune response, wound healing, angiogenesis, and tumor development. A large number of studies in vitro have also implicated a critical role of TGF-§ in regulating hematopoiesis by inhibiting proliferation of hematopoietic stem cells (

Bioenergy in Ukraine: Sustainable pathways for bioenergy development

Ukraine has significant potential for bioenergy. Biomass can supply 1 EJ/year or 18% in the country’s energy balance. The major part of this is formed by agricultural residues and energy crops. Annually nearly 175 PJ can be derived from straw, which is currently not used elsewhere. At present the biofuels sector in Ukraine is not established although a number of initiatives have emerged. Biomass s

Observation of a Core-Excited E4 Isomer in 98Cd

A core-excited I = (12+) spin-gap isomer was identified in 98Cd in an experiment at EUROBALL IV. It was found to feed the known I = (8+) seniority isomer by an E4 transition. Half-lives of T1/2 = 0.23() µs and 0.17() µs were measured for the two states at Ex = 6635 keV and 2428 keV, respectively. From the excitation energy of the core-excited isomer a 100Sn shell gap of 6.46(15) MeV is inferred. T