The p r o b l e m o f p l a n n i n g s a f e t r a j e c t o r i e s f o r compute r c o n t r o l l e d m a n i p u l a t o r s w i t h two movab le l i n k s and m u l t i p l e deg rees o f f r eedom i s a n a l y z e d , and a s o l u t i o n t o t h e p r o b l e m p r o p o s e d . The key f e a t u r e s o f t h e s o l u t i o n a r e : 1 . t h e i d e n t i f i c a t i o n o f t r a j...

1. introduction isfahan oil refinery (isfahan, iran) is responsible for the production of huge amounts of oil waste. as the released organic compounds are highly toxic, carcinogenic, and mutagenic, they can potentially contaminate the soil and groundwater resources of the adjacent area. this is particularly important in isfahan where arid/semi-arid climate has limited the access to adequate sur...

U m die B e o b a c h t u n g e n d e r s p e z i f i s c h e n V i s k o s i t ä t 7]sp v e r d ü n n t e r L ö s u n g e n s innv o l l e r a l s b i s h e r d e u t e n z u k ö n n e n , w i r d e i n e m o l e k u l a r e T h e o r i e d e r i n n e r e n R e i b u n g v o n L ö s u n g e n e n t w i c k e l t . 7]sp w i r d d u r c h d ie W e c h s e l w i r k u n g s v i s k o s i t ä t t...

T i m e d P e t r i n e t s a n d t i m e d a u t o m a t a a r e t w o s t a n d a r d m o d e l s f o r t h e a n a l y s i s o f r e a l g t i m e s y s t e m s . W e s t u d y i n t h i s p a p e r t h e i r r e l a t i o n s h i p , a n d p r o v e i n p a r t i c u l a r t h a t t h e y a r e i n c o m p a r a b l e w . r . t . l a n g u a g e e q u i v a l e n c e . I n f a c t , w e s t...

. a . F a l s e . W h e r e p o s s i b l e , c h a r g e a s i n g l e f e e f o r a l l s e r v i c e s a n d p l a c e c a s h i e r s a n d d i s p e n s a r i e s n e a r t h e e x i t . T h i s w i l l p r e v e n t u n n e c e s s a r y b a c k a n d f o r t h m o v e m e n t s . B . t r u e . 1 . c . F a l s e . S e e t h e e x a m p l e s i n T a b ...

S e d i m e n t d e n i t r i f i c a t i o n p o t e n t i a l f r o m t w o s i t e s i n t h e E l i z a b e t h R i v e r e s t u a r y w a s s t u d i e d o v e r a n i n e m o n t h p e r i o d u s i n g t h e a c e t y l e n e b l o c k a g e m e t h o d . R a t e s o f m i c r o b i a l p r o c e s s e s i n t h i s e n v i r o n m e n t a r e o f i n t e r e s t b e c a u s e o f t h e...

in order to investigate the effects of municipal waste compost and benefit fungi of trichoderma species on seedling emergence parameters, growth and some micronutrients uptake of garden cress a pot experiment was carried out in factorial arrangement based on randomized complete block design with 3 replications. treatments consisted of three levels of municipal waste compost (15, 30, 45 mg ha-1 ...

This paper describes damping capac i t y and mechanical p roper t ies o f Zn-8-20%A1 and Zn-8-20%Al-0.02-0.04XMg a l l o y cast ings. Zn-8-20%A1 a l l o y casti ngs show h igh damping when quenched from 573K. Small amount o f Mg a d d i t i o n t o these a l l o y cast ings lowers damping capaci ty considerably b u t e f f e c t i v e t o reduce decomposition through aging a t 423K f o r 48hrs ...

nitrogen forms exert significant effects on physiological and morphological characteristics of plant. in this study, the effects of ammonium, nitrate, and ammonium-nitrate on pepper plants were investigated in soil culture, as well as in solution culture. in the soil culture, 3, 4-dimethylpyrazole phosphate (dmpp) was used as a standard nitrification inhibitor to guarantee the presence of ammon...

A n e t w o r k c o n t r o l system o f T r a n s p o r t A u t o m a t i c I n t e g r a l Robot (TAIP) mot i o n i n t h e r e a l environment i s suggest e d . I n p u t d a t a and g e n e r a l s t r u c t u r e o f t h e network a r e d e s c r i b e d . A program i s r e p o r t e d o f f u r t h e r e f f o r t s t o i n v e s t i g a t e and r e f i n e t h e network c o n t r o l sys...