centripetal effects. The reduction or elimination of the The actuator power required to resist joint torques caused b y the weight of robot links can be a significant problem. This paper presents a passive, mechanical, and energy-conservative gravity compensation method suitable f o r a variety of manipulator designs.

We analyze a multiproduct duopoly and ask whether firms should offer general purpose products or tailor their offerings to fit specific consumer needs. There are two effects of offering a targeted product: (i) if a consumer’s favorite product is offered, her utility increases because there is a better fit between product and preferences; (ii) if her favorite product is not offered, the consumer...

assortment and habitat filtering Werner Ulrich*, Marcin Piwczyński, Fernando T. Maestre and Nicholas J. Gotelli Nicolaus Copernicus University in Toruń, Chair of Ecology and Biogeography, Gagarina 9, 87-100 Toruń, Poland; Área de Biodiversidad y Conservación, Departamento de Biologı́a y Geologı́a, Escuela Superior de Ciencias Experimentales y Tecnologı́a, Universidad Rey Juan Carlos, 28933 Móstole...

Drawing on a significantly updated version co-authored by Reynolds and the originator of Critical Systems Heuristics (CSH), Werner Ulrich, CSH is regarded as part of a ‘systems thinking in practice’ framework for evaluating complex situations from different stakeholder perspectives. The situation under evaluation (e.g. a purposeful activity like a report, programme or project etc.) is framed as...

Abstract We prove that on $$X_n$$ X n , the plane blown-up at n very general points, there are Ulrich line bundles with respect to a bundle corresponding curves of degree m passing simply through $$m\leqslant 2\sqrt{n}$$ m ⩽ ...