In this paper, a novel adaptive sliding mode control for rigid robot manipulators is proposed. In the proposed system, since there may exist explicit unknown parameters and perturbations, a Lyapunov based approach is presented to increase system robustness, even in presence of arbitrarily large (but not infinite) discontinuous perturbations. To control and track the robot, a continuous controll...

We present a new method for the realistic real-time simulation of rivers. Our solution includes a 2D fluid solver that simulates the flow of a river’s surface, an efficient method for adaptively computing 3D flow information and an animated 3D procedural wave texture that is advected through the fluid via advection particles in order to mimic the highly detailed fluid surfaces that are characte...

Biological uptake of dissolved silicate (DSi) and formation of biogenic silica (BSi) during diatom growth modifies the form of Si carried from the continents to the world ocean. Significant concentrations of BSi, averaging 28.0 pmol L-l, are found in all sizes of rivers. The global contribution of BSi carried by rivers was estimated as 1.05 ? 0.20 Tmol Si year’. Combined with the global mean ri...

Amazon, 21, 24, 378–379 overbank, crevasses processes, 25 physical and biogeochemical processes, 92 plume dispersals, 55 sediment accumulation rates, 91 subaqueous delta clinoform system, 91–96 tidal-regime changes, sediment dynamics model, 92–94 Arctic Ocean, riverine organic and inorganic carbon fluxes, processing, fate acids to aldehydes ratios, 534–535 aragonite undersaturation, 542–543 Arc...

The present study was undertaken to investigate the role of banana extract (BE) on synchronous plantlet formation from seeds of Dendrobium lituiflorum Lindl. The seedlings formed on modified Knudson C (KC) medium supplemented with 20% (v/v) BE had significantly high fresh and dry weights. Morphologically uniform plantlets with elongated leaves and well developed roots were formed on KC medium w...