This paper proposes a new bilateral control scheme to ensure both transparency and robust stability under unknown constant time delay in stiff environment. Furthermore, this method guaranties suitable performance and robust stability when transition occurs between soft and stiff environments. This framework is composed of an adaptive sliding mode controller and an adaptive impedance controller,...

long time integration of large stiff systems of initial value problems, arising from chemical reactions, demands efficient methods with good accuracy and extensive absolute stability region. in this paper, we apply second derivative general linear methods to solve some stiff chemical problems such as chemical akzo nobel problem, hires problem and orego problem.

The symmetries of the DNA double helix require a new term in its linear response to stress: the coupling between twist and stretch. Recent experiments with torsionally-constrained single molecules give the first direct measurement of this important material parameter. We extract its value from a recent experiment of Strick, et al. and find rough agreement with an independent experimental estima...