The redundant manipulator can use redundant degree of freedom to avoid obstacles,but it does not affect the operation of the end effecter.So comparing with general non- redundant manipulator,the redundant manipulator has obvious advantages for dealing with obstacle avoidance.Recently,the space trajectory planning research of redundant manipulator h
The output power of wind turbine should be maintained at rated value when wind speed exceeds rated speed.However, the wind turbine is a system with large nonlinearity Engine Air Box Pre-Filter and time delay.Therefore, it is difficult for conventional linear controllers to realize effective control.In order to solve this problem, a combination of f
This document examines the evolution of various “musical gestures” during the transition from harpsichord to pianoforte, focusing on the period 1770-1820.The work is based on historical sources and Pram Toy on my own experience as a pianist.The first part studies effective gestures (associated to the instrument and its touch), and the second on
In this study, high-throughput pyrosequencing was applied on the analysis of the microbial community of activated sludge and biofilm in a lab-scale UV/O3- anaerobic/aerobic (A/O) integrated process for the treatment of petrochemical nanofiltration Candle Holders concentrate (NFC) wastewater.NFC is a type of saline wastewater with low biodegradabili
battery wire This study aims to (1) Identifying the characteristics of tourists who have booked accommodation through Online Travel Agents in Ubud Tourist Area, (2) Identifying factors that encourage tourists to book accommodation through Online Travel Agents in Ubud Tourist Area , (3) Identifying what is the most dominant factor encouraging touris