In this paper, the problems faced in the constrained force control is studied (uncertainties in dynamic model and the unknown constraints). A neural network (NN) controller is proposed based on the derived dynamic model of robot in the task space. The feed-forward neural network is used to adaptively compensate for the uncertainties in the robot dynamics. Training signals are proposed for the f...

The adsorption behavior of hydrogen for synthesized graphitic carbon nitride (g-C3N4) and graphene oxide nanosheets was compared. The structure of the prepared g-C3N4 and graphene oxide samples were studied using TEM, FT-IR spectroscopy and surface area analysis. Textural results of the prepared nanosheets show that the surface area, total pore volume, and average internal diameter of g-C3N4 an...

The color-magnitude diagrams of ∼ 7×105 stars obtained for 12 fields across the Galactic bulge with the OGLE project reveal a well-defined population of bulge red clump giants. We find that the distributions of the apparent magnitudes of the red clump stars are systematically fainter when moving towards lower galactic l fields. The most plausible explanation of this distinct trend is that the G...

Under stimulation of the receptive fields (RF) of neurons in the cat area 17 by flashing Y-like figures of different shape and orientation, the sensitivity to these figures was revealed in 72% of the studied cells, while 62% of units were sensitive to cross-like figures as well. Tuning to Y-like figures was typically selective to their shape and orientation, but in some cases it was invariant t...

Gridshells are defined as structures that have the shape and rigidity of a double curvature shell but consist of a grid not a continuous surface. This study concerns those obtained by elastic deformation of an initially flat two-way grid. This paper presents a method to generate gridshells on an imposed shape under imposed boundary conditions. A numerical tool based on a geometrical method, the...

Influence of formation of surface nano/ultrafine structure using deep rolling on plasma nitriding and tribological properties of the AISI 316L stainless steel was investigated. Initially, the deep rolling process was carried out on the bar-shaped specimens at 15 cycles with 0.2 mm/s longitudinal rate and 22.4 rpm bar rotation. Then, plasma nitriding treatment was applied on the as-received...

The halo plays a crucial role in the evolution of barred galaxies. Its near-resonant material absorbs angular momentum emitted from some of the disc particles and helps the bar become stronger. As a result, a bar (oval) forms in the inner parts of the halo of strongly barred disc galaxies. It is thinner in the inner parts (but still considerably fatter than the disc bar) and tends to spherical ...

The spectral line shape of spontaneous Rayleigh-Brillouin scattering in CO2 is studied in a range of pressures. The spectrum is influenced by the bulk viscosity η(b), which is a relaxation phenomenon involving the internal degrees of freedom of the molecule. The associated relaxation rates can be compared to the frequency shift of the scattered light, which demands precise measurements of the s...

In this note we introduce a Yang-Mills bar equation on complex vector bundles E provided with a Hermitian metric over compact Hermitian manifolds. According to the Koszul-Malgrange criterion any holomorphic structure on E can be seen as a solution to this equation. We show the existence of a non-trivial solution to this equation over compact Kähler manifolds as well as a short time existence of...

This research has demonstrated that simple structural and potential models can qualitatively and quantitatively predict properties in dense hydrothermal solutions of sodium chloride and water using molecular dynamics simulation. The PTFxi behavior of simulated model systems at 250 bar and 21 wt % NaCl compared favorably to experimental data from ambient to near-critical temperatures as represen...