The paper investigates the control of a three prismatic-prismatic-revolute (3 PPR) U-base planar parallel manipulator in the presence of parameter uncertainties and unknown disturbances. The 3PPR U-base planar parallel manipulator is a motion platform with singularity free workspace (bounded orientation angle θz ≤ ±90 ◦) and has manipulator legs located on the plane in association with a moving...

The BEM is applied to the solution of the torsion problem of non-homogeneous anisotropic non-circular prismatic bars. The problem is formulated in terms of the warping function. This formulation leads to a second order partial differential equation with variable coefficients, subjected to a generalized Neumann type boundary condition. The problem is solved using the Analog Equation Method (AEM)...

A hollow iridium-cornered prismatic cage was self-assembled without the assistance of any template. The cage was found to be capable of encapsulating heteroguest's triplet in its perfect sized cavity, producing the first demonstration of quintuple structure by an octahedral metal cornered prismatic cage.

In this paper we analyze the discrete maximum principle (DMP) for a nonstationary diffusion-reaction problem solved by means of prismatic finite elements and θmethod. We derive geometric conditions on the shape parameters of prismatic partitions and time-steps which guarantee validity of the DMP. The presented numerical tests illustrate the sharpness of the obtained conditions. MSC: 65M60, 65M2...

We study the simultaneous control of three dimensional translation and rotation of an underactuated multibody space robot using sliding masses that are configured as ideal prismatic actuators. A crucial assumption is that the total linear and angular momenta of the space robot are zero. The prismatic actuators may be intentional actuation devices or they may be dual-use devices such as retracta...

We introduce the notion of a prism, which may be regarded as "deperfection" perfectoid ring. Using prisms, we attach ringed site --- prismatic to $p$-adic formal scheme. The resulting cohomology theory specializes (and often refines) most known integral theories. As applications, prove an improved version almost purity theorem allowing ramification along arbitrary closed subsets (without using ...

The title compound, {[Ba{Co(H-2L1)}(ClO4)(H2O)]ClO4} n , L1 = 4,10-bis-[(3-hy-droxy-4-pyron-2-yl)meth-yl]-1,7-dimethyl-1,4,7,10-tetra-aza-cyclo-dodeca-ne, is a one-dimensional coordination polymer. The asymmetric unit consists of a {Ba[Co(H-2L1)](ClO4)(H2O)}+ cationic fragment and a non-coordinating ClO4- anion. In the neutral [Co(H-2L1)] moiety, the cobalt ion is hexa-coordinated in a trigonal...