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Tele-nanorobotics using an atomic force microscope as a nanorobot and sensor
(1998)Advanced RoboticsIn this paper, a tele-nanorobotic system using an atomic force microscope (AFM) as the nanorobot and sensor has been proposed. Modeling and control of the AFM cantilever, and modeling of nanometer scale forces have been realized for telemanipulation applications. In addition to three-dimensional virtual reality visual feedback in the user interface, a 1 d.o.f. haptic device has been constructed for nano-scale haptic sensing. For feeling ...Journal Article -
Closed-Loop Identification of Flexible Structures: An Experimental Example
(1998)Journal of Guidance, Control, and DynamicsThis paper describes the application of a closed-loop identification procedure to a flexible structure: the JPL CSI Phase~B testbed. The approach is based on an indirect, closed-loop identification procedure, recently developed by Van den Hof and Schrama, which gives a consistent model estimate in the case where the system noise/output disturbance model is not accurate. The procedure is modified and applied, in the frequency domain, ...Journal Article -
Optimal Control of Perturbed Linear Static Systems
(1996)IEEE Transactions on Automatic ControlThis note considers the problem of designing an optimal controller for linear static systems with uncertainty modeled as a single induced Euclidean norm bounded MIMO perturbation. The objective is the minimization of the singular value of the disturbance to error transfer function. The static (constant matrix) design problem is convex and can be formulated as a sequence of generalized eigenvalue problems. We present a detailed example, ...Journal Article -
Eigenvalue Perturbation Models for Robust Control
(1995)IEEE Transactions on Automatic ControlThis note presents a non conservative description of the regions containing the eigenvalues of a diagonal matrix, perturbed by the set of all unknown, Euclidean norm bounded matrices. This is extended to real valued block diagonal matrices where each two-by-two block reveals a complex conjugate pair of eigenvalues. A weighting matrix allows one to specify the exact size of the perturbation to each of the eigenvalues. An identical result ...Journal Article -
Recht auf Wasser? Verteilungskonflikte im Jordanbecken
(1996)PROKLA: Zeitschrift für kritische SozialwissenschaftThe arcticle gives detailed infonnation on the current water situation in the light of past struggles and recent peace agreements. Considering international law and human rights, proposals for water distribution are scrutinized with respect to an equitable allocation of the scarcc resource water in the region. The factors of international law are wcighted, the different aspects of basic demand requirements are discussed.Journal Article -
Isothermal Sections of Phase Equilibria in the Al-AlCo-AlNi System
(1998)International Journal of Materials ResearchThe phase equilibria of the ternary Al-AlCo-lNi system are demonstrated using isothermal sections at 1170, 1100, 1050, 900, 850, 730, and 600 degrees C. These are based on metallographic and TEM investigations and on several temperature-concentration sections, which are investigated using thermal analyses. The Scheil reaction scheme is used for explanation of the data. Eleven phases from the binaries Al-Co and Al-Ni and the three ternary ...Journal Article -
Sampled Data Model Validation: An Algorithm and Experimental Application
(1996)International Journal of Robust and Nonlinear ControlThe application of robust control theory requires representative models containing unknown bounded perturbations and unknown bounded noise/disturbance signals. Model validation is a means of assessing the applicability of a given model with respect to experimental data. We consider a sampled-data approach, using a continuous time model, including unknown perturbations and signals, and a discrete experimental datum of finite length. The ...Journal Article -
Wie geht es dem Luganer See morgen?
(1993)WasserWirtschaftComputermodelle bilden bei Gewässerschutzfragen ein unentbehrliches Hilfsinstrument. Sie werden eingesetzt, um die Auswirkungen von Sanierungsmassnahmen oder anderer Eingriffe auf einen See einen Fluss oder einen Grundwasserstrom vorherzusagen. Modelle müssen jedoch sehr gezielt eingesetzt werden, damit sie die in sie gesetzten Erwartungen erfüllen. Am Beispiel des Luganer Sees werden die Arbeitsweise, Möglichkeiten und Grenzen verschiedener ...Journal Article -
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Ein römischer Entwässerungsstollen in der Schweiz?
(1991)Vermessung, Photogrammetrie, KulturtechnikBeim Aushub des Hagneckdurchstichs für die I. Juragewässerkorrektion im Jahre 1874 wurden Teile eines römischen Stollens freigelegt und nach ihrer Untersuchung und Vermessung zerstört. Der Stollen führte durch den Molassezug, der das Grosse Moos vom Bielersee trennt, und war etwa 670 m lang. Sein Ausbruchquerschnitt von maximal 2,1 m Höhe und 1,2 m Breite war mit einem Holzeinbau gesichert, sein Gefälle seewärts betrug 3,4%« (Abb. 1). ...Journal Article