Institutional features of wage bargaining in 23 European countries, the US and Japan.

This paper presents information on wage bargaining institutions, collected using a standardised questionnaire. Our data provide information from 1995 and 2006, for four sectors of activity and the aggregate economy, considering 23 European countries, plus the US and Japan. Main findings include a high degree of regulation in wage setting in most countries. Although union membership is low in many countries, union coverage is high and almost all countries also have some form of national minimum wage. Most countries negotiate wages on several levels, the sectoral level still being the most dominant, with an increasingly important role for bargaining at the firm level. The average length of collective bargaining agreements is found to lie between one and three years. Most agreements are strongly driven by developments in prices and eleven countries have some form of indexation mechanism which affects wages. Cluster analysis identifies three country groupings of wage-setting institutions.Wage Bargaining ; Institutions ; Indexation ; Trade Union Membership, Cluster Analysis

The timing of pollution abatement investments and the business cycle: an international comparison

In this paper we develop a simple equilibrium business-cycle model for an economy with both clean-and dirty-producing plants. We derive that the optimal timing of cleaning the production process is during a slowdown of the economy. Due to external effects and market failures the timing of pollutionabatement investments is not expected to be optimal in the real world. We test the optimality of the timing of those investments with data for Germany,the Netherlands and the U.S.A. It appears that for more than 25 percent of the sectors pollution abatement investments show counter-cyclical behaviour,while in only one sector these investments are pro-cyclical

Global Identification of Drive Gains and Dynamic Parameters of Parallel Robots - Part 2: Case Study

International audienceUsually, identification models of parallel robots are simplified and take only the dynamics of the moving platform into account. Moreover the input efforts are estimated through the use of the manfucaturer's actuator drive gains that are not calibrated thus leading to identification errors. In this paper a systematic way to derive the full dynamic identification model of the Orthoglide parallel robot in combination with a method that allows the identification of both robot inertial parameters and drive gains

Effects of Helium Phase Separation on the Evolution of Extrasolar Giant Planets

We build on recent new evolutionary models of Jupiter and Saturn and here extend our calculations to investigate the evolution of extrasolar giant planets of mass 0.15 to 3.0 M_J. Our inhomogeneous thermal history models show that the possible phase separation of helium from liquid metallic hydrogen in the deep interiors of these planets can lead to luminosities ~2 times greater than have been predicted by homogeneous models. For our chosen phase diagram this phase separation will begin to affect the planets' evolution at ~700 Myr for a 0.15 M_J object and ~10 Gyr for a 3.0 M_J object. We show how phase separation affects the luminosity, effective temperature, radii, and atmospheric helium mass fraction as a function of age for planets of various masses, with and without heavy element cores, and with and without the effect of modest stellar irradiation. This phase separation process will likely not affect giant planets within a few AU of their parent star, as these planets will cool to their equilibrium temperatures, determined by stellar heating, before the onset of phase separation. We discuss the detectability of these objects and the likelihood that the energy provided by helium phase separation can change the timescales for formation and settling of ammonia clouds by several Gyr. We discuss how correctly incorporating stellar irradiation into giant planet atmosphere and albedo modeling may lead to a consistent evolutionary history for Jupiter and Saturn.Comment: 22 pages, including 14 figures. Accepted to the Astrophysical Journa

New dry friction model with load- and velocity- dependence and dynamic identification of multi-dof robots

International audience— Usually, the joint transmission friction model for robots is composed of a viscous friction force and of a constant dry sliding friction force. However, according to the Coulomb law, the dry friction force depends linearly on the load driven by the transmission, which has to be taken into account for robots working with large variation of the payload or inertial and gravity forces. Moreover, for robots actuating at low velocity, the Stribeck effect must be taken into account. This paper proposes a new inverse dynamic identification model for n degrees of freedom (dof) serial robot, where the dry sliding friction force is a linear function of both the dynamic and the external forces, with a velocity-dependent coefficient. A new sequential identification procedure is carried out. At a first step, the friction model parameters are identified for each joint (1 dof), moving one joint at a time (this step has been validated in [23]). At a second step, these values are fixed in the n dof dynamic model for the identification of all robot inertial and gravity parameters. For the two steps, the identification concatenates all the joint data collected while the robot is tracking planned trajectories with different payloads to get a global least squares estimation of inertial and new friction parameters. An experimental validation is carried out with an industrial 3 dof robot

Belgium : prehistoric and protohistoric archaeology in the intertidal and subtidal zones of the North Sea

The evidence for submerged prehistoric remains and landscapes in the Belgian sector of the North Sea is scarce. The majority of finds dredged and trawled from the seafloor consists of palaeontological material, notably mammalian bone remains, dating from the Early and Late Pleistocene, and possibly the Holocene. Scarce palaeontological and archaeological finds come from the intertidal zone. The available data are rather limited and strikingly sparse compared to neighbouring countries, yet it is steadily growing since the SeArch project. Recent investigations of an area with exceptionally high concentrations of Late Pleistocene and Palaeogene bone finds in the ‘Scheur’ illustrates this development and offers a promising avenue for future research. Growing awareness among a broader public is similarly resulting in an increase in reported chance finds, mainly from beaches. In due course, these growing numbers will hopefully allow quantitative support for certain hypotheses