Input-output linearization and decoupling of mechanical control systems

In this work, we present a problem of simultaneous input-output feedback linearization and decoupling (non-interacting) for mechanical control systems with outputs. We show that the natural requirement of preserving mechanical structure of the system and of transformations imposes supplementary conditions when compared to the classical solution of the same problem for general control systems. These conditions can be expressed using objects on the configuration space only. We illustrate our results with several examples of mechanical control systems

MORPHOMETRIC CHARACTERISTICS OF THE SKULL OF AUROCHS (BOS PRIMIGENIUS BOJANUS 1827) FROM THE TUCHOLA FOREST

The aurochs skull was found in Tuchola Forest (the Kujawy and Pomorze Province) in the vicinity of Tuchola. The skull analyzed has come from adult male aurochs, and it is almost complete, only deprived of small fragments of a single incisive bone and the jaw. The osteometric analysis following the method by Duerst [5] was performed. The observations made and measurements taken make it possible to develop our knowledge with further information concerning that extinct species as well as provide information on the occurrence and distribution of aurochs. The measurements made will also facilitate the confrontation of craniometric parameters in aurochs from the Tuchola Forest with the skulls originated from other parts of the country