23 research outputs found
Phase Solubility Diagrams of Cocrystals Are Explained by Solubility Product and Solution Complexation
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Modification of the Solid-State Nature of Sulfathiazole and Sulfathiazole Sodium by Spray Drying
No full textUnified Passivity-Based Visual Control for Moving Object Tracking
No full textIn this chapter, a unified passivity-based visual servoing control structure con-sidering a vision system mounted on the robot, is presented. This controller, is suit-able to be applied for robotic arms, mobile robots as well as for mobile manipula-tors. The proposed control law makes the robot able to perform a moving target tracking in its workspace. Taking advantage of the passivity properties of the con-trol system and considering exact knowledge of the target?s velocity, the asymptotic convergence to zero of the control errors are proved. Later, it is carried a robustness analysis out based on 2-gain performance, hence proving that control errors are ultimately bounded even when there exist bounded errors in the estimation of the target velocity. Both, numerical simulation and experimental results illustrate the performance of the algorithm in a robotic manipulator, a mobile robot and also in a mobile manipulator.Fil: Roberti, Flavio. Consejo Nacional de Investigaciones CientĂficas y TĂ©cnicas. Centro CientĂfico TecnolĂłgico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de IngenierĂa. Instituto de Automática; ArgentinaFil: Toibero, Juan Marcos. Consejo Nacional de Investigaciones CientĂficas y TĂ©cnicas. Centro CientĂfico TecnolĂłgico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de IngenierĂa. Instituto de Automática; ArgentinaFil: Sarapura, Jorge Antonio. Consejo Nacional de Investigaciones CientĂficas y TĂ©cnicas. Centro CientĂfico TecnolĂłgico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de IngenierĂa. Instituto de Automática; ArgentinaFil: Andaluz, VĂctor. Universidad de Las Fuerzas Armadas; EcuadorFil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones CientĂficas y TĂ©cnicas. Centro CientĂfico TecnolĂłgico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de IngenierĂa. Instituto de Automática; ArgentinaFil: Sebastian, JosĂ© MarĂa. Universidad PolitĂ©cnica de Madrid; Españ
Characterizing an Amorphous System Exhibiting Trace Crystallinity: A Case Study with Saquinavir
No full textPreparation of Chloramphenicol/Amino Acid Combinations Exhibiting Enhanced Dissolution Rates and Reduced Drug-Induced Oxidative Stress
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