Robust Gain Scheduling for Smart-Structures in Parallel Robots

Smart-structures offer the potential to increase the productivity of parallel robots by reducing disturbing vibrations caused by high dynamic loads. In parallel robots the vibration behavior of the structure is position dependent. A single robust controller is not able to gain satisfying control performance within the entire workspace. Hence, vibration behavior is linearized at several operating points and robust controllers are designed. Controllers can be smoothly switched by gain-scheduling. A stability proof for fast varying scheduling parameters based on the Small-Gain Theorem is developed. Experimental data from Triglide, a four degree of freedom (DOF) parallel robot of the Collaborative Research Center 562, validate the presented concepts

Becoming a Practice

This article presents findings from longitudinal ethnographic research of a mega-project alliance. For five years we followed the leadership team of a large Australian Alliance Program made up of a large public and several private organizations, analyzing 'practice' as novel patterns of interaction developed into predictable arrays of activities, changing and transforming while at the same time continuing to be referred to as 'the same'. In this article we focus on three such arrays of activities: authoring boundaries, negotiating competencies and adapting materiality. We suggest that these are essential mechanisms in becoming a practice. While most studies of practice deal with already established practices, the significance of our research is that we develop a notion of practice as it unfolds. In this way we can provide a better account of the constant change inherent in practices

Topological search for the production of neutralinos and scalar particles

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Test of QCD analytic predictions for the multiplicity ratio between gluon and quark jets

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