Implementation of Nonlinear Model Predictive Path-Following Control for an Industrial Robot

Many robotic applications, such as milling, gluing, or high precision measurements, require the exact following of a pre-defined geometric path. In this paper, we investigate the real-time feasible implementation of model predictive path-following control for an industrial robot. We consider constrained output path following with and without reference speed assignment. We present results from an implementation of the proposed model predictive path-following controller on a KUKA LWR IV robot.Comment: 8 pages, 3 figures; final revised versio

Principles for governing the Internet: a comparative analysis

As the sixth edition in the UNESCO Internet Freedom series, this study encompasses both quantitative and qualitative assessments of more than 50 declarations, guidelines, and frameworks. The issues contained in these documents are assessed in the context of UNESCO’s  interested areas such as access, freedom of expression, privacy, ethics, Priority Gender Equality, and Priority Africa, and sustainable development, etc. This publication shows that while each of the reviewed Internet documents has its own value, none of them fully meet UNESCO’s interests and mandate. The study proposes therefore the concept of “Internet Universality” as the Organisation’s own clear identifier for approaching the various fields of Internet issues and their intersections with UNESCO concerns. Internet Universality highlights the contribution that can be made by an Internet that is based on four principles, recognised by UNESCO governing bodies. An Internet developed on these principles would be: human Rights-based; Open; Accessible to all; and governed through Multi-stakeholder participation (summarized in the acronym R.O.A.M.). This concept has relevance to the Organization’s work in many areas – including online freedom of expression and privacy; efforts to advance universality in education, social inclusion and gender equality; multilingualism in cyberspace; access to information and knowledge; and ethical dimensions of information society

Legal framework for media and democracy

Open discourses and the free formation of opinions through unfettered information flows and communicated diversity of opinion are unthinkable without independent media and essential prerequisites for a functioning democracy. Notwithstanding the importance of the linkage between media and democracy, there is no harmonized framework addressing this issue. By adopting a legal perspective, this study shall outline existing and emerging regulations, with a particular focus on broadcast, print, and online media Two regulatory tiers are distinguished: At the international level, the establishment of aWorld Information Order as well as the human rights perspective intrinsic to the subject matter will be addressed. At the national level, legal approaches to particular tensions accompanying state regulation of the media will be examine

Carbon-related border tax adjustment: mitigating climate change or restricting international trade?

Border tax adjustments in the form of carbon taxes on products from countries with lax environmental production standards or in the form of a required participation in an emissions allowances' trading system have become a heavily debated issue under WTO law. Such an adjustment might be permissible if energy taxes as indirect taxes are applied on inputs during the production process. Compliance with the Most Favoured Nation principle has less practical importance than the not-yet settled likeness discussion under the National Treatment principle. Consequently, since the compatibility of carbon-related border tax adjustment measures is partly contested, potential justifications such as the conservation of exhaustible national resources or the protection of health (Art. XX GATT) become relevant. The application of the necessity and proportionality test requires that carbon measures are tailored so as to substantially contribute to the achievement of environmental objectives and do not create any arbitrary or unjustified discriminatio

Organochlorine pesticides residues and PCBs in benthic organisms of the inner shelf of the São Sebastião Channel, São Paulo, Brazil

Trinta e sete amostras de bentos da área interna do Canal de São Sebastião, Brasil, foram coletadas entre Abril de 1994 e Agosto de 1998 e analisadas quanto aos níveis de resíduos de 17 pesticidas organoclorados os congêneres dos PCBs. Os níveis de resíduos de organoclorados e PCBs foram baixos( ng/g) e encontrados com maior freqüência nas amostras de crustáceos. DDE foi o resíduo de pesticida encontrado com mais freqüência apresentado um máximo de 9,7 ng/g seguido dos isômeros de HCHs com um máximo de 17,1 ng/g. No caso dos PCBs os congêneres mais pesados foram os predominantes: CB 138, 153, 170, 180 e 183. O valor máximo de PCBs totais foi de 17,4 ug/g numa amostra de crustáceo. Níveis maiores de PCBs estão associados aos hábitos alimentares e introduções pontuais de esgotos e água de drenagem urbana. Apesar dos níveis observados estarem abaixo dos recomendados para consumo humano pela EPA e da FDA( U.S.A) ,eles demonstram que mesmo em área marinhas costeiras sem agricultura intensiva ou atividades industriais de porte , estes compostos orgânicos persistentes sintéticos ( POPS) estão presentes em níveis mensuráveis.Thirty seven benthic samples of the inner shelf area of São Sebastião, Brazil, were collected between April 1994 and August 1998 and analysed for seventeen chlorinated pesticide residues and PCBs congeners. Pesticide residues and PCBs congeners levels were low (ng/g) and predominantly found in the crustacean samples. DDE was the most frequently residue with a maximum of 9,7 ng/g followed by HCHs with maximum of 17,1ng/g. As for the PCBs, the heavier congeners predominate: CB 138,153,170, 180 and 183. Maximum total PCBs was 17,4 ug/g in a crab sample. Higher levels of PCBs are related to feeding habits and local inputs of raw sewage or land runoff. Although EPA and FDA (U.S.A) below the guidelines for human consumption propose these levels, they do show that even in marine areas without intense agricultural or industrial activities these compounds are present at detectable levels