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Robust decoupling through algebraic output feedback in manipulation systems

Paolo Mercorelli (2010)

Kybernetika

This paper investigates the geometric and structural characteristics involved in the control of general mechanisms and manipulation systems. These systems consist of multiple cooperating linkages that interact with a reference member of the mechanism (the “object”) by means of contacts on any available part of their links. Grasp and manipulation of an object by the human hand is taken as a paradigmatic example for this class of manipulators. Special attention is devoted to the output specification...

Roots of Nakayama and Auslander-Reiten translations

Helmut Lenzing, Andrzej Skowroński (2000)

Colloquium Mathematicae

We discuss the roots of the Nakayama and Auslander-Reiten translations in the derived category of coherent sheaves over a weighted projective line. As an application we derive some new results on the structure of selfinjective algebras of canonical type.

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