0000000000417386
AUTHOR
Antonino Bruno
Adaptive interaction robot control with estimation of contact force
Abstract This paper deals with a new adaptive force-position control of a robotic manipulator based on force estimation. First, an adaptive position controller is derived with contact force component as estimated parameters. Second, a supervisory external loop is added in order to regulate the contact force to the desired value. Extensive simulations with 2-DOF manipulator illustrate the followed approach.
SANIST: optimization of a technology for compound identification based on the European Union directive with applications in forensic, pharmaceutical and food analyses
Electrospray Ionization and collision induced dissociation tandem mass spectrometry are usually employed to obtain compound identification through a mass spectra match. Different algorithms have been developed for this purpose (for example the nist match algorithm). These approaches compare the tandem mass spectra of the unknown analyte with the tandem mass spectra spectra of known compounds inserted in a database. The compounds are usually identified on the basis of spectral match value associated with a probability of recognition. However, this approach is not usually applied to multiple reaction monitoring transition spectra achieved by means of triple quadrupole apparatus, mainly due to…