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The authors report a study of allergic contact dermatitis in 329 Portuguese children of 14 years or younger. 170 children (64 male and 106 female) reacted to 1 or more allergens. Most of these were in the 11-14 years group. The main allergens were nickel, thimerosal, cobalt, mercury, fragrance-mix and potassium dichromate. Nickel reactivity predominated in… (More)
− − − − In this paper the implementation of several variable structure algorithms in the position/force hybrid control of robotic manipulators is studied. The robustness and performances of the system are analyzed both in terms of time and frequency responses. This paper also studies the impact phenomena and it is demonstrated that the transient response,… (More)
− − − − This paper describes an approach to automatic tuning of PID position controllers for manipulators with nonlinear friction at the articulations. The algorithm works in joint space coordinates and it uses the calculation of PID controllers parameters using step input torque signals. Several simulation results show this scheme performance.