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In this paper the subtasks of lifting, pushing, and pulling of an Inverted PENdulum Type Assistant Robot (IPENTAR) are described. These three motions comprise the initial work for the larger task of transporting of a load. During execution of these tasks, the forces that are applied on the robot are seen as disturbances and cause errors in the system. If(More)
This paper discusses the development of a control method intended for an Inverted PENdulum Type Assistant Robot (I-PENTAR) that can be applied to an array of tasks and motions using a single controller. This idea of “a single controller for different tasks” differs from most controllers in its class because it does not intend to estimate(More)
The atomic mass relations among the mass triplet ^{96}Zr, ^{96}Nb, and ^{96}Mo have been determined by means of high-precision mass measurements using the JYFLTRAP mass spectrometer at the IGISOL facility of the University of Jyväskylä. We report Q values for the ^{96}Zr single and double β decays to ^{96}Nb and ^{96}Mo, as well as the Q value for the(More)
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