Unidentified man, Elizabeth Krakauer nee Gottschalk and Hans Krakauer on board the ship Koenigstein traveling from Antwerp to New York City on their emigration voyage from Germany.

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A Newton-Euler formulation for the inverse dynamics of the Stewart platform manipulator

This paper presents an inverse dynamic formulation by the Newton–Euler approach for the Stewart platform manipulator of the most general architecture and models all the dynamic and gravity effects as well as the viscous friction at the joints. It is shown that a proper elimination procedure results in a remarkably economical and fast algorithm for the solution of actuator forces, which makes the method quite suitable for on-line control purposes. In addition, the parallelism inherent in the manipulator and in the modelling makes the algorithm quite efficient in a parallel computing environment, where it can be made as fast as the corresponding formulation for the 6-dof serial manipulator. The formulation has been implemented in a program and has been used for a few trajectories planned for a test manipulator. Results of simulation presented in the paper reveal the nature of the variation of actuator forces in the Stewart platform and justify the dynamic modelling for control.

Herman Sommerfeld with unidentifed men and women on board a ship from Tallin to Helsinki (and on to the United States) Portraits Groups

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Rose Wergert nee Herz on deck of the ship New York.

Rose, sister of Fred and Beatrice Herz

Albert and Elsa Einstein seated on ship deck Portraits; Couples

Signed lower right Albert Einstein

Walter Gottschalk and Fritz Gottschalk (Papa) saying goodbye to Elizabeth and Hans Krakauer who are on board the ship Koenigstein leaving to emigrate to America; Antwerp, Belgium.

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Unidentified man, Elizabeth Krakauer nee Gottschalk and Hans Krakauer on board the ship Koenigstein traveling from Antwerp to New York City on their emigration voyage from Germany.

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Rose Wergert nee Herz on deck of the ship New York.

Rose, sister of Fred and Beatrice Herz

Mathias family preparing to board the ship "Deutschland" to emigrate from Germany to New York Portraits; Family

On January 6, 1938 our family left Nazi Germany and boarded a ship "Deutschland" for New York. This ended our family's life in Germany forever. Rudolph ES Mathias.

Photo collage of Steven Lowell, his parents Fritz Loewenthal and Alice (Lizzie) nee Weissberger, in Amsterdam and on the ship that brought them to the United States.

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Albert and Elsa Einstein on board ship with captain and unidentified man and woman leaving Hamburg going to California Portraits; Groups

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Sale of ship "Farmer" to Isaac M. Gomez by Joao Jose da Silva

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Copy of 1794 bill of sale of the ship "Farmer"

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Diffusive and ship-mediated spread of dinoflagellates in the Baltic Sea with Prorocentrum minimum as a special case

In this thesis the role played by expansive and introduced species in the phytoplankton ecology of the Baltic Sea was investigated. The aims were threefold. First, the studies investigated the resting stages of dinoflagellates, which were transported into the Baltic Sea via shipping and were able to germinate under the ambient, nutrient-rich, brackish water conditions. The studies also estimated which factors favoured the occurrence and spread of P. minimum in the Baltic Sea and discussed the identification of this morphologically variable species. In addition, the classification of phytoplankton species recently observed in the Baltic Sea was discussed. Incubation of sediments from four Finnish ports and 10 ships ballast tanks revealed that the sediments act as sources of living dinoflagellates and other phytoplankton. Dinoflagellates germinated from all ports detected and from 90% of ballast tanks. The concentrations of cells germinating from ballast tank sediments were mostly low compared with the acceptable cell concentrations set by the International Maritime Organization s (IMO s) International Convention for the Control and Management of Ships Ballast Water and Sediments. However, the IMO allows such high concentrations of small cells in the discharged ballast water that the total number of cells in large ballast water tanks can be very high. Prorocentrum minimum occurred in the Baltic Sea annually but with no obvious trend in the 10-year timespan from 1993 to 2002. The species occurred under wide ranges of temperatures and salinities and the abundance of the species was positively related especially to the presence of organic nitrogen and phosphorus. This indicated that the species was favoured by increased organic nutrient loading and runoff from land and rivers. The cell shape of P. minimum varied from triangular to oval-round, but morphological fine details indicated that only one morphospecies was present. P. minimum also is, according to present knowledge, the only potentially harmful phytoplankton species that has recently expanded widely into new areas of the Baltic Sea.

An algebraic formulation of static isotropy and design of statically isotropic 6-6 Stewart platform manipulators

In this paper, we present an algebraic method to study and design spatial parallel manipulators that demonstrate isotropy in the force and moment distributions. We use the force and moment transformation matrices separately, and derive conditions for their isotropy individually as well as in combination. The isotropy conditions are derived in closed-form in terms of the invariants of the quadratic forms associated with these matrices. The formulation is applied to a class of Stewart platform manipulator, and a multi-parameter family of isotropic manipulators is identified analytically. We show that it is impossible to obtain a spatially isotropic configuration within this family. We also compute the isotropic configurations of an existing manipulator and demonstrate a procedure for designing the manipulator for isotropy at a given configuration. (C) 2008 Elsevier Ltd. All rights reserved.