Exterior view of store J. Meyerhof am Platze; Hildesheim, Germany.

The photograph was taken in the late 19th century or early 20th century before the streetcar tracks were laid and a third floor added to the store. Members of the Meyerhof family lived in the 3rd floor apartment. Note the faces of the seamstresses on the second floor who were producing sheets, etc.

Exterior view of store J. Meyerhof am Platze; Hildesheim, Germany.

The photograph was taken in the late 19th century or early 20th century before the streetcar tracks were laid and a third floor added to the store. Members of the Meyerhof family lived in the 3rd floor apartment. Note the faces of the seamstresses on the second floor who were producing sheets, etc.

Exterior of the Dienemann department store; Stettin (Germany), now Szczecin (Poland).

Digital Image

Exterior view of the Teesdorf Spinnerai und Weberai (spinning and weaving mill); Teesdorf,

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Exterior view of the synagogue in Bielsko-Biala Poland and the street in front of it Synagogues; Exterior

Image donated on CD to LBI library and transferred to photo archive, permission granted to LBI to reproduce, display and share usage-see sys# 339174

Exterior view of the synagogue in Bielsko-Biala Poland and the street in front of it Synagogues; Exterior

Image donated on CD to LBI library and transferred to photo archive, permission granted to LBI to reproduce, display and share usage-see sys# 339174

Exterior view of the synagogue in Bielsko-Biala Poland and the street in front of it Synagogues; Exterior

Handwritten caption reads Bielsko. ul. 3-go Maja

Exterior view of the synagogue in Bielsko-Biala Poland and the street in front of it Synagogues; Exterior

Caption reads Bielitz. Kaiser Franz Josefstrasse, Parkanlage

Exterior view of the Boehm family hat factory; Novy Jicin, Czech Republic Businesses

Tovarna na Klobouky Fv. Boehm

Exterior view of expressionist painter Emil Luethy's home; Gotthardstr. 41 (Basel?) Architecture Residences Exterior

Handwritten on verso: zu obest mein Atelier (My studio on the top floor)

Interior and exterior views of the Boehm family hat factory; (Vienna?).

1) Ansicht des Innenhofes mit den Buerofenstern

Villa Vogelweide; Bussum, Holland Architecture; Residences; Exterior

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A geometric approach for determining inner and exterior boundaries of workspaces of planar manipulators

In this paper a method to determine the internal and external boundaries of planar workspaces, represented with an ordered set of points, is presented. The sequence of points are grouped and can be interpreted to form a sequence of curves. Three successive curves are used for determining the instantaneous center of rotation for the second one of them. The two extremal points on the curve with respect to the instantaneous center are recognized as singular points. The chronological ordering of these singular points is used to generate the two envelope curves, which are potentially intersecting. Methods have been presented in the paper for the determination of the workspace boundary from the envelope curves. Strategies to deal with the manipulators with joint limits and various degenerate situations have also been discussed. The computational steps being completely geometric, the method does not require the knowledge about the manipulator's kinematics. Hence, it can be used for the workspace of arbitrary planar manipulators. A number of illustrative examples demonstrate the efficacy of the proposed method.