Ilse Baum's class portrait Portraits Family

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View of Muensterstrasse including Erich Gustav Baum's haberdashery store (Waesche Baum); Rheine i.W. Portraits Family

The shop was shut down by the Nazis several times during the 1930s

Grete Baum nee Dublon assisting a customer in her husband Erich Gustav Baum's haberdashery store (Waesche Baum); Muensterstrasse, Rheine i.W. Portraits Family

The shop was shut down by the Nazis several times during the 1930s

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.

Portrait of the six Baum family siblings Portraits Family

Standing are Fritz, Joseph and Lilly. The youngest is Hans. Erich is seated center and Walter is seated on the far right.

Fanny and Hugo Eichenwald with two of their three children, Fritz and Hanne outside of their home; Rheine Portraits; Family

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The three Eichenwald children, Fritz, Hanne and Hans Portraits; Family

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Isidor Simon seated at an outdoor table with his wife Friederike nee Falkenburg and two grandchildren, Helmuth and Walther Simon Portraits Family

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Kisch family portrait; Alexander, Mizzi, Charlotte, Guido and Bruno (l-r); Prague.

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Reproduction of photograph of Kaufman and Rosenberg family portrait on the occasion of the wedding of Ludwig Rosenberg and Paula Rosenberg nee Joseph (left); Hamburg.

Includes Ludwig Rosenberg and Paula Rosenberg nee Joseph (left), Thekla (Tekie) Joseph (standing center), Karl Kaufman and Else Kaufman (right)

Schoenewald family portrait; Bad Nauheim, Germany.

Includes Rosi Schoenewald (sister of Dora), Dora Schoenewald (wife of Alfred Apfel and mother of Hannah Busoni), Henni Apfel, Tilly Schoenewald, Luise Schoenewald, Max Schoenewald (brother of Dora), Felix Schoenewald (brother of Dora), Samuel Schoenewald (brother of Dora), and Gerhardt Schoenewald

Family portrait with six unidentified men and women around a dining table holding up large glasses of beer.

Handwritten caption: Es war einmal (Once upon a time there was)

Herz? family studio portrait.

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