bekaert geert campbell r harvey christian lundblad and stephan siegel 2007 global growth opportunities and market intergration
Tài liệu The Corporate R&D Tax Credit and U.S. Innovation and Competitiveness docx
... the corporate research tax credit, formally known as the Research and Experimentation Tax Credit and also referred to by the U.S Internal Revenue Service as the Credit for Increasing Research Activities ... Center for American Progress | The Corporate R& D Tax Credit and U.S Innovation and Competitiveness The other targeted research credit, the energy research credit, was created in 2005 to promote ... Internal Revenue Service and learn how different firms and industries use the credit table Top 10 corporate tax expenditures, FY 2008 The corporate R& D tax credit ranks fourth, and corporate...
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Tài liệu Housing Bubbles and Interest Rates by Christian Hott and Terhi Jokipii doc
... market returns: Implications for risk premia on foreign currencies 2010-12 Petra Gerlach-Kristen and Barbara Rudolf: Macroeconomic and interest rate volatility under alternative monetary operating ... 2008-19 Christian Beer, Steven Ongena and Marcel Peter: Borrowing in Foreign Currency: Austrian Households as Carry Traders 2009-1 Thomas Bolli and Mathias Zurlinden: Measurement of labor quality growth ... interest rates were rather moderate Pairwise correlations of interest rate deviations are, on average, positive and significant while correlations between observed rates and Taylor-implied rates range...
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Báo cáo khoa học: Gene regulation by tetracyclines Constraints of resistance regulation in bacteria shape TetR for application in eukaryotes Christian Berens and Wolfgang Hillen pptx
... a8 and a10 from both subunits (see Fig 2), with the respective region from TetR(G) [115] The resulting transrepressors or transactivators regulate gene expression efficiently and not form heterodimers ... expression by Tet transregulators The promoter proximal tetO boxes are represented by black boxes The transregulators are shown as follows: the DNA reading heads are in light gray, the inducer-binding ... expression tightly over a wide range of inducer concentrations Mastering subunit recognition of TetR Tet transregulators vary in their sensitivity towards tetracyclinic inducers The tTA and rtTA...
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Báo cáo khoa học: On the thermodynamic equilibrium between (R)-2-hydroxyacyl-CoA and 2-enoyl-CoAOn the thermodynamic equilibrium between (R)-2-hydroxyacyl-CoA and 2-enoyl-CoA doc
... service to our authors and readers, this journal provides supporting information supplied by the authors Such materials are peer-reviewed and may be re-organized for online delivery, but are ... by reverse-phase chromatography All CoA thioesters were purified by reverse-phase chromatography through Sep-Pak C18 columns (Waters, Milford, MA, USA) The reaction mixtures at pH were freed from ... Buffers and solutions were degassed under reduced pressure, purged with nitrogen, and prereduced with mm dithiothreitol Protein was determined by the Bradford method [29] C symbiosum HB25 was grown...
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Báo cáo sinh học: " Science that “knows” and science that “asks” Pierre R Smeesters1*, Marie Deghorain1 and Andrew C Steer2" pdf
... University of Melbourne, Melbourne, Australia Authors’ contributions PRS is a paediatrician working full time in a basic scientific laboratory for years His research interest is translational research ... thank three anonymous reviewers for their interesting and supportive comments PRS is “chargé de recherche” FNRS (Fond National de Recherche Scientifique) MD is supported by the ESA Exanam project ... restricted and homogeneous universe of their laboratory At the very least, cross-departmental research projects should be more clearly encouraged and supported Increased exposure of basic scientists to...
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Báo cáo hóa học: " Research Article Positioning Based on Factor Graphs Christian Mensing and Simon Plass" pptx
... [15], the rules of SPA can be applied straightforwardly Furthermore, in our derivation we need two general rules [19] for random variables with Gaussian distributions At first, the relation N ... accuracy and moderate complexity The pro- Figure 13: CDF for different numbers of BSs, R = km, σn = 0.1 km posed method is very close to the Cramer-Rao lower bound and outperforms also the noniterative ... research Throughout this paper, vectors and matrices are denoted by lower- and uppercased bold letters The matrix In is the n × n identity matrix, the matrix 0n×m is the n × m matrix with zeros,...
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OF INVARIANT FIBER BUNDLES FOR DYNAMIC EQUATIONS ON MEASURE CHAINS ¨ CHRISTIAN POTZSCHE AND STEFAN pdf
... the proof of Theorem 3.5 completely Higher-order smoothness of invariant fiber bundles In [18] we proved a higher-order smoothness result for the fiber bundle S or R in only a nearly hyperbolic ... appropriate operator 150 Ꮿm -smoothness of invariant fiber bundles Lemma 3.4 (the operator ᐀τ ) Assume Hypothesis 3.1 for m = 1, σmax = b − a /2, and choose τ ∈ T Then for arbitrary growth rates ... integers The Banach spaces ᐄ, ᐅ are all real or complex throughout this paper and their norms are denoted by · ᐄ , · ᐅ , respectively, or simply by · If ᐄ and ᐅ are isometrically isomorphic, we write...
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control of robot manipulators in joint space r kelly v santibanez and a loria ppt
... Series Editors Professor Michael J Grimble, Professor of Industrial Systems and Director Professor Michael A Johnson, Professor Emeritus of Control Systems and Deputy Director Industrial Control ... names are exempt from the relevant laws and regulations and therefore free for general use The publisher makes no representation, express or implied, with regard to the accuracy of the information ... mathematics As a result, courses on robotics continue to gain interest and, following the demands of modern industry, every year more and more program studies, from engineering departments and faculties...
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Advancing banana and plantain R & D in Asia and the Pacific ppsx
... counts (after extraction from the roots) were more useful in assessing the plant growth and the yield loss than the root damage parameters (RKG, ELF and RNI) There was only a very weak correlation ... H: Data were square root transformed before analysis The untransformed data are presented in the table C: Data were cube root transformed before analysis The untransformed data are presented in ... H: Data were log10x transformed before analysis The untransformed data are presented in the table C, G: Data were square root transformed before analysis The untransformed data are presented in...
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Báo cáo lâm nghiệp: "Results of Czech-American cooperation in interspecific fir hybridization in 2008 and 2009" pot
... mature r trees from their natural stands has altered the plant and animal communities unique to the red spruce-Fraser r forest type Apart from its domination in North Carolina, Fraser r is ... other major Christmas tree growing states such as Washington, Michigan and Oregon Christmas tree growers encounter different problems in their specific conditions Four trials are currently underway ... before Fraser r making it extremely susceptible to spring frost damage However, many North Carolina growers have been purchasing greenhouse-produced momi r to use as rootstock to graft Fraser...
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Báo cáo lâm nghiệp: "Response of Douglas-fir leaf area index and litterfall dynamics to Swiss needle cast in north coastal Oregon, USA" ppt
... Plum Creek Timber Company, Green Diamond (formerly Simpson Timber), Starker Forests, and USDA Forest Service for granting access to their land Thanks to Barbara Gartner, Greg Johnson, Everett ... imposed a higher foliage turnover rate, a greater proportion of foliage in younger age classes, and greater average SLA [65] Higher SLA is attributable to flatter and/ or less dense needles, and this ... Cooperative, the Oregon Department of Forestry, and the USDA-Forest Service Forest Health Monitoring program Special thanks to Hampton Tree Farms, Longview Fiber, Oregon Department of Forestry,...
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Báo cáo lâm nghiệp: "Climatic signal in annual growth variation of silver fir (Abies alba Mill.) and spruce (Picea abies Karst.) from the French Permanent Plot Network (RENECOFOR)" ppsx
... years Similarly in Geneva, 1962 was the driest year recorded from 1826−1987 [43] Winter temperatures play also an important role in determining growth, particularly for extremely thin tree-ring ... for total ring, earlywood and latewood, respectively The high values observed for silver r indicate a strong dependence of current growth on the previous year’s growth The number of pointer ... the relative growth variations (RGV %) (−: negative pointer year) Pa and Aa: Picea abies and Abies alba Pos.: positive pointer years (growth recovery); Neg.: negative pointer years (growth reduction)...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 1 ppt
... Series Editors Professor Michael J Grimble, Professor of Industrial Systems and Director Professor Michael A Johnson, Professor Emeritus of Control Systems and Deputy Director Industrial Control ... names are exempt from the relevant laws and regulations and therefore free for general use The publisher makes no representation, express or implied, with regard to the accuracy of the information ... mathematics As a result, courses on robotics continue to gain interest and, following the demands of modern industry, every year more and more program studies, from engineering departments and faculties...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 2 potx
... control problem, whose study is our central objective, is also referred to as trajectory tracking control Let us briefly recapitulate a simple formulation of robot control which, as a matter of ... passivity-based control, variable-structure control, learning control, fuzzy control and neural-networks-based These topics, which demand a deeper knowledge of control and stability theory, may make part of ... International Journal of Robotics Research, Robotica Other journals, which in particular, provide a discussion forum on robot control are • • • • • • • • ASME Journal of Dynamic Systems, Measurement...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 3 doc
... preliminaries we are now ready to present the basic results of Lyapunov stability theory Indeed, the theory of Lyapunov is the product of more than a hundred years of intense study and there are numerous ... Poincar´ (contemporary of and personally known by A e M Lyapunov) and Joseph La Grange, on stability of second-order differential equations such as, precisely, Lagrange’s equations The reference for ... “Nonlinear systems”, Second Edition, Prentice-Hall • Sastry S., 1999, “Nonlinear systems: analysis, stability and control”, SpringerVerlag, New York Other references on differential equations and stability...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 4 docx
... inertia of the rotors about their respective rotating axes Let ri be the gear reduction ratio of each rotor; e.g if r = 50 we say that for every 50 rotor revolutions, the axis after the corresponding ... follows: • properties of the inertia matrix M (q); ˙ • properties of the centrifugal and Coriolis forces matrix C(q, q); • properties of the gravitational forces and torques vector g(q); • properties ... good controller for the actuators is also appropriate to control robots having such actuators and geared transmissions with a high reduction ratio It is important to remark that the parameters involved...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 5 pot
... joint and b2 = π/3 [rad], c2 = π/6 [rad] and ω2 = [rad/s] correspond to parameters that determine the desired position reference for the second joint Figure 5.5 shows graphs of these reference trajectories ... properties of the dynamic model; reference trajectories For analytical purposes, further on, we refer to Figure 5.2, which represents the prototype schematically As is obvious from this figure, ... Analysis and experimentation”, Robotica, Vol 19, pp 11–19 For other properties of robot manipulators not mentioned here and relevant to control, see • Ortega R. , Lor´ A., Nicklasson P J., Sira-Ram´...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 6 potx
... systems”, Oxford University Press, New York More advanced monographs addressed to researchers and texts for graduate students are • Ortega R. , Lor´ A., Nicklasson P J., Sira-Ram´ ıa ırez H., 1998, ... (6.1) where Kp , Kv ∈ IRn×n are symmetric positive definite matrices preselected by the practitioner engineer and are commonly referred to as position gain and velocity (or derivative) gain, respectively ... vector q d ∈ IRn corresponds to ˜ the desired joint position, and the vector q = q d − q ∈ IRn is called position error Figure 6.1 presents a block-diagram corresponding to the control system formed...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 7 pdf
... parameter kp varies “slowly” passing through values that correspond to saddle-node bifurcations Briefly, a catastrophic jump occurs when for a small variation (and which moreover is slow with respect ... 2.0 t [s] Figure 8.4 Graph of the position errors q1 and q2 ˜ ˜ Figure 8.4 shows the experimental results In particular, it shows ˜ that the components of the position error vector q (t) tend ... (8.1) where Kp , Kv ∈ IRn×n are symmetric positive definite matrices chosen by the ˜ designer As is customary, the position error is denoted by q = q d − q ∈ IRn , where q d stands for the desired...
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