the soft edged mask is the combination of the mask in the top layer mask layer a radial gradient in the middle layer top masked layer and the background image in the bottom layer bottom masked layer
Improving the audit process of fixed assets in financial audits conducted by ac auditing and consulting company limited
... Vertical Analysis: the analysis is based on comparison of the proportion of the targets and items on the financial statements For fixed assets, auditor can calculate a margin as the ratio of self-financing, ... comparison to analyze increase or decrease in the balance tangible or intangible fixed asset, and auditors can compare the data with data in last year to evaluate the reasonableness of the volatility ... fixed assets are presented in the balance sheet (including financial lease fixed assets) actually exist in reality at the end of the fiscal year Completeness - The transactions and amounts arising...
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Báo cáo y học: " Predictors of hepatic steatosis in HBeAg-negative chronic hepatitis B patients and their diagnostic values in hepatic fibrosis"
... hepatic steatosis, so as to evaluate the predictors of clinical and pathological characteristics in these patients with steatosis and their diagnostic values in hepatic fibrosis Patients and ... Hepatic steatosis, stage of fibrosis and grade of disease activity were determined according to the Guidelines for the assessment and management of non-alcoholic fatty liver disease in the Asia-Pacific ... Company, Japan) Each specimen was longer than cm and had more than portal areas Specimens were fixed in buffered formalin, embedded in paraffin, and stained with hematoxylin-eosin-safran and Masson's...
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Numerical simulation and optimization of CO2 sequestration in saline aquifers for enhanced storage capacity and secured sequestration
... condition was maintained at the ceiling and the floor of the domain to simulate non-permeable cap-rock Fixed-state boundary condition was applied at the outer lateral boundaries of the domain, allowing ... it is inevitable that CO2 will eventually rise and concentrate near the ceiling (caprock) of the aquifer, the saturation of gaseous phase (SG) near the top- most layer of the simulation domain is ... interval is described at the midpoint of the interval, called the sample point Since both the information of time (x-axis) and flow rate (y-axis) is needed to describe a certain injection scenario...
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Concentration and distribution of extractable elements in soil as affected by tillage systems and fertil
... 7.59 aA 1.16 aA 1.49 aA 1.95 bA 0.95 aA 1.05 bA 1.41 bA 7.54 aA 4.81 bA 2.30 bA 2.73 bB 2.70 bA 4.10 aB 7.33 bB 17.50 aB 9.75 bB 5.70 aA 5.80 aA 6.10 aA 9.09 aA 8.77 aA 8.36 aA 1.40 aB 1.48 aA 1.80 ... 1.80 aA 0.93 aA 1.09 aA 1.61 bA 8.07 aA 5.51 bA 5.00 bB 2.83 bB 2.80 bA 3.03 bC 7.67aB 11.50 aC 8.75 aB 5.83 aB 5.80 aA 6.18 aA 9.36 aB 8.90 aA 9.10 aA 1.41 aB 1.52 aA 1.64 cA 0.91 aA 1.06 aA 1.68 ... 1.423 aA 1.481 aA 1.425 aA 67.210 aA 78.000 bA 82.250 bA 9.820 aA 10.480 aA 10.225 aB 0.059 aA 0.059 aA 0.091 bA 0.667 aB 0.677 cB 0.668 aB 1.433 aA 1.553 aA 1.575 aA 65.563 aA 79.560 bA 59.875 aB...
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DETERMINATION OF ORGANIC COMPOUNDS IN DRINKING WATER BY LIQUID-SOLID EXTRACTION AND CAPILLARY COLUMN GAS CHROMATOGRAPHY/MASS SPECTROMETRY pdf
... abundance of the quantitation ion of the analyte in the sample Ais = integrated abundance of the quantitation ion of the internal standard in the sample Qis = total quantity (in micrograms) of internal ... contain materials that adversely affect method performance This is accomplished by analyzing replicates of laboratory fortified matrix samples and ascertaining that the precision, accuracy, and ... for each peak RF (Ax) (Qis) (Ais) (Qx) 525.2-20 where: Ax = integrated abundance of the quantitation ion of the analyte Ais = integrated abundance of the quantitation ion internal standard Qx...
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Integration of Weather Information in Transportation Management Center Operations: Self-Evaluation and Planning Guide doc
... Self-Evaluation and Planning Guide Camera imagery Availability of Weather Information Part II Planning and Guidance None Use of External Weather Information Sources 42 Use of Internal Weather Information ... Weather information gathering – Obtaining better weather data and information • Institutional coordination – Coordination within and outside a TMC • Advisory functions – Advisory functions of a ... Weather Information in Transportation Management Center Operations Self-Evaluation and Planning Guide PART II PLANNING AND GUIDANCE 31 Part II Planning and Guidance Integration of Weather Information...
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Báo cáo hóa học: " Detection of epithelial apoptosis in pelvic ileal pouches for ulcerative colitis and familial adenomatous polyposis" pot
... 38:1055-1058 Ueyama H, Kiyohara T, Sawada N, Isozaki K, Kitamura S, Kondo S, Miyagawa J, Kanayama S, Shinomura Y, Ishikawa H, Ohtani T, Nezu R, Nagata S, Matsuzawa Y: High Fas ligand expression ... recurrence of UC in Page of ileal pouch This fact precluded the development of appropriate prophylaxis and treatment The fecal stream and stasis play an important part in the pathogenesis of immunological ... mucosa [16,17] The study of intrinsic and extrinsic apoptosis pathways in ileal pouch remains not completely available and there are few studies in the literature that have evaluated this putative...
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Báo cáo toán học: " Protection of primary users in dynamically varying radio environment: practical solutions and challenges" pot
... improvement of BER and thus, for the implementation of this algorithm in practical systems Advances of the state -of -the- art in the OOB power reduction: promising combination of windowing and CCs ... essential that the spectral shape of the NC-OFDM waveform is treated such that the out -of- band (OOB) radiation is minimized In addition to the issue of OOB interference, OFDM-based waveforms are ... communication system attempting to access the available spectrum in a dynamically varying radio environment, it is also important that the length and shape of the applied window can be also altered...
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control of robot manipulators in joint space r kelly v santibanez and a loria ppt
... imprecise than the analytic model since it largely depends on the inputs and the operating point1 However, in many cases it has the advantage of being much easier and quicker to obtain On certain ... shows a manipulator holding a marked tray, and a camera which provides an image of the tray with marks The output y in this system may correspond to the coordinates associated to each of the marks ... theorems and definitions are kept to a minimum; they are mainly present in Chapter (mathematical preliminaries) and some appendices Yet, when simplicity in the language may induce mathematical ambiguity...
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Báo cáo vật lý: "Volumetric and Thermodynamic Studies of Molecular Interactions in Ternary Liquid Mixtures at 303, 308 and 313K" pptx
... temperature However, the value of viscosity increased with increasing concentrations of 1alkanols and decreased with increasing temperature As the number of hydrocarbon groups or the chain-length of ... with increasing concentrations of DMF This was due to the weakening of the hydrogen bonding interaction between the ketone (cyclohexanone) and alcohols, and also due to the dissociation of alkanol ... molecular interactions in these systems and subsequently to determine the effect of the chain length of 1alkanols EXPERIMENTAL The chemicals used in the present work were analytical reagent (AR) and...
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Báo cáo khoa học: "Molecular analysis of hprt mutation in B6C3F1 mice exposed to ozone alone and combined treatment of 4-(N-methyl-N-nitrosamino)-1-(3-pyridyl)-1-butanone and/or dibutyl phthalate for 32 and 52 weeks" ppsx
... exogenous factors [4] Other important elements in mutagenesis include the various DNA repair and damage tolerance pathways, which may be responsible for and mitigate against the formation of mutations ... Briefly, T-cells were isolated by macerating spleens individually in 12-well plates, layering the cells on a histopaque 1077 and washing the recovered Molecular analysis of hprt mutation cells with ... overlaid with mineral oil and placed in a Robocycler gradient 96 (Stratagene, USA) for 45 at 48oC and for at 94oC, followed by 40 cycles of 30 s denaturation at 94oC, annealing at 55oC, and extension...
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Báo cáo y học: " Interrelated modulation of endothelial function in Behcet''''s disease by clinical activity and corticosteroid treatmen" ppt
... vessel's maximal diameter, at exactly the same anatomical site, was measured FMD was then calculated as the percentage increase in diameter from baseline After 10 min, a second scan at rest was performed ... performed and then nitroglycerin was administered (400 μg sublingual); later a final scan was taken in order to assess nitrate mediated dilatation (NMD), which was used as an index of endothelium independent ... quantitative variables had a normal distribution curve In the crosssectional study analysis of variance (ANOVA), provided by the general linear model, was applied to the comparison of mean values...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 1 ppt
... theorems and definitions are kept to a minimum; they are mainly present in Chapter (mathematical preliminaries) and some appendices Yet, when simplicity in the language may induce mathematical ambiguity ... shows a manipulator holding a marked tray, and a camera which provides an image of the tray with marks The output y in this system may correspond to the coordinates associated to each of the marks ... Hossain and M.H Shaheed Multivariable Control Systems P Albertos and A Sala Control Systems with Input and Output Constraints A. H Glattfelder and W Schaufelberger Analysis and Control of Non-linear...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 2 potx
... obtained is in general more imprecise than the analytic model since it largely depends on the inputs and the operating point1 However, in many cases it has the advantage of being much easier and ... Spectral Norm The spectral norm A of a matrix A ∈ IRn×m is defined as2 A = λMax {ATA}, where λMax {ATA} denotes the largest eigenvalue of the symmetric matrix ATA ∈ IRm×m In the particular case of ... that the matrix A is positive definite and shall not be read as A is greater than 0” which makes no mathematical sense 24 Mathematical Preliminaries A square not necessarily symmetric matrix A...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 3 doc
... La Salle’s Theorem as adapted here for the scope of this text, is a corollary of the so-called La Salle’s invariance principle which was originally and independently proposed by J La Salle and ... if the ith joint is revolute, or to the linear displacement along zi if the ith joint is prismatic In the typical case where the actuators are placed at the joints among the links, the generalized ... mathematician A M Lyapunov in his doctoral thesis in 1892 It is interesting to stress that his work was largely in uenced by that of the French mathematicians H Poincar´ (contemporary of and personally...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 4 docx
... controllers and to analyze the stability, in the sense of Lyapunov, of the equilibria of the closed-loop system In anticipation of the material in later chapters of this text and in support of the material ... Yoshikawa T., 1990, “Foundations of robotics: Analysis and control”, The MIT Press The method of assigning the axis zi as the rotation axis of the ith joint (for revolute joints) or as an axis parallel ... rewritten in the state-space form As a matter of fact, this property is not limited to particular examples but stands as a fact for robot manipulators in general This is because the inertia matrix is...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 5 pot
... configurations since the Jacobian is not used at all: the reference trajectories are given in joint coordinates and we measure joint coordinates This is what is called “control in joint space” Thus, ... Diagram of the 2-DOF Pelican prototype robot I2 denote the moments of inertia of the links with respect to the axes that pass through the respective centers of mass and are parallel to the axis ... derivative In doing this one must keep in mind that the expressions obtained are valid only as long as the robot does not “fall” into a singular configuration, that is, as long as the Jacobian J(q...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 6 potx
... finds that the control laws (6.1) and (6.2) are indistinctly called “PD control” The common argument in favor of this ambiguous terminology is that in the particular case when the vector of desired ... of another Lyapunov function which does not appeal to La Salle’s theorem Certainly, this alternative analysis is also valid for the study of (6.6) ˜ Note that we are not claiming that the matrix ... Equation II.2 ) in the dynamic model of the manipulator (cf Equation II.1) In general, the closed-loop equation is a nonautonomous nonlinear ordinary differential equation Representation of the...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 7 pdf
... digital equipment (e.g ordinary personal computers) take a longer time than the evaluation of the ‘PD-part’ of the control law In certain applications, the (high) sampling frequency specified may ... 8.8 Catastrophic jump and we considered again the numerical values: J = 1, mgl = 9.8 and ˙ kv = 0.1, with the initial conditions q(0) = [rad] and q(0) = [rad/s] When the value of kp is increased ... Equation (8.22) To study the stability properties of the origin, consider now the following Lyapunov function candidate, which as a matter of fact, may be regarded as a generalization of the...
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