Historically valuable canvas paintings are often exposed to conditions enabling microbial deterioration.Painting materials, mainly of organic origin, in combination with high humidity and other environmental conditions, favor microbial metabolism and growth.These preconditions are often present during exhibitions or storage in old buildings, such a
This article re-examines the circumstances, reasons and date of taking Tigranes II the Great into hostage by the Parthians from a new perspective.In the light of in-formation from late Babylonian cuneiform, Greco-Roman, ancient Armenian Alternity and ancient Georgian sources, the prevailing scholarly opinion that the surrender of Prince Tigranes as
Abstract This study suggests a new nature-inspired metaheuristic optimization algorithm called the red-tailed hawk algorithm (RTH).As a predator, the red-tailed hawk has a hunting strategy from detecting the prey until the swoop stage.There are three stages during the hunting process.In the high soaring stage, the red-tailed hawk explores the searc
Today, offline programing is available on industrial manipulators and used in many factories.However, the absolute accuracy of robots is insufficient due to manufacturing and assembly tolerances, thus it is necessary to Digital Anti Theft perform kinematic calibration in advance.Most of existing calibration methods require a large amount of measure
Abstract A novel trajectory tracking strategy is developed for a double Other Bath Accessories Products actuated swing in a hydraulic construction robot.Specifically, a nonlinear hydraulic dynamics model of a double actuated swing is established, and a parameter adaptive sliding mode control strategy is designed to enhance the trajectory tracking p