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Abstract

In this report, ankle rehabilitation routines currently approved by physicians are implemented via novel control algorithms on a recently appeared robotic device known as the motoBOTTE. The physician specifications for gait cycles are translated into robotic trajectories whose tracking is performed twofold depending on the availability of a model: (1) if obtained via the Euler-Lagrange approach along with identification of unknown plant parameters, a new computed-torque control law is proposed; it takes into account the parallel-robot characteristics; (2) if not available, a variation of the active disturbance rejection control technique whose parameters need to be tuned, is employed. A detailed discussion on the advantages and disadvantages of the model-based and model-free results, from the continuous-time simulation to the discrete-time implementation, is included.
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Authors and Affiliations

Juan Carlos Arceo
1
Jorge Álvarez
2
Carlos Armenta
1
Jimmy Lauber
1
Sylvain Cremoux
3
Emilie Simoneau-Buessinger
1
Miguel Bernal
2

  1. Université Polytechnique Hauts-de-France, LAMIH UMR CNRS 8201, F-59313 Valenciennes, France
  2. Sonora Institute of Technology, 5 de Febrero 818 Sur, Ciudad Obregon, Sonora, Mexico
  3. Centre de Recherche Cerveau et Cognition, CNRS UMR 5549, Université de Toulouse, Toulouse 31052, France
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Abstract

The state of the art in the field of composite polymer bridges in Poland is presented below. Such bridges were built from 1999. Some of them are fully composite polymer structure. Others are developed as hybrid structure. There are two kind of structures: steel girders with FRP deck and FRP girders with concrete deck. Different production methods of FRP elements were used: pultrusion and infusion. Some bridges are the result of research programs, but there are also some commercial projects. Also, the short application history of FRP bridges all over the world is presented and material properties of the construction material are given in the paper. Those materials are much more lighter than steel or concrete. Low weight of FRP materials is an advantage but also disadvantage. It is good from structural and economical point of view because the dimensions of girders, piers and foundation will be smaller. From opposite side to light structure could cause problems related to response of structure against dynamic actions. As a final result the fatigue strength and durability will be reduced. Of course, the high cost of FRP (CFRP especially) limits at the moment range of application. The presented in the paper bridge structures show that despite of mentioned above problems they are now in good conditions and their future life looks optimistic. It could be supposed that modification and/or development of FRP production technologies more better utilizing their properties will create more elegant and useful bridges.
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Bibliography


[1] Chróścielewski J., Miśkiewicz M., Pyrzowski Ł, Wilde K., “Composite GFRP U-shaped footbridge”, Polish Maritime Research, Special Issue 2017 S1 (93) 2017 Vol. 24, pp. 25–31.
[2] Chróścielewski J., Miśkiewicz M., Pyrzowski Ł, Sobczyk B., Wilde K., “A novel sandwich footbridge – Practical application of laminated composites in bridge design and in situ measurements of static response”, Composites Part B Vol. 126, 2017, pp. 153–161.
[3] De Corte W., Jansseune A., Van Paepegem W., Peeters J., “Structural behaviour and robustness assessment of an InfraCore inside bridge deck specimen subjected to static and dynamic local loading”, Proceedings of the 21st International Conference on Composite Materials, Xi’an, 2017.
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Authors and Affiliations

Tomasz Siwowski
1
ORCID: ORCID
Henryk Zobel
2
ORCID: ORCID
Thakaa Al-Khafaji
2
ORCID: ORCID
Wojciech Karwowski
2
ORCID: ORCID

  1. Rzeszow University of Technology, Faculty of Civil & Environmental Engineering & Architecture, ul. Powstancow Warszawy 12, 35-859 Rzeszow, Poland
  2. Warsaw University of Technology, Faculty of Civil Engineering, Al. Armii Ludowej 16, 00-637 Warsaw, Poland
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Abstract

The medieval manuscripts of St. Mary’s Church Library ( Biblioteka Mariacka) are the oldest part of the collections of the Gdansk Library, with some items dating back to the 12th century. In view of their topics and history, they provide a priceless testimony to the history of Pomerania. The value of the manuscripts lies not only in their contents and ornamentation, but also in the fact that they include parchment documents bound by Gdansk bookbinders, which have survived in an excellent condition. The uniqueness of the collection was confirmed by the missal Missale secundum notulam dominorum Teutonicorum (Ms. Mar. F 332) being entered on UNESCO’s “Memory of the World” Polish National Register in 2016.
After 1921, not a single study discussing the provenance of books kept in St. Mary’s Church Library was written. This paper is an attempt to partially fill in the gap – to indicate the scribes and owners of the most valuable manuscripts. Among the latter, special attention should be devoted to clergymen connected with St. Mary’s church: Andreas Slommow, Heinrich Calow, and Johannes Zager, a lawyer Nicolaus Velan, and a scribe Johannes Rasoris from Nidzica.
For the purposes of this article, books kept by the Library were divided into sections: theology, philosophy, law and medicine; manuscripts related to the Teutonic Order were also given a separate section. Such a division may help the readers use the library holdings. The text also discusses the most important wartime losses.
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Authors and Affiliations

Agata Larczyńska
1
ORCID: ORCID

  1. PAN Biblioteka Gdańska, Dział Zbiorów Specjalnych
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Abstract

Gerhard Cimmermann (1541–1602), a Gdańsk councillor, donated 49 books to Bibliotheca Senatus Gedanensis (August 13th, 1598). The abbreviated descriptions of the donatory collection items were included on three pages in Index Librorum, the first catalogue of Bibliotheca Senatus Gedanensis. Fifteen books from the original collection have survived until the present day. The identification was based on the owner’s dedication note and bookplate attached to the books. Apparently, before donating his books, Gerhard Cimmermann ordered a special bookplate to mark his ownership. Cimmermann’s oval-shaped copperplate bookplate with the Polish Korab coat of arms in the centre has two letters, G and C, on both sides and the date: 1597 beneath the heraldic design. The article includes a list of the preserved books.
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Authors and Affiliations

Helena Dzienis
ORCID: ORCID

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