[13] In Fig. 3.31, the location of the tool, T, is not accurately known. Using force control, the robot feels around with the tool tip until it inserts it into the socket (or Goal) at location T. Once in this "calibration" configuration (in which {G} and {T) are coincident), the position of the robot, is figured out by reading the joint angle sensors and computing the kinematics. Assuming T and T are known, give the transform equation to compute the unknown tool frame, T.

A-mn has a cubic structure with a0 0.8931 nm and a density of 7.47 g/cm3. b-mn has a different cubic structure, with a0 0.6326 nm and a density of 7.26 g/cm3. the atomic weight of manganese is 54.938 g/mol and the atomic radius is 0.112 nm. determine the percent volume change that would occur if a-mn transforms to b-mn.

Atmospheric air has a temperature (dry bulb) of 80° f and a wet bulb temperature of 60° f when the barometric pressure is 14.696 psia. determine the specific humidity, grains/lb dry air. a. 11.4 c. 55.8 d. 22.5 b. 44.1

An external consultant recommends that a plant installs a bank of capacitors for power factor correction. this will reduce the peak electrical demand charges by an average of 93 kw every month. the plant current pays $13 per kw in peak demand charges. the capacitor bank will include 223 kw of fixed capacitors, and 183 of variable capacitors. the fixed capacitors cost $59 per kw, and the variable capacitors will cost $65 per kw. the consultant charges 21% of the equipment costs to install the capacitors. because this project will reduce the demand for the electric utility, they are prepared to provide a one-time rebate of $42 per kw of reduced demand. what is the simple payback period for this project (in years)?