A cable-driven manipulator can precisely manipulate tools and loads using position, velocity and force control modes. The manipulator includes a plurality of cables (2 or more) that are independently controlled by modular, winch drive-mechanisms and coordinated to achieve intuitive manipulator movem.....
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"This invention presents a process and an apparatus for the production of water-insoluble lignin granulates for material and energetic usage.Pulp extraction for manufacturing paper from wood or grasses generates lignin, which has a high calorific value, in large amounts as a side-product and compone.....
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"Distillative separation, particularly of thermolabile volatile substances, is often associated with a significant reduction in quality due to the thermal degradation of the substances being distilled. For example, many substances containing plant matter, such as essential oils, can scarcely be dist.....
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