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In this study, we present a hybrid kinematic modeling approach for serial robotic manipulators, which offers improved accuracy compared to conventional methods. Our method integrates the geometric properties of the robot with ground truth data, resulting in enhanced modeling precision. The proposed forward kinematic model combines classical kinematic modeling techniques with neural networks trained on accurate ground truth data. This fusion enables us to minimize modeling errors effectively. In order to address the inverse kinematic problem, we utilize the forward hybrid model as feedback within a non-linear optimization process. Unlike previous works, our formulation incorporates the rotational component of the end effector, which is beneficial for applications involving orientation, such as inspection tasks. Furthermore, our inverse kinematic strategy can handle multiple possible solutions. Through our research, we demonstrate the effectiveness of the hybrid models as a high-accuracy kinematic modeling strategy, surpassing the performance of traditional physical models in terms of positioning accuracy.
Biochar as a boon for soil fertility in the tropics still has to show that it is able to provide the same benefits to soils in temperate regions. Here an Austrian study with the objective to analyze the extent of benefits that biochar application offers to agricultural soils in Europe beyond its role as a carbon sequestration strategy is presented. Based on hypothesis testing, several potential benefits of biochar were examined in a series of lab analyses, greenhouse and field experiments. Three hypotheses could be confirmed: biochar can protect groundwater by reducing the nitrate migration in seepage water; biochar can mitigate atmospheric greenhouse gas accumulation by reducing soil N2O emissions; and biochar can improve soil physical properties by increasing water storage capacity. One hypothesis was only partly confirmed: biochar supports the thriving of soil microorganisms only in specific soil and climate settings. Two hypotheses were refuted: biochar does not generally provide nutrients to plants except when produced from specific feedstocks or by combining it with mineral or organic fertilizers; the cost-effectiveness of biochar application is not given under current production costs if the existing benefits of biochar are not transferable to financial value.
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