This paper addresses the identification and correction of amplitude and offset errors in the sinusoidal outputs from incremental position encoders. Precise angular position measurement is of high importance in many position control applications. Manufacturing tolerances and noise from thermal and electromagnetic interference sources introduce systematic and random errors in the orthogonal sine cosine output line signals. Evaluation of these signals reproduces deviations in the measured angular position. This paper proposes two methods to identify and compensate for the influence of the systematic errors online without the necessity of a reference measurement during identification. The key component of the methods is a nonlinear estimator that exploits the orthogonality property of harmonic functions. The first method explains the basic idea with a scalar error model and operates continuously but exhibits an angular shift in direction of rotation during transients of the parameters, whereas the second method assumes an error model with error parameters as a function over one full revolution of the encoder. The latter updates the error function iteratively in subsequent revolutions.
The career choice motivation of future early childhood educators is a research desideratum.So the following research contrasts the career choice motivation of future early childhood educators (n=190) with future primary teachers (n=219) and grammar school teachers (n=403). The instrument used for this research refers to the realm of study and career choice motivation. By means of confirmatory factor analysis the instrument was confirmed.
Krankenhaus?rzte genie?en nach wie vor gesellschaftlich ?hohes ?Ansehen. In den letzten Jahren stehen sie vermehrt im Fokus der ?Belastungsforschung. Analysiert werden dabei u.?a. ?berufsimmanente Stressoren, Ressourcen und Risikofaktoren. Der Beitrag ?pr?sentiert aktuelle Zahlen und leitet aus den ?Forschungsergebnissen ?Empfehlungen f?r die Praxis ab.
Der Artikel befasst sich mit der Fallgeschichte von Gerd Leuschner. Der Nutzen von Fallgeschichten für die Illustration theoretischer Konzepte sowie als Selbsterzählung zur Stabilisierung der eigenen Berateridentität werden diskutiert. Die Assoziationen der Autorin aufgrund der Art der Selbsterzählung (narrativer Ton, Schlüsselszenen, etc.) fokussieren auf den Umgang mit Macht im Beratungskontext. Zum Schluss werden Ideen für alternative Formen der Fallerzählung vorgeschlagen, die mehr Raum für Lernen und Assoziation ermöglichen.
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