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We present extensive density-functional theory (DFT) based calculations of the clean Rh(111) surface and of CO/Rh(111) overlayer systems. We study both ground-state structural properties and core-level shifts from differences in total energies at different coverages and adsorption sites. Most results are obtained using using norm-conserving or ultrasoft pseudopotentials. The overall reliability of
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Parallel robots are generally said to be more accurate and have a smaller workspace compared to serial robots. With the Gantry-Tau robot, a parallel robot with relatively large workspace was presented. This article examines the end-effector positioning accuracy of the Gantry-Tau robot. End-effector positioning errors arising from joint positioning or modeling errors are studied. A geometric approa
