This book describes the development of an integrated approach for generating the path and gait of realistic hexapod robotic systems. It discusses in detail locomation with straight-ahead, crab and turning motion capabilities in varying terrains, like sloping surfaces, staircases, and various user-defined rough terrains. It also presents computer simulations and validation using Virtual Prototyping (VP) tools and real-world experiments. The book also explores improving solutions by applying the developed nonlinear, constrained inverse dynamics model of the system formulated as a coupled dynamical problem based on the Newton–Euler (NE) approach and taking into account realistic environmental conditions. The approach is developed on the basis of rigid multi-body modelling and the concept that there is no change in the configuration of the system in the short time span of collisions.
This book describes the development of an integrated approach for generating the path and gait of realistic hexapod robotic systems. It discusses in detail locomation with straight-ahead, crab and turning motion capabilities in varying terrains, like sloping surfaces, staircases, and various user-defined rough terrains. It also presents computer simulations and validation using Virtual Prototyping (VP) tools and real-world experiments. The book also explores improving solutions by applying the developed nonlinear, constrained inverse dynamics model of the system formulated as a coupled dynamical problem based on the Newton–Euler (NE) approach and taking into account realistic environmental conditions. The approach is developed on the basis of rigid multi-body modelling and the concept that there is no change in the configuration of the system in the short time span of collisions.
This book is an effort to tether all the exuberant observations on adding nanomaterial in the TPE matrix. With an enhanced processing property along with amplified recyclability and reprocessing feature, thermoplastic elastomers (TPE) proves to be one of the most significant polymeric materials till date. As the scientific world evolves, these advanced materials have attuned themselves with various anisotropic nanomaterials to induce an enhanced property effect on the final product. On an additional note, authors have done extensive research on graphene, the most multifaceted element in the filler family keeping TPE and its derivate as the matrix martial. Cogitating the idea of a multidimensional readership, authors have analyzed the synthesis, derivatization, and properties of graphene and its derivatives separately. Apart from reviewing the future prospects and the potential application of these nano-filled advanced materials, they have kept the structure–property relationship of graphene-based composites at the cynosure to provide firm understanding on the blossoming of these elastomeric composites. The authors believe this book is a potential content for both professionals and academicians.
Taking possession of private land for ‘public purpose’ by the eminent domain of the state is a global phenomenon, but it displaces and marginalizes the people at the local-level. The researchers have mainly dealt with this phenomenon either from the field, or from the archive. In this book, the author has studied the observable fact of land grab, or acquisition for industries in a particular locale of the West Bengal State by combining the field and archive in a unique mode through a multi-sited ethnographic ‘journey’. Unlike the traditional anthropological ethnographies consisting of single ‘tribes’ or ‘multi-caste villages’, this vertical ethnographic voyage of the author led him to come across a group of dispossessed peasants in the villages, a bunch of files in the district land acquisition department, a rich text of proceedings in the West Bengal Assembly Library, the growing global literature on land grab, and also to reflect on his dialogues with the elected members of the parliamentary standing committee at New Delhi. Ethnography, for the author was the road map, which guided his journey in these apparently separate existential domains of land acquisition and throws new light on how development policies are made, and how they failed, and what were the lessons learnt. Please note: Taylor & Francis does not sell or distribute the Hardback in India, Pakistan, Nepal, Bhutan, Bangladesh and Sri Lanka.
As nature-based approaches for the mitigation of climate change are increasingly seen as part of the solution, blue carbon has recently been receiving greater international attention. This has stimulated renewed interest in better management, conservation and restoration of coastal ecosystems including mangrove forests, seagrass meadows, tidal salt marshes, and seaweed beds for the purpose of climate change mitigation. However, a number of gaps still exist in our scientific knowledge on coastal biodiversity, which are critical to developing blue carbon projects for the international carbon market. The present book has focused on some of these important issues. Apart from standardizing ecological approach in estimating blue carbon in various vegetation compartments, the book also presents few important case studies (as annexure), which can serve as the basics of hand-on-scientific training in estimating the magnitude of stored carbon in mangroves, salt marsh, seagrass, seaweeds and phytoplankton. The influence of salinity, nutrients and several relevant hydrological parameters on the rate of blue carbon sequestration has also been critically analysed.
This book provides a cross-sectoral, multi-disciplinary assessment of different problems associated with estuarine acidification with special thrust on mangrove dominated Indian Sundarban estuaries. The arms of ocean acidification have extended to coastal and estuarine waters, where a wide spectrum of biodiversity thrives with unique adaptation extending several ecosystem services. Impact of acidification in these areas is a matter of concern as acidification potentially has more immediate effects on the health of estuaries and inshore regions as well as regional economies. Ground zero data collected for more than three decades have made the book stand on a strong base.
The book presents recent research on marine ecology in different parts of the world. It aims to shed light on relevant topics for budding marine ecologists. The “blue soup” of Planet Earth, which comprises both biotic and abiotic components, is essential to keeping the wheel of civilization running. Four major ecosystem service categories have been identified within this context, namely provisioning services such as water, food, mangrove timber, honey, fish, wax, fuel wood, fodder and bioactive compounds from marine and estuarine flora and fauna; regulating services such as the regulation of climate, coastal erosion, coral bleaching and pollution; cultural services encompassing recreational (tourism), spiritual and other non-material benefits; and supporting services such as nutrient cycling and photosynthesis. These valuable services are obtained from various resources that must be conserved for the sake of humanity. This book presents data for each resource type, not just in the form of a simple description, but also through case studies that resulted from several research projects and pilot programs carried out in different parts of the world. Statistical tools were also used to critically analyze the influence of relevant hydrological parameters on the biotic community. Advanced research in marine and estuarine ecology is based on the use of sophisticated instruments, sampling precision, statistical tools, etc., which have also been highlighted in the book.
Mangroves are basically salt tolerant forest ecosystems found mainly in tropical and sub-tropical inter-tidal regions. Till about 1960s, mangroves were largely viewed as “economically unproductive areas” and were therefore destroyed for reclaiming land for various economic and commercial activities. Gradually, with the passage of time, the economic and ecological benefits of mangroves have become visible and their importance is now well appreciated. Today, mangroves are observed in about 30 countries in tropical subtropical regions covering an area of about 99,300 Sq.Km. However, during the past 50 years, over 50% of the mangrove cover has been lost, mainly because of the increased pressure of human activities like shrimp farming and agriculture, forestry, salt extraction, urban development, tourist development and infrastructure. Also, dam on rivers, contamination of sea waters caused by heavy metals, oil spills, pesticides and other products etc. have been found to be responsible for the decline of mangroves. Although the temperature effect on growth and species diversity is not known, sea-level rise may pose a serious threat to these ecosystems The present book addresses all these important issues in separate chapters with some interesting case studies whose data may serve as pathfinder for future researches in the sphere of the influence of climate change on mangrove ecosystem. The role of mangroves in the sector of bioremediation is a unique feather in the crown of this coastal and brackishwater vegetation that may be taken up by the coastal industries in order to maintain the health of ambient environment. This book seeks to discover and to assess the vulnerability of climate change on mangrove flora and fauna, their role in carbon sequestration and some interesting case studies by some groups of dedicated researchers that may serve as the basis of future climate related policies.
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