Robot Manipulator Control offers a complete survey of control systems for serial-link robot arms and acknowledges how robotic device performance hinges upon a well-developed control system. Containing over 750 essential equations, this thoroughly up-to-date Second Edition, the book explicates theoretical and mathematical requisites for controls design and summarizes current techniques in computer simulation and implementation of controllers. It also addresses procedures and issues in computed-torque, robust, adaptive, neural network, and force control. New chapters relay practical information on commercial robot manipulators and devices and cutting-edge methods in neural network control.
Analysis and Simulation of Chaotic Systems is a text designed to be used at the graduate level in applied mathematics for students from mathematics, engineering, physics, chemistry and biology. The book can be used as a stand-alone text for a full year course or it can be heavily supplemented with material of more mathematical, more engineering or more scientific nature. Computations and computer simulations are used throughout this text to illustrate phenomena discussed and to supply readers with probes to use on new problems.
This book lays out a vision for a coherent framework for understanding complex systems. By developing the genuine idea of Brownian agents, the author combines concepts from informatics, such as multiagent systems, with approaches of statistical many-particle physics. It demonstrates that Brownian agent models can be successfully applied in many different contexts, ranging from physicochemical pattern formation to swarming in biological systems.
Functional electrical stimulation is the most important application in the field of clinical treatment with currents or magnetism. This technique artificially generates neural activity in order to overcome lost functions of the paralized, incontinent or sensory handicapped patient. Electricity and magnetism is also used in many cases, e.g., to stimulate bone growth or wound healing. Nevertheless, the basic mechanism of the artificial excitation of nerve and muscle fibers has become known only in the last few years. Although many textbooks are concerned with the natural excitation process there is a lack of information on the influence of an applied electrical or magnetic field. This book, written for students and biomedical engineers, should close the gap and, furthermore, it should stimulate the design of new instrumentation using optimal strategies.
Devoted to local and global analysis of weakly connected systems with applications to neurosciences, this book uses bifurcation theory and canonical models as the major tools of analysis. It presents a systematic and well motivated development of both weakly connected system theory and mathematical neuroscience, addressing bifurcations in neuron and brain dynamics, synaptic organisations of the brain, and the nature of neural codes. The authors present classical results together with the most recent developments in the field, making this a useful reference for researchers and graduate students in various branches of mathematical neuroscience.
The Eye in History is a comprehensive manual describing the structure and function of the eye, ocular disorders and their treatment. Beginning with an introduction to anatomy and discussion on different disorders, the authors also review eye diseases of famous historical people and perception differences between men and women. The final sections discuss eye surgery and future technologies including the bionic eye, nanotechnology and gene therapy. Edited by Frank Joseph Goes of the Goes Eye Centre in Belgium, this multi-authored book has contributions from specialists throughout Europe, as well as the USA. 830 full colour images and illustrations assist comprehension. Key points Comprehensive guide to structure and function of the eye, ocular disorders and treatment Includes sections on eye diseases of famous historical people, the art of painting and perception Discusses future technologies including bionic eye, nanotechnology and gene therapy Edited by Frank Joseph Goes of Goes Eye Centre, Belgium, with contributions from authors across Europe and the USA Features 830 full colour images and illustrations
This is the first textbook to include the matrix continued-fraction method, which is very effective in dealing with simple Fokker-Planck equations having two variables. Other methods covered are the simulation method, the eigen-function expansion, numerical integration, and the variational method. Each solution is applied to the statistics of a simple laser model and to Brownian motion in potentials. The whole is rounded off with a supplement containing a short review of new material together with some recent references. This new study edition will prove to be very useful for graduate students in physics, chemical physics, and electrical engineering, as well as for research workers in these fields.
Surveys the world of place branding and marketing and offers readers an illuminating overview of the state-of-the-art of place branding principles, practices and processes
Chapters written by professional and academic experts in the field cover: analytical modeling and analysis, CEA modeling and numerical methods, techniques for dynamometer and road test evaluation, critical parameters that contribute to brake squeal, robust design processes to reduce/prevent brake squeal via up-front design, and more.
A Stewardship of the Mysteries is an ecumenical work that explores current issues in the administration of the sacraments and the role of the word of God, in the order of the eucharist in Roman Catholic, Protestant, and Orthodox churches."--BOOK JACKET.Title Summary field provided by Blackwell North America, Inc. All Rights Reserved
The 5-Minute Clinical Consult provides rapid-access information on the diagnosis, treatment, medications, follow-up, and associated conditions of more than 700 medical conditions. Organized alphabetically by diagnosis, this best-selling clinical reference continues to present brief, bulleted points on disease topics in a consistent templated format.
Jean Ternant's life (1751-1833) spanned a period of enormous change in European life. Born when men were still subject to judicial torture, he lived to see the dawn of the railroad age. It was an era of political upheaval: the American Revolution, the "patriot" movement of the Dutch Republic, the Vonckist uprising in the Austrian Netherlands, the French Revolution, the Polish rebellion against Imperial Russia, the Greek war for independence and the struggle for independence in Spain's South American colonies all occurred during Ternant's lifetime. He was an active participant in four of them. The son of a French leather goods merchant, Jean Ternant nevertheless built a public service career in an aristocratic society based on birth and privilege, commanding a regiment in the French army before being appointed minister-plenipotentiary to the United States. His story of public service undertaken for private ends illustrates the value of education and social contacts as well as the importance of luck and circumstances.
The aim of this book is to introduce the subject of mathematical modeling in the life sciences. It is intended for students of mathematics, the physical sciences, and engineering who are curious about biology. Additionally, it will be useful to students of the life sciences and medicine who are unsatisfied with mere description and who seek an understanding of biological mechanism and dynamics through the use of mathematics. The book will be particularly useful to premedical students, because it will introduce them not only to a collection of mathematical methods but also to an assortment of phenomena involving genetics, epidemics, and the physiology of the heart, lung, and kidney. Because of its introductory character, mathematical prerequisites are kept to a minimum; they involve only what is usually covered in the first semester of a calculus sequence. The authors have drawn on their extensive experience as modelers to select examples which are simple enough to be understood at this elementary level and yet realistic enough to capture the essence of significant biological phenomena drawn from the areas of population dynamics and physiology. Because the models presented are realistic, the book can serve not only as an introduction to mathematical methods but also as a mathematical introduction to the biological material itself. For the student, who enjoys mathematics, such an introduction will be far more stimulating and satisfying than the purely descriptive approach that is traditional in the biological sciences.
Ultrasound is the backbone of modern obstetric and gynecology practice. Recent technological breakthroughs in diagnostic ultrasound, including the advent of color Doppler, power Doppler, three-dimensional and four dimensional imaging, have led ultrasound to surpass the expectations of Ian Donald, its visionary father. The text is divided into three parts general aspects, obstetrics, and gynecology. The first and second textbooks were successful in this endeavor, but with the explosion of knowledge, it was clear that an expanded and updated third edition would be invaluable. Section one deals with a variety of topics that lay the foundation for the rest of the book. Section two addresses the myriad subtopics in obstetric ultrasound that optimize the care of pregnant women and fetal patients. The last section addresses the essential role that ultrasound plays in the many dimensions of clinical gynecology.
“This international collaboration between air war historians is simply fantastic. . . . a deep-dive on the operations in a vast and very important theater of war.” —Air Classics During the final year of World War II, the defending Axis forces were steadily driven from southern skies by burgeoning Anglo-American power. This was despite the steady withdrawal of units to more demanding areas. This fifth volume of the series describes in detail the activities of the Allied tactical air forces in support of the armies on the ground as their opponents were steadily extracted from northern Italy and the Balkans for the final defense of the central European homeland. The book commences with coverage of the final fierce air-sea battles over the Aegean that preceded the advance northward to Rome and the ill-conceived British attempt to secure the Dodecanese islands following the armistice with Italy. The authors also deal fully and comprehensively with the advance northward following the occupation of Rome, and the departure of forces to support the invasion of France from the Riviera coast, coupled with the formation of a new Balkan Air Force in eastern Italy to pursue the German armies withdrawing from Yugoslavia and take possession of newly freed Greece. The effect of the creation within the same area of the US and RAF strategic forces to join the Allied Combined Bombing Offensive is also discussed. Includes photographs “Reflects the scope of a remarkable research effort and provides valuable detail that the reader is not going to find between two covers elsewhere.” —The NYMAS Review
This is the fifth edition of a well-established textbook. It is intended to provide a thorough coverage of the fundamental principles and techniques of classical mechanics, an old subject that is at the base of all of physics, but in which there has also in recent years been rapid development. The book is aimed at undergraduate students of physics and applied mathematics. It emphasizes the basic principles, and aims to progress rapidly to the point of being able to handle physically and mathematically interesting problems, without getting bogged down in excessive formalism. Lagrangian methods are introduced at a relatively early stage, to get students to appreciate their use in simple contexts. Later chapters use Lagrangian and Hamiltonian methods extensively, but in a way that aims to be accessible to undergraduates, while including modern developments at the appropriate level of detail. The subject has been developed considerably recently while retaining a truly central role for all students of physics and applied mathematics.This edition retains all the main features of the fourth edition, including the two chapters on geometry of dynamical systems and on order and chaos, and the new appendices on conics and on dynamical systems near a critical point. The material has been somewhat expanded, in particular to contrast continuous and discrete behaviours. A further appendix has been added on routes to chaos (period-doubling) and related discrete maps. The new edition has also been revised to give more emphasis to specific examples worked out in detail.Classical Mechanics is written for undergraduate students of physics or applied mathematics. It assumes some basic prior knowledge of the fundamental concepts and reasonable familiarity with elementary differential and integral calculus.
Get a complete understanding of aircraft control and simulation Aircraft Control and Simulation: Dynamics, Controls Design, and Autonomous Systems, Third Edition is a comprehensive guide to aircraft control and simulation. This updated text covers flight control systems, flight dynamics, aircraft modeling, and flight simulation from both classical design and modern perspectives, as well as two new chapters on the modeling, simulation, and adaptive control of unmanned aerial vehicles. With detailed examples, including relevant MATLAB calculations and FORTRAN codes, this approachable yet detailed reference also provides access to supplementary materials, including chapter problems and an instructor's solution manual. Aircraft control, as a subject area, combines an understanding of aerodynamics with knowledge of the physical systems of an aircraft. The ability to analyze the performance of an aircraft both in the real world and in computer-simulated flight is essential to maintaining proper control and function of the aircraft. Keeping up with the skills necessary to perform this analysis is critical for you to thrive in the aircraft control field. Explore a steadily progressing list of topics, including equations of motion and aerodynamics, classical controls, and more advanced control methods Consider detailed control design examples using computer numerical tools and simulation examples Understand control design methods as they are applied to aircraft nonlinear math models Access updated content about unmanned aircraft (UAVs) Aircraft Control and Simulation: Dynamics, Controls Design, and Autonomous Systems, Third Edition is an essential reference for engineers and designers involved in the development of aircraft and aerospace systems and computer-based flight simulations, as well as upper-level undergraduate and graduate students studying mechanical and aerospace engineering.
This book is devoted exclusively to a very special class of random processes, namely, to random walk on the lattice points of ordinary Euclidian space. The author considers this high degree of specialization worthwhile because the theory of such random walks is far more complete than that of any larger class of Markov chains. Almost 100 pages of examples and problems are included.
Based on a course on advanced topics in differential equations given at the Courant Institute of Mathematical Sciences, this book describes aspects of mathematical modeling, analysis, computer simulation, and visualization in the mathematical sciences and engineering that involve singular perturbations.
Complex industrial or robotic systems with uncertainty and disturbances are difficult to control. As system uncertainty or performance requirements increase, it becomes necessary to augment traditional feedback controllers with additional feedback loops that effectively “add intelligence” to the system. Some theories of artificial intelligence (AI) are now showing how complex machine systems should mimic human cognitive and biological processes to improve their capabilities for dealing with uncertainty.This book bridges the gap between feedback control and AI. It provides design techniques for “high-level” neural-network feedback-control topologies that contain servo-level feedback-control loops as well as AI decision and training at the higher levels. Several advanced feedback topologies containing neural networks are presented, including “dynamic output feedback”, “reinforcement learning” and “optimal design”, as well as a “fuzzy-logic reinforcement” controller. The control topologies are intuitive, yet are derived using sound mathematical principles where proofs of stability are given so that closed-loop performance can be relied upon in using these control systems. Computer-simulation examples are given to illustrate the performance.
An introduction to mathematical methods used in the study of population phenomena including models of total population and population age structure, models of random population events presented in terms of Markov chains, and methods used to uncover qualitative behavior of more complicated difference equations.
This book discusses human perception and performance within the framework of the theory of self-organizing systems. To that end, it presents a variety of phenomena and experimental findings in the research field, and provides an introduction to the theory of self-organization, with a focus on amplitude equations, order parameter and Lotka-Volterra equations. The book demonstrates that relating the experimental findings to the mathematical models provides an explicit account for the causal nature of human perception and performance. In particular, the notion of determinism versus free will is discussed in this context. The book is divided into four main parts, the first of which discusses the relationship between the concept of determinism and the fundamental laws of physics. The second part provides an introduction to using the self-organization approach from physics to understand human perception and performance, a strategy used throughout the remainder of the book to connect experimental findings and mathematical models. In turn, the third part of the book focuses on investigating performance guided by perception: climbing stairs and grasping tools are presented in detail. Perceptually relevant bifurcation parameters in the mathematical models are also identified, e.g. in the context of walk-to-run gait transitions. Chains of perceptions and actions together with their underlying mechanisms are then presented, and a number of experimental phenomena – such as selective attention, priming, child play, bistable perception, retrieval-induced forgetting, functional fixedness and memory effects exhibiting hysteresis with positive or negative sign – are discussed. Human judgment making, internal experiences such as dreaming and thinking, and Freud’s concept of consciousness are also addressed. The fourth and last part of the book explores several specific topics such as learning, social interactions between two people, life trajectories, and applications in clinical psychology. In particular, episodes of mania and depression under bipolar disorder, perception under schizophrenia, and obsessive-compulsive rituals are discussed. This book is intended for researchers and graduate students in psychology, physics, applied mathematics, kinesiology, and the sport sciences who want to learn about the foundations of the field. Written for a mixed audience, the experiments and concepts are presented using non-technical language throughout. In addition, each chapter includes more advanced sections for modelers in the fields of physics and applied mathematics.
This is the fifth edition of a well-established textbook. It is intended to provide a thorough coverage of the fundamental principles and techniques of classical mechanics, an old subject that is at the base of all of physics, but in which there has also in recent years been rapid development. The book is aimed at undergraduate students of physics and applied mathematics. It emphasizes the basic principles, and aims to progress rapidly to the point of being able to handle physically and mathematically interesting problems, without getting bogged down in excessive formalism. Lagrangian methods are introduced at a relatively early stage, to get students to appreciate their use in simple contexts. Later chapters use Lagrangian and Hamiltonian methods extensively, but in a way that aims to be accessible to undergraduates, while including modern developments at the appropriate level of detail. The subject has been developed considerably recently while retaining a truly central role for all students of physics and applied mathematics.This edition retains all the main features of the fourth edition, including the two chapters on geometry of dynamical systems and on order and chaos, and the new appendices on conics and on dynamical systems near a critical point. The material has been somewhat expanded, in particular to contrast continuous and discrete behaviours. A further appendix has been added on routes to chaos (period-doubling) and related discrete maps. The new edition has also been revised to give more emphasis to specific examples worked out in detail.Classical Mechanics is written for undergraduate students of physics or applied mathematics. It assumes some basic prior knowledge of the fundamental concepts and reasonable familiarity with elementary differential and integral calculus.
This book provides a comprehensive introduction to the mathematical methodology of parameter continuation, the computational analysis of families of solutions to nonlinear mathematical equations. It develops a systematic formalism for constructing abstract representations of continuation problems and for implementing these in an existing computational platform. Recipes for Continuation lends equal importance to theoretical rigor, algorithm development, and software engineering; demonstrates the use of fully developed toolbox templates for single- and multisegment boundary-value problems to the analysis of periodic orbits in smooth and hybrid dynamical systems, quasi-periodic invariant tori, and homoclinic and heteroclinic connecting orbits between equilibria and/or periodic orbits; shows the use of vectorization for optimal computational efficiency, an object-oriented paradigm for the modular construction of continuation problems, and adaptive discretization algorithms for guaranteed bounds on estimated errors; and contains extensive and fully worked examples that illustrate the application of the MATLAB®-based Computational Continuation Core (COCO) to problems from recent research literature that are relevant to dynamical system models from mechanics, electronics, biology, economics, and neuroscience.
Get comprehensive, practical coverage of both surgical and non-surgical treatment approaches from the world’s most trusted authorities in spine surgery and care. Rothman-Simeone and Herkowitz’s The Spine, 7th Edition, edited by Drs. Steven R. Garfin, Frank J. Eismont, Gordon R. Bell, Jeffrey S. Fischgrund, and Christopher M. Bono, presents state-of-the-art techniques helping you apply today’s newest developments in your practice. Highlights critical information through the use of pearls, pitfalls, and key points throughout the text, as well as more than 2,300 full-color photographs and illustrations. Offers a newly revised, streamlined format that makes it easier than ever to find the information you need. Contains new chapters on the clinical relevance of finite element modeling and SI joint surgery. Includes an expanded section on minimally invasive spine surgery, including recent developments and future directions. Provides the latest evidence-based research from high-quality studies, including new randomized controlled trials for lumbar stenosis, surgery, fusion, and injections. Presents the knowledge and expertise of new international contributors, as well as new editorial leadership from Dr. Steven Garfin.
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