This book investigates a biologically inspired method of robot arm control, developed with the objective of synthesising human-like motion dynamically, using nonlinear, robust and adaptive control techniques in practical robot systems. The control method caters to a rising interest in humanoid robots and the need for appropriate control schemes to match these systems. Unlike the classic kinematic schemes used in industrial manipulators, the dynamic approaches proposed here promote human-like motion with better exploitation of the robot’s physical structure. This also benefits human-robot interaction. The control schemes proposed in this book are inspired by a wealth of human-motion literature that indicates the drivers of motion to be dynamic, model-based and optimal. Such considerations lend themselves nicely to achievement via nonlinear control techniques without the necessity for extensive and complex biological models. The operational-space method of robot control forms the basis of many of the techniques investigated in this book. The method includes attractive features such as the decoupling of motion into task and posture components. Various developments are made in each of these elements. Simple cost functions inspired by biomechanical “effort” and “discomfort” generate realistic posture motion. Sliding-mode techniques overcome robustness shortcomings for practical implementation. Arm compliance is achieved via a method of model-free adaptive control that also deals with actuator saturation via anti-windup compensation. A neural-network-centered learning-by-observation scheme generates new task motions, based on motion-capture data recorded from human volunteers. In other parts of the book, motion capture is used to test theories of human movement. All developed controllers are applied to the reaching motion of a humanoid robot arm and are demonstrated to be practically realisable. This book is designed to be of interest to those wishing to achieve dynamics-based human-like robot-arm motion in academic research, advanced study or certain industrial environments. The book provides motivations, extensive reviews, research results and detailed explanations. It is not only suited to practising control engineers, but also applicable for general roboticists who wish to develop control systems expertise in this area.
Optimal and Robust Scheduling for Networked Control Systems tackles the problem of integrating system components—controllers, sensors, and actuators—in a networked control system. It is common practice in industry to solve such problems heuristically, because the few theoretical results available are not comprehensive and cannot be readily applied by practitioners. This book offers a solution to the deterministic scheduling problem that is based on rigorous control theoretical tools but also addresses practical implementation issues. Helping to bridge the gap between control theory and computer science, it suggests that the consideration of communication constraints at the design stage will significantly improve the performance of the control system. Technical Results, Design Techniques, and Practical Applications The book brings together well-known measures for robust performance as well as fast stochastic algorithms to assist designers in selecting the best network configuration and guaranteeing the speed of offline optimization. The authors propose a unifying framework for modelling NCSs with time-triggered communication and present technical results. They also introduce design techniques, including for the codesign of a controller and communication sequence and for the robust design of a communication sequence for a given controller. Case studies explore the use of the FlexRay TDMA and time-triggered control area network (CAN) protocols in an automotive control system. Practical Solutions to Your Time-Triggered Communication Problems This unique book develops ready-to-use engineering tools for large-scale control system integration with a focus on robustness and performance. It emphasizes techniques that are directly applicable to time-triggered communication problems in the automotive industry and in avionics, robotics, and automated manufacturing.
This book investigates a biologically inspired method of robot arm control, developed with the objective of synthesising human-like motion dynamically, using nonlinear, robust and adaptive control techniques in practical robot systems. The control method caters to a rising interest in humanoid robots and the need for appropriate control schemes to match these systems. Unlike the classic kinematic schemes used in industrial manipulators, the dynamic approaches proposed here promote human-like motion with better exploitation of the robot’s physical structure. This also benefits human-robot interaction. The control schemes proposed in this book are inspired by a wealth of human-motion literature that indicates the drivers of motion to be dynamic, model-based and optimal. Such considerations lend themselves nicely to achievement via nonlinear control techniques without the necessity for extensive and complex biological models. The operational-space method of robot control forms the basis of many of the techniques investigated in this book. The method includes attractive features such as the decoupling of motion into task and posture components. Various developments are made in each of these elements. Simple cost functions inspired by biomechanical “effort” and “discomfort” generate realistic posture motion. Sliding-mode techniques overcome robustness shortcomings for practical implementation. Arm compliance is achieved via a method of model-free adaptive control that also deals with actuator saturation via anti-windup compensation. A neural-network-centered learning-by-observation scheme generates new task motions, based on motion-capture data recorded from human volunteers. In other parts of the book, motion capture is used to test theories of human movement. All developed controllers are applied to the reaching motion of a humanoid robot arm and are demonstrated to be practically realisable. This book is designed to be of interest to those wishing to achieve dynamics-based human-like robot-arm motion in academic research, advanced study or certain industrial environments. The book provides motivations, extensive reviews, research results and detailed explanations. It is not only suited to practising control engineers, but also applicable for general roboticists who wish to develop control systems expertise in this area.
Optimal and Robust Scheduling for Networked Control Systems tackles the problem of integrating system components—controllers, sensors, and actuators—in a networked control system. It is common practice in industry to solve such problems heuristically, because the few theoretical results available are not comprehensive and cannot be readily applied by practitioners. This book offers a solution to the deterministic scheduling problem that is based on rigorous control theoretical tools but also addresses practical implementation issues. Helping to bridge the gap between control theory and computer science, it suggests that the consideration of communication constraints at the design stage will significantly improve the performance of the control system. Technical Results, Design Techniques, and Practical Applications The book brings together well-known measures for robust performance as well as fast stochastic algorithms to assist designers in selecting the best network configuration and guaranteeing the speed of offline optimization. The authors propose a unifying framework for modelling NCSs with time-triggered communication and present technical results. They also introduce design techniques, including for the codesign of a controller and communication sequence and for the robust design of a communication sequence for a given controller. Case studies explore the use of the FlexRay TDMA and time-triggered control area network (CAN) protocols in an automotive control system. Practical Solutions to Your Time-Triggered Communication Problems This unique book develops ready-to-use engineering tools for large-scale control system integration with a focus on robustness and performance. It emphasizes techniques that are directly applicable to time-triggered communication problems in the automotive industry and in avionics, robotics, and automated manufacturing.
The result of 15 years of exhaustive research, this work is the definitive statistical and factual reference for everything related to college football in the past 50 years.
Chelation Therapy in the Treatment of Metal Intoxication presents a practical guide to the use of chelation therapy, from its basic chemistry, to available chelating antidotes, and the application of chelating agents. Several metals have long been known to be toxic to humans, and continue to pose great difficulty to treat. These challenges pose particular problems in industrial settings, with lead smelting known to be associated with hemopoietic alterations and paralyses, and the inhalation of mercury vapor in mercury mining being extremely detrimental to the central nervous system. Clinical experience has demonstrated that acute and chronic human intoxications with a range of metals can be treated efficiently by administration of chelating agents. Chelation Therapy in the Treatment of Metal Intoxication describes the chemical and biological principles of chelation in the treatment of these toxic metal compounds, including new chelators such as meso-2,3-dimercaptosuccinic acid (DMSA) and D,L-2,3-dimercapto-1-propanesulfonic acid (DMPS). Presents all the current findings on the potential for chelation as a therapy for metal intoxication Presents practical guidelines for selecting the most appropriate chelating agent Includes coverage on radionuclide exposure and metal storage diseases Describes the chemical and biological principles of chelation in the treatment of toxic metal compounds
The Identity of the Local Communities of Eastern Anatolia, South Caucasus and Periphery During the Late Bronze and Early Iron Age. A Reassessment of the Material Culture and the Socio-Economic Landscape
The Identity of the Local Communities of Eastern Anatolia, South Caucasus and Periphery During the Late Bronze and Early Iron Age. A Reassessment of the Material Culture and the Socio-Economic Landscape
This study analyses the social and symbolic value of the material culture, in particular the pottery production and the architecture, and the social structure of the local communities of a broad area encompassing Eastern Anatolia, the South Caucasus and North-western Iran during the last phase of the Late Bronze Age and the Early Iron Age. This broad area is known from the Assyrian texts as ‘Nairi lands’. The second part of the study, furnishes a reassessment of pottery production characteristics and theories, as well as of the socio-economic structure and issues, tied to the sedentary and mobile local communities of the Nairi lands. The study brings into focus the characteristics, the extension and the distribution of Grooved pottery, along with other pottery typologies, by providing an accompanying online catalogue with detailed descriptions and high-resolution images of the pots and sherds obtained from public and private institutions in Turkey and Armenia. Moreover, the socio-political organisation and subsistence economy issues are addressed in order to advance a possible reconstruction of the social structure of the Nairi lands communities. Particular attention is devoted to the pastoral nomad component and the role played within the Nairi phenomenon. The study includes a very large corpus of text images and high-resolution color images of the pottery of the area under examination, gathered by the author in order to offer a reliable tool and compendium.
This book addresses selected central questions in phenomenological psychology, a discipline that investigates the experience of self that emerges over the course of an individual’s life, while also outlining a new method, the formal indication, as a means of accessing personal experience while remaining faithful to its uniqueness. In phenomenological psychology, the psyche no longer refers to an isolated self that remains unchanged by life’s changing situations, but is rather a phenomenon (ipseity) which manifests itself and constantly takes form over the course of a person’s unique existence. Thus, the formal indication allows us to study the way in which ipseity relates to the world in different situations, in a way that holds different meanings for different people. Based on this new approach, phenomenological psychotherapy marks a transition from a mode of grasping the truth about oneself through reflection, to a mode of accessing the disclosure of self through a work of self-transformation (the care of self) that requires the person to actually change her position on herself. By putting forward this method, the authors shed new light on the dynamic interplay between a person’s historicity and uniqueness on the one hand, and the related physiopathological mechanisms on the other, providing evidence from the fields of genetics, cardiology, the neurosciences and psychiatry. The book will appeal to a broad readership, from psychiatrists, psychologist and psychotherapists, to researchers in these fields.
In recent years the increased awareness of environmental issues has led to the development of new approaches to product design, known as Design for Environment and Life Cycle Design. Although still considered emerging and in some cases radical, their principles will become, by necessity, the wave of the future in design. A thorough exploration of t
Strategic delegation is a widespread phenomenon in economic and social systems. In many situations the main interested party benefits from appointing a delegate to take action that the principal - were he playing - could not credibly take. This book contributes to the literature studying such a phenomenon, by extending the analysis of its implications for firms' strategy in product markets, by investigating how it may affect the trade union's activity, by studying its dynamic influence on the evolution of strategic interactions that the delegating party is involved in. The welfare effects of strategic delegation turn out to be uncertain and crucially depend on the features of the situation considered, both in static and in dynamic frameworks.
Many different systems both in nature and in technology can be described by means of networks of interconnected components. Despite their different aspects, all of them share similar mathematical properties. In this book we explain how to recognize these features and why these different systems develop this common structure.
Atherosclerosis is a chronic inflammatory disease of large and middle-sized blood vessels, and the leading cause of death among adults in the Western world. Recent evidence suggests that several molecular and cellular mechanisms play an important role in atherosclerosis and plaque progression. One of these mechanisms includes autophagy, a subcellular process for elimination of damaged organelles and protein aggregates via lysosomes. According to in vitro observations, the autophagic machinery is stimulated by several stress-related stimuli inside plaques, such as oxidized lipids, endoplasmic reticulum stress, hypoxia, nutrient deprivation, and inflammation. Although its role in atherosclerosis has not yet been fully established, a growing body of evidence indicates that autophagy has a protective function in atherosclerosis. It stimulates cholesterol efflux and reduces foam cell formation. Moreover, it prevents apoptosis by removing oxidatively damaged hyperpolarized mitochondria before reactive oxygen species production and cytochrome c release. Another important recent finding is that macrophage autophagy plays an essential role in delaying lesion progression by suppressing inflammasome activation. Interestingly, excessive everolimus-induced autophagy leads to selective macrophage death, and is a promising plaque-stabilizing strategy. Overall, autophagy seems to be a major player in atherosclerosis, but further research has to be performed to fully clarify its role in this disease.
This journey to the beginnings of the physician's art brings to life the civilizations of the ancient world--Egypt of the Pharaohs, Greece at the time of Hippocrates, Rome under the Caesars, the India of Ashoka, and China as Mencius knew it. Probing the documents and artifacts of the ancient world with a scientist's mind and a detective's eye, Guido Majno pieces together the difficulties people faced in the effort to survive their injuries, as well as the odd, chilling, or inspiring ways in which they rose to the challenge. In asking whether the early healers might have benefited their patients, or only hastened their trip to the grave, Dr. Majno uncovered surprising answers by testing ancient prescriptions in a modern laboratory. Illustrated with hundreds of photographs, many in full color, and climaxing ten years of work, The Healing Hand is a spectacular recreation of man's attempts to conquer pain and disease.
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