This book focuses on the performance of mobile robots through the use of multi-hierarchical symbolic representations of the environment. To perform deliberative actions, a robot must possess some symbolic representation of its workspace, but representations of real environments can become so large that they must be conveniently arranged to facilitate and, in some cases, make possible their use. Practical solutions tested on real robots, for example a robotic wheelchair, are provided.
This book addresses conventional and new predictive methodologies for estimating thermophysical properties of heavy petroleum fluids. For the unidentifiable fractions forming the fluids, chemical structures are calculated so that property estimation methods for mixtures of identifiable components are now available for such fractions. Chemical and multiphase equilibriums are of utmost importance; hence, the most significant ones involving heavy petroleum fluids are determined and illustrated using advanced equations of state such as sPC-SAFT and EoS/GE. The included phase equilibriums are phase envelopes of reservoir fluids, asymmetric mixtures between light solvents and bitumen including the presence of water and asphaltenes, among others. Besides, heavy petroleum fluids are analyzed from the Newtonian and non-Newtonian viewpoints, exploring their complex rheological behavior. Finally, complemented by online an Excel program for the thermodynamic characterization of unidentifiable petroleum fractions, this book is a useful resource for engineers and researchers in the petroleum industry and is also of interest to students studying chemical and petroleum engineering.
This book presents the theory of waves propagation in a fluid-saturated porous medium (a Biot medium) and its application in Applied Geophysics. In particular, a derivation of absorbing boundary conditions in viscoelastic and poroelastic media is presented, which later is employed in the applications. The partial differential equations describing the propagation of waves in Biot media are solved using the Finite Element Method (FEM). Waves propagating in a Biot medium suffer attenuation and dispersion effects. In particular the fast compressional and shear waves are converted to slow diffusion-type waves at mesoscopic-scale heterogeneities (on the order of centimeters), effect usually occurring in the seismic range of frequencies. In some cases, a Biot medium presents a dense set of fractures oriented in preference directions. When the average distance between fractures is much smaller than the wavelengths of the travelling fast compressional and shear waves, the medium behaves as an effective viscoelastic and anisotropic medium at the macroscale. The book presents a procedure determine the coefficients of the effective medium employing a collection of time-harmonic compressibility and shear experiments, in the context of Numerical Rock Physics. Each experiment is associated with a boundary value problem, that is solved using the FEM. This approach offers an alternative to laboratory observations with the advantages that they are inexpensive, repeatable and essentially free from experimental errors. The different topics are followed by illustrative examples of application in Geophysical Exploration. In particular, the effects caused by mesoscopic-scale heterogeneities or the presence of aligned fractures are taking into account in the seismic wave propagation models at the macroscale. The numerical simulations of wave propagation are presented with sufficient detail as to be easily implemented assuming the knowledge of scientific programming techniques.
Presenting a selection of topics in the area of nonlocal and nonlinear diffusions, this book places a particular emphasis on new emerging subjects such as nonlocal operators in stationary and evolutionary problems and their applications, swarming models and applications to biology and mathematical physics, and nonlocal variational problems. The authors are some of the most well-known mathematicians in this innovative field, which is presently undergoing rapid development. The intended audience includes experts in elliptic and parabolic equations who are interested in extending their expertise to the nonlinear setting, as well as Ph.D. or postdoctoral students who want to enter into the most promising research topics in the field.
This text explores the connections between different thermodynamic subjects related to fluid systems. Emphasis is placed on the clarification of concepts by returning to the conceptual foundation of thermodynamics and special effort is directed to the use of a simple nomenclature and algebra. The book presents the structural elements of classical thermodynamics of fluid systems, covers the treatment of mixtures, and shows via examples and references both the usefulness and the limitations of classical thermodynamics for the treatment of practical problems related to fluid systems. It also includes diverse selected topics of interest to researchers and advanced students and four practical appendices, including an introduction to material balances and step-by-step procedures for using the Virial EOS and the PRSV EOS for fugacities and the ASOG-KT group method for activity coefficients. The Olivera-Fuentes table of PRSV parameters for more than 800 chemical compounds and the Gmehling-Tochigi tables of ASOG interaction parameters for 43 groups are included.
The third was: "Madame goes out to 'obey'; Madame orders' obey '; Madame says' obey 'in error." The third was: "Madame goes out to' obey '; Madame orders' obey '; Madame says' blind '." Fourth De: "The madame has to wait for her makeup; the madame has to give up her money; the madame has to endure her anger; the madame has to remember her birthdays." Everyone envied him how mighty he was, a prince of the Crown Prince's house, holding a golden spoon in his mouth. However, who would have known that he would be so scared that he would start to fight with the kitten every day. Then, he would take a wrong step and wash his clothes on a wooden board. She was clearly a 'naive and innocent' peasant girl, but in the blink of an eye, she turned into a tigress who was secretly stealing her lungs. Three from four minds remember, only for the Madame's appearance. Husband and wife returned to the fields, and the imperial power and wealth could be thrown away.
This work addresses inverse dynamic games, which generalize the inverse problem of optimal control, and where the aim is to identify cost functions based on observed optimal trajectories. The identified cost functions can describe individual behavior in cooperative systems, e.g. human behavior in human-machine haptic shared control scenarios.
Ancient times witnessed the origins of the theory of continued fractions. Throughout time, mathematical geniuses such as Euclid, Aryabhata, Fibonacci, Bombelli, Wallis, Huygens, or Euler have made significant contributions to the development of this famous theory, and it continues to evolve today, especially as a means of linking different areas of mathematics. This book, whose primary audience is graduate students and senior researchers, is motivated by the fascinating interrelations between ergodic theory and number theory (as established since the 1950s). It examines several generalizations and extensions of classical continued fractions, including generalized Lehner, simple, and Hirzebruch-Jung continued fractions. After deriving invariant ergodic measures for each of the underlying transformations on [0,1] it is shown that any of the famous formulas, going back to Khintchine and Levy, carry over to more general settings. Complementing these results, the entropy of the transformations is calculated and the natural extensions of the dynamical systems to [0,1]2 are analyzed. Features Suitable for graduate students and senior researchers Written by international senior experts in number theory Contains the basic background, including some elementary results, that the reader may need to know before hand, making it a self-contained volume
Research on advanced energy conversion devices such as solar cells has intensified in the last two decades. A broad landscape of candidate materials and devices were discovered and systematically studied for effective solar energy conversion and utilization. New concepts have emerged forming a rather powerful picture embracing the mechanisms and limitation to efficiencies of different types of devices. The Physics of Solar Energy Conversion introduces the main physico-chemical principles that govern the operation of energy devices for energy conversion and storage, with a detailed view of the principles of solar energy conversion using advanced materials. Key Features include: Highlights recent rapid advances with the discovery of perovskite solar cells and their development. Analyzes the properties of organic solar cells, lithium ion batteries, light emitting diodes and the semiconductor materials for hydrogen production by water splitting. Embraces concepts from nanostructured and highly disordered materials to lead halide perovskite solar cells Takes a broad perspective and comprehensively addresses the fundamentals so that the reader can apply these and assess future developments and technologies in the field. Introduces basic techniques and methods for understanding the materials and interfaces that compose operative energy devices such as solar cells and solar fuel converters.
The study of animal movement has always been a key element in ecological science, because it is inherently linked to critical processes that scale from individuals to populations and communities to ecosystems. Rapid improvements in biotelemetry data collection and processing technology have given rise to a variety of statistical methods for characterizing animal movement. The book serves as a comprehensive reference for the types of statistical models used to study individual-based animal movement. Animal Movement is an essential reference for wildlife biologists, quantitative ecologists, and statisticians who seek a deeper understanding of modern animal movement models. A wide variety of modeling approaches are reconciled in the book using a consistent notation. Models are organized into groups based on how they treat the underlying spatio-temporal process of movement. Connections among approaches are highlighted to allow the reader to form a broader view of animal movement analysis and its associations with traditional spatial and temporal statistical modeling. After an initial overview examining the role that animal movement plays in ecology, a primer on spatial and temporal statistics provides a solid foundation for the remainder of the book. Each subsequent chapter outlines a fundamental type of statistical model utilized in the contemporary analysis of telemetry data for animal movement inference. Descriptions begin with basic traditional forms and sequentially build up to general classes of models in each category. Important background and technical details for each class of model are provided, including spatial point process models, discrete-time dynamic models, and continuous-time stochastic process models. The book also covers the essential elements for how to accommodate multiple sources of uncertainty, such as location error and latent behavior states. In addition to thorough descriptions of animal movement models, differences and connections are also emphasized to provide a broader perspective of approaches.
The second volume, Foundations of Carrier Transport, presents a catalogue of the physics of carrier transport in semiconductors with a view to energy device models. We systematically explain the diffusion-drift model that is central to solar cell operation, the different responses of band bending and electrical field distribution that occur when a voltage is applied to a device with contacts and the central issue of injection and mechanisms of contacts. We describe the carrier transport in disordered materials that often appear as good candidates for easily processed solar cells. There are also excursions into other important topics such as the transistor configuration and the frequency domain techniques as Impedance Spectroscopy that produce central experimental tools for the characterization of the devices.
Wherever there is life, there are lies. Slick-suited politicians lie on the podium, ready to tell voters what they want to hear. Cheating lovers, swindling businessmen, double-crossing villains – all liars. But nature lies too – the cheetah crouching in the tall grass waiting to pounce, its spots and straw-coloured fur blending in with its surroundings, the chameleon with its adaptable skin, the octopus hiding in its cave. Juan Jacinto Muñoz-Rengel uncovers the slippery history of lies, some dark and elusive, others thunderous and dazzling. From primeval forests to modern politics, he explores the uncomfortable truths of our white lies, fudged facts and blatant deceptions. For centuries, philosophers, writers and poets have grappled with the paradox of what’s fact and what’s fiction. So who can we really believe? Our friends? Our partners? Our leaders? Can we even trust ourselves? Truly, this is the only book in which the abundance of lies on its pages is a sign of success. Or maybe it isn’t. Who can really tell?
She died fighting for her country, and when she woke up, she was humiliated in public. On the day of the wedding, he had paid respects to the rooster. How many people could meet him? She had become the laughingstock of the Southern Kingdom. Everyone despised her, but she remained calm and collected. "Prince, can you give me a piece of paper?" If marriage was disgraceful, then he would sacrifice his blood to her! Courtyard battles, house fights, stepping on scum men, exterminating the white lotus! While chatting and laughing, she was adept at it. The world was in chaos. A group of outstanding talents rose up, and she had all kinds of calculations. She fought for the favor, and she was like the wind and water that surged up! In this life, she would no longer be a sacrifice to the chaotic world. She would turn the world upside down!
This monograph presents an approachable proof of Mirzakhani’s curve counting theorem, both for simple and non-simple curves. Designed to welcome readers to the area, the presentation builds intuition with elementary examples before progressing to rigorous proofs. This approach illuminates new and established results alike, and produces versatile tools for studying the geometry of hyperbolic surfaces, Teichmüller theory, and mapping class groups. Beginning with the preliminaries of curves and arcs on surfaces, the authors go on to present the theory of geodesic currents in detail. Highlights include a treatment of cusped surfaces and surfaces with boundary, along with a comprehensive discussion of the action of the mapping class group on the space of geodesic currents. A user-friendly account of train tracks follows, providing the foundation for radallas, an immersed variation. From here, the authors apply these tools to great effect, offering simplified proofs of existing results and a new, more general proof of Mirzakhani’s curve counting theorem. Further applications include counting square-tiled surfaces and mapping class group orbits, and investigating random geometric structures. Mirzakhani’s Curve Counting and Geodesic Currents introduces readers to powerful counting techniques for the study of surfaces. Ideal for graduate students and researchers new to the area, the pedagogical approach, conversational style, and illuminating illustrations bring this exciting field to life. Exercises offer opportunities to engage with the material throughout. Basic familiarity with 2-dimensional topology and hyperbolic geometry, measured laminations, and the mapping class group is assumed.
This volume contains the proceedings of the Second Workshop of Mexican Mathematicians Abroad (II Reunión de Matemáticos Mexicanos en el Mundo), held from December 15–19, 2014, at Centro de Investigación en Matemáticas (CIMAT) in Guanajuato, Mexico. This meeting was the second in a series of ongoing biannual meetings aimed at showcasing the research of Mexican mathematicians based outside of Mexico. The book features articles drawn from eight broad research areas: algebra, analysis, applied mathematics, combinatorics, dynamical systems, geometry, probability theory, and topology. Their topics range from novel applications of non-commutative probability to graph theory, to interactions between dynamical systems and geophysical flows. Several articles survey the fields and problems on which the authors work, highlighting research lines currently underrepresented in Mexico. The research-oriented articles provide either alternative approaches to well-known problems or new advances in active research fields. The wide selection of topics makes the book accessible to advanced graduate students and researchers in mathematics from different fields.
This book represents a novel approach to differential topology. Its main focus is to give a comprehensive introduction to the classification of manifolds, with special attention paid to the case of surfaces, for which the book provides a complete classification from many points of view: topological, smooth, constant curvature, complex, and conformal. Each chapter briefly revisits basic results usually known to graduate students from an alternative perspective, focusing on surfaces. We provide full proofs of some remarkable results that sometimes are missed in basic courses (e.g., the construction of triangulations on surfaces, the classification of surfaces, the Gauss-Bonnet theorem, the degree-genus formula for complex plane curves, the existence of constant curvature metrics on conformal surfaces), and we give hints to questions about higher dimensional manifolds. Many examples and remarks are scattered through the book. Each chapter ends with an exhaustive collection of problems and a list of topics for further study. The book is primarily addressed to graduate students who did take standard introductory courses on algebraic topology, differential and Riemannian geometry, or algebraic geometry, but have not seen their deep interconnections, which permeate a modern approach to geometry and topology of manifolds.
Edited to avoid duplication and favor comprehensiveness, 20 contributors detail the recovery, separation, and purification operations of bioprocess technology. Individual chapters in this classic yet still highly relevant work emphasize concepts that are becoming more and more important when applied to the large scale versions of techniques that are considered well established. Aside from fully discussing processes, Separation Processes in Biotechnology includes sections on concentration separation and operation, purification operations, and product release and recovery. It also discusses plant operation and equipment and delves into economic considerations
This text explores the connections between different thermodynamic subjects related to fluid systems. In an innovative way, it covers the subject from first principles to the state of the art in fundamental and applied topics. Using simple nomenclature and algebra, it clarifies concepts by returning to the conceptual foundation of thermodynamics. The structural elements of classical and molecular thermodynamics of fluid systems presented cover, via examples and references, both the usefulness and the limitations of thermodynamics for the treatment of practical problems. This new edition explores recent advances in statistical associated fluid theories and contains creative end‐of‐chapter problems connecting the theory with real‐life situations. It includes new chapters on thermodynamics of polymer solutions and molecular thermodynamics and also presents advances in the study of the activity of individual ions. Provides a concise structure of concepts, using simple nomenclature and algebra Clarifies problems usually overlooked by standard texts Features end‐of‐chapter problems to enhance the reader’s understanding of the concepts Includes diverse topics of interest to researchers and advanced students, including elements of statistical thermodynamics, models of solutions, statistical associated fluid theory and the activity of individual ions Offers four appendices giving step‐by‐step procedures and parameters for direct use of the PRSV equation of state and the ASOG‐KT group method for fugacity and activity coefficient calculations Features a complete set of solutions to problems throughout the book, available for download on the book’s webpage under "Support Material" This textbook is written for advanced undergraduate and graduate students studying chemical engineering and chemistry as well as for practicing engineers and researchers.
Modeling and Analysis of Compositional Data presents a practical and comprehensive introduction to the analysis of compositional data along with numerous examples to illustrate both theory and application of each method. Based upon short courses delivered by the authors, it provides a complete and current compendium of fundamental to advanced methodologies along with exercises at the end of each chapter to improve understanding, as well as data and a solutions manual which is available on an accompanying website. Complementing Pawlowsky-Glahn’s earlier collective text that provides an overview of the state-of-the-art in this field, Modeling and Analysis of Compositional Data fills a gap in the literature for a much-needed manual for teaching, self learning or consulting.
This book constitutes the refereed proceedings of the 12th Conference of the Spanish Association for Artificial Intelligence, CAEPIA 2007, held in Salamanca, Spain, in November 2007, in conjunction with the 7th Workshop on Artificial Intelligence Technology Transfer, TTIA 2007. The 28 revised full papers presented were carefully selected during two rounds of reviewing and improvement from 134 submissions. The papers address all current issues of artificial intelligence ranging from methodological and foundational aspects to advanced applications in various fields.
Describes the state-of-the-art techniques and methods involved in the design, operation, preparation and containment of bioreactor systems, taking into account the interrelated effects of variables associated with both upstream and downstream stages of the design process. The importance of the initial steps in the development of a bioprocess, such
This collection of papers in honour of Juan-Carlos Simo cover subjects including: dynamical problems for geometrically exact theories of nonlinearly viscoelastic rods; gravity waves on the surface of the sphere; and problems and progress in microswimming.
This book provides an up-to-date account of research in Approximation Theory and Complex Analysis, areas which are the subject of recent exciting developments.The level of presentation should be suitable for anyone with a good knowledge of analysis, including scientists with a mathematical background. The volume contains both research papers and surveys, presented by specialists in the field. The areas discussed are: Orthogonal Polynomials (with respect to classical and Sobolev inner products), Approximation in Several Complex Variables, Korovkin-type Theorems, Potential Theory, Ratinal Approximation and Linear Ordinary Differential Equations.
Aimed at research students and academics in mathematics and engineering, as well as engineering specialists, this book provides a systematic and comprehensive presentation of the mathematical theory of the nonlinear heat equation usually called the Porous Medium Equation.
This book is dedicated to studying the thermodynamic bases of the structure-function relationship of proteins. It moves from the elementary principles of physical chemistry to the most current topics of biochemistry, including those that may be subject to some controversy. It considers thermodynamic properties related to the stability and function of proteins from the point of view of physics in a language that, without sacrificing conceptual rigor, is easy to read. Detailing the thermodynamics of protein-ligand interactions, protein naturation, allostery, oxidative phosphorylation and protein phosphorylation, the book will be of interest to students and teachers of chemistry, physics, biochemistry and biotechnology.
* Winner of the Ferran Sunyer i Balaguer Prize in 2000. * Reviews the necessary prerequisites, beginning with an introduction to Lie symmetries on Poisson and symplectic manifolds. * Currently in classroom use in Europe. * Can serve as a resource for graduate courses and seminars in Hamiltonian mechanics and symmetry, symplectic and Poisson geometry, Lie theory, mathematical physics, and as a comprehensive reference resource for researchers.
In this paper, we use quarterly data and a novel database on fiscal policy consolidation announcements, for a sample of advanced economies and emerging markets to quantify the effects of fiscal tightening on inflation expectations. We find that fiscal consolidation announcements reduce inflation expectations over the medium-term (three and five-years ahead), but not in the short-term (one-year ahead). There is also some evidence that consolidation announcements reduce “disagreement” about expected future inflation at longer horizons. The inflation anchoring role of consolidation announcements is enhanced by the strength of a country’s fiscal and monetary frameworks, and when fiscal and monetary policy work in tandem. In addition, we find that initial conditions matter—inflation expectation’s response to consolidation announcements is larger in periods of high contemporaneous inflation. With these results in hand, we show that the effectiveness of fiscal consolidation in controlling realized inflation depends greatly on the response of inflation expectations to consolidation announcements. These results show that fiscal policy is crucial to anchor inflation expectations and a key element of a credible disinflationary process.
This book aims the optimal design of a material (thermic or electrical) obtained as the mixture of a finite number of original materials, not necessarily isotropic. The problem is to place these materials in such a way that the solution of the corresponding state equation minimizes a certain functional that can depend nonlinearly on the gradient of the state function. This is the main novelty in the book. It is well known that this type of problems has no solution in general and therefore that it is needed to work with a relaxed formulation. The main results in the book refer to how to obtain such formulation, the optimality conditions, and the numerical computation of the solutions. In the case of functionals that do not depend on the gradient of the state equation, it is known that a relaxed formulation consists of replacing the original materials with more general materials obtained via homogenization. This includes materials with different properties of the originals but whose behavior can be approximated by microscopic mixtures of them. In the case of a cost functional depending nonlinearly on the gradient, it is also necessary to extend the cost functional to the set of these more general materials. In general, we do not dispose of an explicit representation, and then, to numerically solve the problem, it is necessary to design strategies that allow the functional to be replaced by upper or lower approximations. The book is divided in four chapters. The first is devoted to recalling some classical results related to the homogenization of a sequence of linear elliptic partial differential problems. In the second one, we define the control problem that we are mainly interested in solving in the book. We obtain a relaxed formulation and their main properties, including an explicit representation of the new cost functional, at least in the boundary of its domain. In the third chapter, we study the optimality conditions of the relaxed problem, and we describe some algorithms to numerically solve the problem. We also provide some numerical experiments carried out using such algorithms. Finally, the fourth chapter is devoted to briefly describe some extensions of the results obtained in Chapters 2 and 3 to the case of dealing with several state equations and the case of evolutive problems. The problems covered in the book are interesting for mathematicians and engineers whose work is related to mathematical modeling and the numerical resolution of optimal design problems in material sciences. The contents extend some previous results obtained by the author in collaboration with other colleagues.
The book is one of Chinese Folklore Culture Series, which introduces the performance and evolution process of marriage customs of different nationalities in China by telling vivid historical allusions, legends and folktales. The author would like to draw a whole picture of the culture of Chinese traditional marriage with the sequences of traditional marriage customs.
In the fall of 1992 I was invited by Professor Changho Keem to visit Seoul National University and give a series of talks. I was asked to write a monograph based on my talks, and the result was published by the Global Analysis Research Center of that University in 1994. The monograph treated deficiency modules and liaison theory for complete intersections. Over the next several years I continually thought of improvements and additions that I would like to make to the manuscript, and at the same time my research led me in directions that gave me a fresh perspective on much of the material, especially in the direction of liaison theory. This re sulted in a dramatic change in the focus of this manuscript, from complete intersections to Gorenstein ideals, and a substantial amount of additions and revisions. It is my hope that this book now serves not only as an introduction to a beautiful subject, but also gives the reader a glimpse at very recent developments and an idea of the direction in which liaison theory is going, at least from my perspective. One theme which I have tried to stress is the tremendous amount of geometry which lies at the heart of the subject, and the beautiful interplay between algebra and geometry. Whenever possible I have given remarks and examples to illustrate this interplay, and I have tried to phrase the results in as geometric a way as possible.
This monograph provides a state-of-the-art, self-contained account on the effectiveness of the method of boundary layer potentials in the study of elliptic boundary value problems with boundary data in a multitude of function spaces. Many significant new results are explored in detail, with complete proofs, emphasizing and elaborating on the link between the geometric measure-theoretic features of an underlying surface and the functional analytic properties of singular integral operators defined on it. Graduate students, researchers, and professionals interested in a modern account of the topic of singular integral operators and boundary value problems – as well as those more generally interested in harmonic analysis, PDEs, and geometric analysis – will find this text to be a valuable addition to the mathematical literature.
The definitive field guide to the rich avifauna of Ecuador. This up-to-date and comprehensive guide to the birds of mainland Ecuador is a valuable resource for anyone exploring the mountains, forests and wetlands of this incredibly bird-rich country. With thousands of beautiful and detailed paintings, accompanied by concise descriptions and accurate maps, this is an indispensable guide to bird identification in Ecuador. It covers every species and most subspecies recorded in Ecuador, including migrants and vagrants, with accurate and up-to-date distribution maps. There are also 291 colour plates included, which illustrate more than 1,630 species, with text on facing pages for quick and easy reference. Concise text provides an overview of the species' identification, voice, habits, habitats, range, distribution and status.
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