Robot manipulation is a great challenge; it encompasses versatility -adaptation to different situations-, autonomy -independent robot operation-, and dependability -for success under modeling or sensing errors. A complete manipulation task involves, first, a suitable grasp or contact configuration, and the subsequent motion required by the task. This monograph presents a unified framework by introducing task-related aspects into the knowledge-based grasp concept, leading to task-oriented grasps. Similarly, grasp-related issues are also considered during the execution of a task, leading to grasp-oriented tasks which is called framework for physical interaction (FPI). The book presents the theoretical framework for the versatile specification of physical interaction tasks, as well as the problem of autonomous planning of these tasks. A further focus is on sensor-based dependable execution combining three different types of sensors: force, vision and tactile. The FPI approach allows to perform a wide range of robot manipulation tasks. All contributions are validated with several experiments using different real robots placed on household environments; for instance, a high-DoF humanoid robot can successfully operate unmodeled mechanisms with widely varying structure in a general way with natural motions. This research was recipient of the European Georges Giralt Award and the Robotdalen Scientific Award Honorary Mention.
This DVD contains all the multimedia course material generated from the 4th edition of the International UJI Robotics School on "Mobile Manipulators". The main goal was to clarify central aspects about the latest developments in mobile robotics with special attention to navigation, manipulation, vision and user interaction skills.
Focusing on the recovery of chess in Spain and Europe after World War II, this book traces the development of the International Chess Tournaments in Gijon from 1944 to 1965. The authors cover the decline of world champion Alekhine and the rise of the child prodigy Arturo Pomar, along with the great chess of Euwe, Rossolimo, Prins, Medina, Larsen and others. Drawing on primary sources and testimonies of former players and organizers, chapters feature the tournament tables, winner's biographies, historical commentaries and 213 games. Appendices with biographical notes and tables of participants for each year are included.
Surgeons around the world need a basic knowledge of English to keep up to date with advances in their field. Fluency in surgical English is important for your professional development, enabling you to attend English-speaking patients with confidence, to study (or work) in other hospitals, speak confidently at international meetings, and to write articles for international journals. This book will provide you with the basic tools to handle day-to-day situations without stress and will help you to improve your English, no matter what your level. To our knowledge, this is the first English book written specifically by surgeons for surgeons. We are sure that surgical specialists from all over the "non-English-speaking world" (general surgeons, thoracic surgeons, vascular surgeons, neurosurgeons, gynecologists, plastic surgeons) will enjoy reading it.
Presenting an analysis of different approaches for predicting the service life of buildings, this monograph discusses various statistical tools and mathematical models, some of which have rarely been applied to the field. It explores methods including deterministic, factorial, stochastic and computational models and applies these to façade claddings. The models allow (i) identification of patterns of degradation, (ii) estimation of service life, (iii) analysis of loss of performance using probability functions, and (iv) estimation of service life using a probability distribution. The final chapter discusses the differences between the different methodologies and their advantages and limitations. The authors also argue that a better understanding of the service life of buildings results in more efficient building maintenance and reduced environmental costs. It not only provides an invaluable resource to students, researchers and industry professionals interested in service life prediction and sustainable construction, but is also of interest to environmental and materials scientists.
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