This monograph presents a simple and efficient two-relay control algorithm for generation of self-excited oscillations of a desired amplitude and frequency in dynamic systems. Developed by the authors, the two-relay controller consists of two relays switched by the feedback received from a linear or nonlinear system, and represents a new approach to the self-generation of periodic motions in underactuated mechanical systems. The first part of the book explains the design procedures for two-relay control using three different methodologies – the describing-function method, Poincaré maps, and the locus-of-a perturbed-relay-system method – and concludes with stability analysis of designed periodic oscillations. Two methods to ensure the robustness of two-relay control algorithms are explored in the second part, one based on the combination of the high-order sliding mode controller and backstepping, and the other on higher-order sliding-modes-based reconstruction of uncertainties and their compensation where Lyapunov-based stability analysis of tracking error is used. Finally, the third part illustrates applications of self-oscillation generation by a two-relay control with a Furuta pendulum, wheel pendulum, 3-DOF underactuated robot, 3-DOF laboratory helicopter, and fixed-phase electronic circuits. Self-Oscillations in Dynamic Systems will appeal to engineers, researchers, and graduate students working on the tracking and self-generation of periodic motion of electromechanical systems, including non-minimum-phase systems. It will also be of interest to mathematicians working on analysis of periodic solutions.
This monograph presents a simple and efficient two-relay control algorithm for generation of self-excited oscillations of a desired amplitude and frequency in dynamic systems. Developed by the authors, the two-relay controller consists of two relays switched by the feedback received from a linear or nonlinear system, and represents a new approach to the self-generation of periodic motions in underactuated mechanical systems. The first part of the book explains the design procedures for two-relay control using three different methodologies – the describing-function method, Poincaré maps, and the locus-of-a perturbed-relay-system method – and concludes with stability analysis of designed periodic oscillations. Two methods to ensure the robustness of two-relay control algorithms are explored in the second part, one based on the combination of the high-order sliding mode controller and backstepping, and the other on higher-order sliding-modes-based reconstruction of uncertainties and their compensation where Lyapunov-based stability analysis of tracking error is used. Finally, the third part illustrates applications of self-oscillation generation by a two-relay control with a Furuta pendulum, wheel pendulum, 3-DOF underactuated robot, 3-DOF laboratory helicopter, and fixed-phase electronic circuits. Self-Oscillations in Dynamic Systems will appeal to engineers, researchers, and graduate students working on the tracking and self-generation of periodic motion of electromechanical systems, including non-minimum-phase systems. It will also be of interest to mathematicians working on analysis of periodic solutions.
The only book of its kind in the English language, this is the first volume of the Oxford Commentaries on the State Constitutions of the United States to explore the constitution of a U.S. territory: Puerto Rico. The first half of the volume unearths the island's constitutional history from the days of Spanish colonization in the 16th century, through to Congress' enactment in 2016 of the Puerto Rico Oversight, Management and Economic Stability Act (PROMESA). Professor Cox Alomar offers a careful analysis of the most recent decisions of the U.S. Supreme Court implicating Puerto Rico, Sánchez Valle (2016), Franklin Trust (2016), Aurelius (2020) and Vaello Madero (2022). The second half of this volume provides an in-depth analysis of each of the provisions incorporated by the Puerto Rican framers to the 1952 Constitution, still in full force today. Commentary is provided on each of these constitutional provisions in light of the most recent decisions of the Puerto Rico Supreme Court. The volume examines the interaction between the Puerto Rico Supreme Court and the U.S. Supreme Court, as well as the complex relationship between Puerto Rico and the political branches in Washington. This book is a timely companion in one of the more complex, yet transformative periods in Puerto Rico's constitutional life.
At the start of the Spanish Civil War, most young fighter pilot officers joined the rebels, while the high ranking officers, grupo or escuadrilla commanders, and the NCOs, sergeants and corporals remained loyal to the government. Mostly flying the obsolete Nieuport Ni.52s these loyalists were soon outpaced by the more modern Fiat CR.32s and Heinkel He 51s. However, at this early stage of the war, there were several Republican airmen who became aces and famous in the process, despite the small numbers of enemy aircraft shot down. Widely speaking, the Republican military aviation did not keep an exhaustive record of individual shooting claims. However, sufficient documentation exists to make a reasonable assumption as to which pilots fall into the ace category. This volume details the exploits of those pilots, complementing previous works in the Osprey Aircraft of the Aces series on Nationalist CR.32 Aces and Polikarpov I-15, I-16 and I-152 Aces.
Offering a comprehensive overview of Puerto Rico's history and evolution since the installation of U.S. rule, Cesar Ayala and Rafael Bernabe connect the island's economic, political, cultural, and social past. Puerto Rico in the American Century explores Puerto Ricans in the diaspora as well as the island residents, who experience an unusual and daily conundrum: they consider themselves a distinct people but are part of the American political system; they have U.S. citizenship but are not represented in the U.S. Congress; and they live on land that is neither independent nor part of the United States. Highlighting both well-known and forgotten figures from Puerto Rican history, Ayala and Bernabe discuss a wide range of topics, including literary and cultural debates and social and labor struggles that previous histories have neglected. Although the island's political economy remains dependent on the United States, the authors also discuss Puerto Rico's situation in light of world economies. Ayala and Bernabe argue that the inability of Puerto Rico to shake its colonial legacy reveals the limits of free-market capitalism, a break from which would require a renewal of the long tradition of labor and social activism in Puerto Rico in connection with similar currents in the United States.
Military Entrepreneurs and the Spanish Contractor State in the Eighteenth Century offers a new approach to the relationship between warfare and state construction. Historians looking at how war funding impinged on state development, and how state growth made wars more significant, have tended to downplay the role of military-provisioning entrepreneurs. Written off as corrupt and selfish, these entrepreneurs jarred with the received view of a rationally growing and modernising state. This volume shows that the state-entrepreneur relationship was much more fluid and constant than previously thought. The state was not able to enforce a top-down military supply policy; at the same time it benefited from the entrepreneurs' collaboration and their shared mercantilist ambitions. The entrepreneurs' mobilisation of military supplies was crucial for extending state authority and helped to knit together national and colonial markets. But this fluid state-entrepreneur relationship gradually became shrouded in privileges and monopolies, not so much ideology driven or imposed by the entrepreneurs but rather as an arrangement exploited by the state to boost its control over them, whittling down middlemen and ensuring the solvency and creditworthiness of the chosen few. This arrangement spiralled into a risky inter-dependence and cramped entrepreneurial competition. Rafael Torres Sánchez furnishes new insights into the role of military entrepreneurs in debates about warfare and state construction.
Tarrago goes back to 1776, when the thirteen rebel English colonies in North America sought the help of the Spanish Crown. A selective bibliography, including many printed primary sources, as well as monographs and journal articles.
“Rafael Cerrato has written a unique book full of hitherto unknown material on a topic about which seemingly everything was known, namely the death of Che Guevara. The author had personal access to Benigno, Che's lieutenant in Bolivia, and Félix Rodríguez, the CIA agent who helped hunt him down (and tried to prevent his execution). Through them and other sources, he has assembled this fascinating, entirely authentic story with the intensity of a thriller novel. Any history buff desiring to sift through this shadowy period should have a look this book. Excellent.” --Carlos Alberto Montaner, one of the most widely read Spanish-language journalists.
Endothelium and Cardiovascular Diseases: Vascular Biology and Clinical Syndromes provides an in-depth examination of the role of endothelium and endothelial dysfunction in normal vascular function, and in a broad spectrum of clinical syndromes, from atherosclerosis, to cognitive disturbances and eclampsia. The endothelium is a major participant in the pathophysiology of diseases, such as atherosclerosis, diabetes and hypertension, and these entities are responsible for the largest part of cardiovascular mortality and morbidly. Over the last decade major new discoveries and concepts involving the endothelium have come to light. This important reference collects this data in an easy to reference resource. Written by known experts, and covering all aspects of endothelial function in health and disease, this reference represents an assembly of recent knowledge that is essential to both basic investigators and clinicians. Provides a complete overview of endothelial function in health and diseases, along with an assessment of new information Includes coverage of groundbreaking areas, including the artificial LDL particle, the development of a new anti-erectile dysfunction agent, a vaccine for atherosclerosis, coronary calcification associated with red wine, and the interplay of endoplasmic reticulum/oxidative stress Explores the genetic features of endothelium and the interaction between basic knowledge and clinical syndromes
Catala, president of the Ometeca Institute, and a poet and critic, and Anderson (communication, information, and library science, Rutgers U.) have collaborated to produce this index to the poetry in 290 periodicals in North America and the Caribbean. Although the editors limited inclusion based upon the quality of the poems, their presentation, and the reputation of the poets, the poetry and periodicals indexed come from a wide variety of styles and genres, from scholarly, to popular, to small independent publications. The Index includes 7,210 entries for individual poets listed alphabetically by last name, as well as a separate index using poem titles or first lines. Annotation copyrighted by Book News, Inc., Portland, OR
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