LITMIR.BIZ

Robots interact with the world through curves and surfaces &#x2014; the subjects of study in differential geometry. This book applies the moving-frame method, developed extensively by &#x00C9;lie Cartan, and the adjoint approach, conceived by Ernesto Ces&#x00E0;ro, to study the kinematics of two surfaces subject to rolling contact and sliding&#x2013;rolling contact to demonstrate the applications in robotic in-hand manipulation.Firstly, it explores two surfaces, and the geometry of both surfaces comes into play. Secondly, the book focuses on the geometry of the two surfaces within the encompassing space (extrinsic) rather than within the surfaces (intrinsic) because the book is concerned with the kinematics of one surface in three-dimensional Euclidean space &#x2014; the real world. The book then concludes by applying this approach in robotic in-hand manipulation in the last chapter.<b>Contents:</b> <ul><li>Preface</li><li>About the Authors</li><li>Introduction</li><li><b><i>The Moving-Frame Method and Adjoint Approach:</i></b><ul><li>Curvatures of Curves and Surfaces via the Moving-Frame Method</li><li>The Adjoint Approach to Curves and Surfaces</li></ul></li><li><b><i>Forward Kinematics of Rolling&#x2013;Sliding Contact:</i></b><ul><li>From Trajectories to Velocity: Forward Kinematics of Rigid Surfaces with Rolling Contact</li><li>From Trajectories to Velocity: Forward Kinematics of Rigid Surfaces with Rolling&#x2013;Sliding Contact</li></ul></li><li><b><i>Inverse Kinematics of Rolling&#x2013;Sliding Contact:</i></b><ul><li>From Velocity to Trajectories: Inverse Kinematics of Rigid Surfaces with Rolling Contact</li><li>From Velocity to Trajectories: Inverse Kinematics of Rigid Surfaces with Rolling&#x2013;Sliding Contact</li></ul></li><li><b><i>Kinematics of In-Hand Manipulation:</i></b><ul><li>Kinematic Analysis of the Metahand with Fixed-Point Contact</li><li>Workspace and Posture Analysis of the Metahand</li><li>Rolling Contact in Kinematics of In-Hand Manipulation</li></ul></li><li>Appendix</li><li>Bibliography</li><li>Index</li></ul><br><b>Readership:</b> Undergraduate students, graduate students, engineers, and researchers in the field of biorobotics.Rolling Contact;Sliding–Rolling Contact;Differential Geometry;Darboux-Frame;Moving-Frame Method;Adjoint Approach;In-hand Manipulation;Forward Kinematics;Inverse Kinematics00

Подробнее

A remarkable classic work on traditional Japanese architecture and its general integrative quality, the order of space and form, the flexibility of partitions and room functions and other important or unique qualities. The author describes in detail, and with numerous architectural plans and drawings, the influence of the anatomy of the Japanese human body on traditional units of measurement and on house construction. This work is not simply a description of the features of the Japanese house, but «an invitation to probe the possibilities of utilizing this architectural achievement of the Japanese &hellip;in modern living and building,» according to the author, who further believes that the unique features of the Japanese house are better suited to serve as a pattern for contemporary housing than any other form of residential structure.

Подробнее

The unique structures and properties of dendrimers make them attractive for many applications, from drug delivery and antimicrobial agents to catalysis and as functional materials. Dendrimer Chemistry provides an overview of the latest advances in the synthesis of dendrimers and other complex dendritic architectures. The book focuses on established building block families for generating dendritic macromolecules, capitalizing on the evolution in the synthesis of dendrimers and other complex dendritic architectures. Systems covered range from dendritic polyesters and naturally occurring monomers to novel dendritic families. Each chapter starts with an introduction to the dendrimer family and its important features followed by information on the building blocks used to generate the dendrimers, their synthetic strategies and the resulting architectures. Chapters also cover the characterization and structural analysis, commercial availability and cutting-edge applications. Including forewords from leaders in the field, this will be a useful reference for postgraduate students and researchers in organic chemistry, polymer chemistry, materials science and macromolecular chemistry.

Подробнее

Connecting People, Place and Design examines the human relationship with place, how its significance has evolved over time and how contemporary systems for participation shape the places around us in our daily lives. Divided into three parts – place, people and participation – this interdisciplinary volume examines people, place and design across the fields of architecture, design, cultural studies, sociology, political science and philosophy. Part I, on place, considers the cultural, political and philosophical shifts in our historical relationship to place. Part II, on people, considers movement and migration and how it affects place relations. Part III, on participation, examines forms of public engagement and cultural systems for collaborative contribution to the design and creation of place. Improving people’s relationships with place requires connection, and in Connecting People, Place and Design , Edmonds demonstrates the importance of connection, underscoring that working together to nurture and sustain places that celebrate the diversity of our human species is one of the most critical issues of our time.

Подробнее

In the history of planning, the design of an entire community prior to its construction is among the oldest traditions. Iconic Planned Communities and the Challenge of Change explores the twenty-first-century fortunes of planned communities around the world. Drawing on interdisciplinary perspectives, the editors and contributors examine what happened to planned communities after their glory days had passed and they became vulnerable to pressures of growth, change, and even decline. Beginning with Robert Owen's industrial village in Scotland and concluding with Robert Davis's neotraditional resort haven in Florida, this book documents the effort to translate optimal design into sustaining a common life that works for changing circumstances and new generations of residents. Basing their approach on historical research and practical, on-the-ground considerations, the essayists argue that preservation efforts succeed best when they build upon foundational planning principles, address landscape, architecture, and social engineering together, and respect the spirit of place. Presenting twenty-three case studies located in six continents, each contributor considers how to preserve the spirit of the community and its key design elements, and the ways in which those elements can be adapted to contemporary circumstances and changing demographics. Iconic Planned Communities and the Challenge of Change espouses strategies to achieve critical resilience and emphasizes the vital connection between heritage preservation, equitable sharing of the benefits of living in these carefully designed places, and sustainable development. Communities : Bat'ovany-Partiz&aacute;nske, Cit&eacute; Frug&egrave;s, Colonel Light Gardens, Den-en Ch&ocirc;fu, Garbatella, Greenbelt, Hampstead Garden Suburb, Jardim Am&eacute;rica, Letchworth Garden City, Menteng, New Lanark, Pacaemb&uacute;, Radburn, Riverside, R&ouml;merstadt, Sabaudia, Seaside, Soweto, Sunnyside Gardens, Tapiola, The Uplands, Welwyn Garden City, Wythenshawe. Contributors: Arnold R. Alanen, Carlos Roberto Monteiro de Andrade, Sandra Annunziata, Robert Freestone, Christine Garnaut, Isabelle Gournay, Michael Hebbert, Susan R. Henderson, James Hopkins, Steven W. Hurtt, Alena Kubova-Gauch&eacute;, Jean-Fran&ccedil;ois Lejeune, Maria Cristina a Silva Leme, Larry McCann, Mervyn Miller, John Minnery, Angel David Nieves, John J. Pittari, Jr., Gilles Ragot, David Schuyler, Mary Corbin Sies, Christopher Silver, Andr&eacute; Sorensen, R. Bruce Stephenson, Shun-ichi J. Watanabe.

Подробнее

In The Language of Fruit , Liz Bellamy explores how poets, playwrights, and novelists from the Restoration to the Romantic era represented fruit and fruit trees in a period that saw significant changes in cultivation techniques, the expansion of the range of available fruit varieties, and the transformation of the mechanisms for their exchange and distribution. Although her principal concern is with the representation of fruit within literary texts and genres, she nevertheless grounds her analysis in the consideration of what actually happened in the gardens and orchards of the past. As Bellamy progresses through sections devoted to specific literary genres, three central «characters» come to the fore: the apple, long a symbol of natural abundance, simplicity, and English integrity; the orange, associated with trade and exchange until its «naturalization» as a British resident; and the pineapple, often figured as a cossetted and exotic child of indulgence epitomizing extravagant luxury. She demonstrates how the portrayal of fruits within literary texts was complicated by symbolic associations derived from biblical and classical traditions, often identifying fruit with female temptation and sexual desire. Looking at seventeenth-century poetry, Restoration drama, eighteenth-century georgic, and the Romantic novel, as well as practical writings on fruit production and husbandry, Bellamy shows the ways in which the meanings and inflections that accumulated around different kinds of fruit related to contemporary concepts of gender, class, and race. Examining the intersection of literary tradition and horticultural innovation, The Language of Fruit traces how writers from Andrew Marvell to Jane Austen responded to the challenges posed by the evolving social, economic, and symbolic functions of fruit over the long eighteenth century.

Подробнее

One may visit famous gardens in Tokyo, Kyoto, or Osaka&mdash;or one may visit Japanese-styled gardens in New York, San Francisco, Philadelphia, Berlin, London, Paris, S&atilde;o Paulo, or Singapore. We often view these gardens as representative of the essence of Japanese culture. Christian Tagsold argues, however, that the idea of the Japanese garden has less do to with Japan's history and traditions, and more to do with its interactions with the West. The first Japanese gardens in the West appeared at the world's fairs in Vienna in 1873 and Philadelphia in 1876 and others soon appeared in museums, garden expositions, the estates of the wealthy, and public parks. By the end of the nineteenth century, the Japanese garden, described as mystical and attuned to nature, had usurped the popularity of the Chinese garden, so prevalent in the eighteenth century. While Japan sponsored the creation of some gardens in a series of acts of cultural diplomacy, the Japanese style was interpreted and promulgated by Europeans and Americans as well. But the fashion for Japanese gardens would decline in inverse relation to the rise of Japanese militarism in the 1930s, their rehabilitation coming in the years following World War II, with the rise of the Zen meditation garden style that has come to dominate the Japanese garden in the West. Tagsold has visited over eighty gardens in ten countries with an eye to questioning how these places signify Japan in non-Japanese geographical and cultural contexts. He ponders their history, the reasons for their popularity, and their connections to geopolitical events, explores their shifting aesthetic, and analyzes those elements which convince visitors that these gardens are «authentic.» He concludes that a constant process of cultural translation between Japanese and Western experts and commentators marked these spaces as expressions of otherness, creating an idea of the Orient and its distinction from the West.

Подробнее

In less than a generation, the dominant image of American cities has transformed from one of crisis to revitalization. Poverty, violence, and distressed schools still make headlines, but central cities and older suburbs are attracting new residents and substantial capital investment. In most accounts, native-born empty nesters, their twentysomething children, and other educated professionals are credited as the agents of change. Yet in the past decade, policy makers and scholars across the United States have come to understand that immigrants are driving metropolitan revitalization at least as much and belong at the center of the story. Immigrants have repopulated central city neighborhoods and older suburbs, reopening shuttered storefronts and boosting housing and labor markets, in every region of the United States. Immigration and Metropolitan Revitalization in the United States is the first book to document immigrant-led revitalization, with contributions by leading scholars across the social sciences. Offering radically new perspectives on both immigration and urban revitalization and examining how immigrants have transformed big cities such as New York, Chicago, and Los Angeles, as well as newer destinations such as Nashville and the suburbs of Boston and New Jersey, the volume's contributors challenge traditional notions of revitalization, often looking at working-class communities. They explore the politics of immigration and neighborhood change, demolishing simplistic assumptions that dominate popular debates about immigration. They also show how immigrants have remade cities and regions in Latin America, Africa, and other places from which they come, linking urbanization in the United States and other parts of the world. Contributors : Kenneth Ginsburg, Marilynn S. Johnson, Michael B. Katz, Gary Painter, Robert J. Sampson, Gerardo Francisco Sandoval, A.K. Sandoval-Strausz, Thomas J. Sugrue, Rachel Van Tosh, Jacob L. Vigdor, Domenic Vitiello, Jamie Winders.

Подробнее

Site, Sight, Insight presents twelve essays by John Dixon Hunt, the leading theorist and historian of landscape architecture. The collection's common theme is a focus on sites, how we see them and what we derive from that looking. Acknowledging that even the most modest landscape encounter has validity, Hunt contends that the more one knows about a site and one's own sight of it (an awareness of how one is seeing), the greater the insight. Employing the concepts, tropes, and rhetorical methods of literary analysis, he addresses the problem of how to discuss, understand, and appreciate places that are experienced through all the senses, over time and through space. Hunt questions our intellectual and aesthetic understanding of gardens and designed landscapes and asks how these sites affect us emotionally. Do gardens have meaning? When we visit a fine garden or designed landscape, we experience a unique work of great complexity in purpose, which has been executed over a number of years&mdash;a work that, occasionally, achieves beauty. While direct experience is fundamental, Hunt demonstrates how the ways in which gardens and landscapes are communicated in word and image can be equally important. He returns frequently to a cluster of key sites and writings on which he has based much of his thinking about garden-making and its role in landscape architecture: the gardens of Rousham in Oxfordshire; Thomas Whately's Observations on Modern Gardening (1770); William Gilpin's dialogues on Stowe (1747); Alexander Pope's meditation on genius loci ; the D&eacute;sert de Retz; Paolo Burgi's Cardada; and the designs by Bernard Lassus and Ian Hamilton Finlay.

Подробнее

Underfunded pension liabilities threaten the fiscal stability of many cities. While Detroit's bankruptcy has dominated the headlines, the problem is widespread. With ongoing battles in many localities, policymakers are increasingly turning their attention to the legacy issues surrounding the funding of pensions. Public Pensions and City Solvency addresses this complex fiscal challenge and presents strategies to achieve financial sustainability. Writing in a direct, readable style for a professional as well as an academic audience, expert contributors provide incisive analyses and practical approaches to navigating the fiscal morass in which many cities find themselves. Richard Ravitch, former lieutenant governor of New York, writes the Foreword and Robert P. Inman and Susan M. Wachter provide the Conclusion. The book's three chapters examine the issue from different key perspectives: Joshua D. Rauh, a leading scholar in the study of unfunded pension liabilities, provides an economist's perspective; Amy B. Monahan, a renowned authority in public employee benefits law, illuminates the legal framework; and D. Roderick Kiewiet and Mathew D. McCubbins, visionary political scientists, put the crisis and its economic and legal implications into context and lay out the necessary framework for reform. The problems that arise from underfunded public pensions are only going to escalate. Public Pensions and City Solvency is a unique resource for decision-makers, policy-makers, and researchers and a timely addition to the evolving debate over what constitutes sustainable solutions. Contributors: Robert P. Inman, D. Roderick Kiewiet, Mathew D. McCubbins, Amy B. Monahan, Joshua D. Rauh, Richard Ravitch, Susan M. Wachter.

Подробнее