I have developed "tennis elbow" from lugging this book around the past four weeks, but it is worth the pain, the effort, and the aspirin. It is also worth the (relatively speaking) bargain price. Including appendixes, this book contains 894 pages of text. The entire panorama of the neural sciences is surveyed and examined, and it is comprehensive in its scope, from genomes to social behaviors. The editors explicitly state that the book is designed as "an introductory text for students of biology, behavior, and medicine," but it is hard to imagine any audience, interested in any fragment of neuroscience at any level of sophistication, that would not enjoy this book. The editors have done a masterful job of weaving together the biologic, the behavioral, and the clinical sciences into a single tapestry in which everyone from the molecular biologist to the practicing psychiatrist can find and appreciate his or

Principles of Neural Science

《Ｏｘｆｏｒｄ Ａｄｖａｎｃｅｄ Ｌｅａｒｎｅｒ’ｓ Ｄｉｃｔｉｏｎａｒｙ ｏｆ Ｃｕｒｒｅｎｔ Ｅｎｇｌｉｓｈ》（ 以下简称ＯＡＬＤ） 是英语学习词典的先驱。它是第一部既重视词语释义，又重视词法、句法，配有大量例证的词典。我国英语学习者对其第二、三、四版（ 英汉双解版） 都十分熟悉。１９９５ 年，ＯＡＬＤ 第五次修订再版，又有了新的特色，但仍有不足

评《Oxford Advanced Learner’s Dictionary of Current English》第五版

Bipedal locomotion is among the most difficult challenges in control engineering. Most books treat the subject from a quasi-static perspective, overlooking the hybrid nature of bipedal mechanics. Feedback Control of Dynamic Bipedal Robot Locomotion is the first book to present a comprehensive and mathematically sound treatment of feedback design for achieving stable, agile, and efficient locomotion in bipedal robots.In this unique and groundbreaking treatise, expert authors lead you systematically through every step of the process, including:Mathematical modeling of walking and running gaits in planar robotsAnalysis of periodic orbits in hybrid systemsDesign and analysis of feedback systems for achieving stable periodic motionsAlgorithms for synthesizing feedback controllersDetailed simulation examplesExperimental implementations on two bipedal test bedsThe elegance of the authors' approach is evident in the marriage of control theory and mechanics, uniting control-based presentation and mathematical custom with a mechanics-based approach to the problem and computational rendering. Concrete examples and numerous illustrations complement and clarify the mathematical discussion. A supporting Web site offers links to videos of several experiments along with MATLAB® code for several of the models. This one-of-a-kind book builds a solid understanding of the theoretical and practical aspects of truly dynamic locomotion in planar bipedal robots.

/pdf/feedback-control-of-dynamic-bipedal-robot-locomotion-2pz7pbjgsi.pdf

Feedback Control of Dynamic Bipedal Robot Locomotion

Literature survey of contact dynamics modelling

The mathematics of coordinated control of prosthetic arms and manipulators.

Within education, concepts such as distance learning, and open universities, are now becoming more widely used for teaching and learning. However, due to the nature of the subject domain, the teaching of Science, Technology, and Engineering are still relatively behind when using new technological approaches (particularly for online distance learning). The reason for this discrepancy lies in the fact that these fields often require laboratory exercises to provide effective skill acquisition and hands-on experience. Often it is difficult to make these laboratories accessible for online access. Either the real lab needs to be enabled for remote access or it needs to be replicated as a fully software-based virtual lab. We argue for the latter concept since it offers some advantages over remotely controlled real labs, which will be elaborated further in this paper.We are now seeing new emerging technologies that can overcome some of the potential difficulties in this area. These include: computer graphics, augmented reality, computational dynamics, and virtual worlds. This paper summarizes the state of the art in virtual laboratories and virtual worlds in the fields of science, technology, and engineering. The main research activity in these fields is discussed but special emphasis is put on the field of robotics due to the maturity of this area within the virtual-education community. This is not a coincidence; starting from its widely multidisciplinary character, robotics is a perfect example where all the other fields of engineering and physics can contribute. Thus, the use of virtual labs for other scientific and non-robotic engineering uses can be seen to share many of the same learning processes. This can include supporting the introduction of new concepts as part of learning about science and technology, and introducing more general engineering knowledge, through to supporting more constructive (and collaborative) education and training activities in a more complex engineering topic such as robotics. The objective of this paper is to outline this problem space in more detail and to create a valuable source of information that can help to define the starting position for future research. State of the art in dynamics-based virtual laboratories.Defining the criteria for critical evaluation of existing technologies.State of the art in virtual worlds.Future advances in the field of virtual-world based laboratories.

/pdf/virtual-laboratories-for-education-in-science-technology-and-2t11hptemw.pdf

Virtual laboratories for education in science, technology, and engineering

Dynamics of Manipulation Robots

One of basic characteristics of the regular bipedal walk of humanoid robots is the maintenance of their dynamic balance during the walk, whereby a decisive role is played by the unpowered degrees of freedom arising at the foot–ground contact. Hence, the role of the Zero-Moment Point (ZMP) as an indicator of dynamic balance is indispensable. This paper gives a detailed discussion of some basic theoretical assumptions related to the ZMP in the light of imprecise, and even incorrect, interpretations that have recently appeared, and which have led to some erroneous conclusions. Examples are given to show some erroneous basic attitudes and the genesis of some of them is indicated. It is also pointed out that in the domain of bipedal walk there are still notions that are not clearly defined and their meanings differentiated in some related branches of science and engineering. One of the examples is dynamic balance and stability, which are often used interchangeably.

Zmp: a review of some basic misunderstandings

1 General Remarks about Robot and Manipulator Dynamics.- 1.1. Introduction.- 1.2. Classification of active mechanisms in robotics and some of their specifications.- 1.3. Previous results.- References.- 2 Computer-Aided Methods for Setting and Solving Mathematical Models of Active Mechanisms in Robotics.- 2.1. Introduction.- 2.2. The basic ideas of computer-aided formation and solution of a mathematical model.- Methods Based on General Theorems of Dynamics and Newton-Euler Equations.- 2.3. The method of general theorems.- 2.4. Method of block matrices.- 2.5. The method of the Newton-Euler equations.- 2.6. The method of Euler's angles.- Methods Based on the Lagrange Equations.- 2.7. Method of Lagrange's equations.- Methods Based On The Gauss' Principle And Appel's Equations.- 2.8. Method of Gauss' principle.- 2.9. The method of Appel's equations.- 2.10. Some problems of closed chain dynamics.- References.- 3 Simulation of Manipulator Dynamics and Adjusting to Functional Movements.- 3.1. Basic ideas.- 3.2. The general simulation algorithm.- 3.3. Classes of functional tasks and adjustment blocks.- 3.4. Elaboration of the different adjustment blocks.- 3.5. Calculation of other dynamical characteristics and values.- 3.6. Examples.- 3.7. Synthesis of nominal dynamics of manipulation movements.- 3.8. The complete dynamical model.- 3.9. Mathematical models of the actuator systems.- 3.10. Simulation algorithm for the synthesis of nominal dynamics.- 3.11. Example of the synthesis.- 3.12. Influence of actuator models complexity.- 3.13. One method for the optimal synthesis of functional movements.- References.- 4 Dynamics of Manipulators with Elastic Segments.- 4.1. Introduction.- 4.2. Basic ideas and postulates.- 4.3. Nominal dynamical characteristics.- 4.4. Deriving the model of elastic oscillations.- 4.5. Influence coefficients.- 4.6. Results of the method and their application.- 4.7. Example.- References.- 5 Dynamical Method for the Evaluation and Choice of Industrial Manipulators.- 5.1. Introduction.- 5.2. Defining the dynamical criteria.- 5.3. Definition of limitations.- 5.4. Examples.- References.

Dynamics of Manipulation Robots: Theory and Application

The authors claim that a careful examination of robotics science and technology from its origins in the 1950s to its current status reveals that such progress, albeit very important, profitable, and with a strong impact on society, was basically the "side activities" to the ever-existing and continuous desire of mankind to build and realize humanoid robots, artificial men equipped uith proper intelligence capable of operating autonomously, thus replacing trained individuals for dexterous jobs. They consider such a humanoid robot through the realistic tasks/jobs it will most probably do. It is postulated that this humanoid robot be considered as a personal helper (a home robot or personal robot). Given the present level of technology, the question is posed: are we ready to move towards personal robotics, and what might be the first step? A possible answer to this question is given through a discussion of the human-like characteristics a personal robot must have; namely, human-like motion, human-like intelligence, and human-like communication.

Veljko Potkonjak

Papers

Virtual laboratories for education in science, technology, and engineering

Dynamics of Manipulation Robots

Zmp: a review of some basic misunderstandings

Dynamics of Manipulation Robots: Theory and Application

How far away is "artificial man"