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The classic text on robot manipulators now covers visual control, motion planning and mobile robots too! Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control. The text develops around a core of consistent and rigorous formalism with fundamental and technological material giving rise naturally and with gradually increasing difficulty to more advanced considerations. The theory of manipulator structures presented in the early part of the book encompasses: • the fundamentals: kinematics, statics and trajectory planning; and • the technology of actuators, sensors and control units. Subsequently, more advanced instruction is given in: • dynamics and motion control of robot manipulators; • mobile robots; • motion planning; and • interaction with the environment using exteroceptive sensory data (force and vision). Appendices ensure that students will have access to a consistent level of background in basic areas such as rigid-body mechanics, feedback control, and others. Problems are raised and the proper tools established to find engineering-oriented solutions rather than to focus on abstruse theoretical methodology. To impart practical skill, more than 60 examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, nearly 150 end-of-chapter problems are proposed, and the book is accompanied by a solutions manual (downloadable from www.springer.com/978-1-84628-641-4) containing the MATLAB® code for computer problems; this is available free of charge to those adopting Robotics as a textbook for courses. This text is suitable for use in senior undergraduate and graduate courses in automation and computer, electrical, electronic and mechanical engineering courses with strong robotics content.

The First Amendment grants the freedoms of religion, speech, press, and assembly-freedoms to do something-and protection from government intrusion. After setting the historical context for the First Amendment, the book explores the issues that center around those freedoms. Should we pledge our allegiance to one nation, under God? Can we express our opinions when they are harmful to others? Do all groups have the right to assemble peaceably? Should the Internet be regulated? The book is a springboard for a thoughtful and informed look into our rights. The issue chapters conclude with hypothetical cases, inviting readers to become advocates on differing sides of the case and to perform the duties of a Supreme Court justice. From explanations of the landmark cases to outlines of potential future conflicts, this text involves the reader with the vital task of identifying and preserving the four freedoms of the First Amendment.

This revised and expanded edition provides a comprehensive overview of comparative Indo-European linguistics and the branches of the Indo-European language family, covering both linguistic and cultural material. Now offering even greater coverage than the first edition, it is the definitive introduction to the field. Updated, corrected, and expanded edition, containing new illustrations of selected texts and inscriptions, and text samples with translations and etymological commentary Extensively covers individual histories of both ancient and modern languages of the Indo-European family Provides an overview of Proto-Indo-European culture, society, and language Designed for use in courses, with exercises and suggestions for further reading included in each chapter Includes maps, a glossary, a bibliography, and comprehensive word and subject indexes

Professor Tribe’s highly regarded treatise on constitutional law is organized around issues, or constitutional functions, rather than being a sequential discussion of the text to the Constitution. The text is heavily footnoted with references to treatises, law review articles, the U.S. Code, and Supreme Court cases. This edition will be published in two self-contained volumes to be released sequentially. Volume I concentrates on the Constitution's provisions for government structure and on how constitutional structure helps guarantee protection of substantive rights and liberties. Volume II will address in greater detail those substantive rights and liberties and the structure of the protections the Constitution provides for them.

Extensively updated and revised, this second edition brings together leading clinicians and researchers to present the latest approaches to diagnosing and treating a wide range of substance-related problems. This comprehensive and practical volume incorporates major developments in our understanding of the biological mechanisms of addiction and outlines important refinements to treatment methodologies.

Never HIGHLIGHT a Book Again! Virtually all testable terms, concepts, persons, places, and events are included. Cram101 Textbook Outlines gives all of the outlines, highlights, notes for your textbook with optional online practice tests. Only Cram101 Outlines are Textbook Specific. Cram101 is NOT the Textbook.

Between 1200 and 1520 medieval English society went through a series of upheavals--wars, pestilence, and rebellion. This book looks at aristocrats, peasants, townsmen, wage-earners, and paupers, and examines how they obtained and spent their incomes. Did the aristocracy practice conspicuous consumption? Did the peasants really starve? The book focuses on the varying fortunes of different social groups in the inflation of the thirteenth century, the crises of the fourteenth, and the apparent depression of the fifteenth. Dr. Dyer explains the changes in terms of the dynamics of a social and economic system subjected to stimuli and stresses.

This comprehensive book provides a thorough scientific foundation on the growth and care of plants common to all horticultural commodities. Continuing in the tradition of the first edition, it incorporates the principles behind the techniques described in other ''how-to'' horticulture texts. By providing readers with a thorough grounding in the science of horticulture, it successfully prepares them for more specialized studies in nursery management, floriculture, landscaping, vegetable and fruit science.

*Each chapter of this briefer book focuses on the key questions and core concepts of psychology. *A wealth of instructive features, such as "Psychology in Your Life," "Using Psychology to Learn Psychology," and "Do it Yourself!" enhance student learning and retention of key psychological concepts. *The new "Discovering Psychology" edition includes a viewing guide at the end of each chapter that offers activities tied to the "Discovering Psychology" video series. Icons in the text alert students to relevant videos online (which they access via MyPsychLab).