Advanced studies of flexible robotic manipulators : modeling, design, control, and applications / / [edited by] Fei-Yue Wang, Yanqing Gao

• Record Nr.: UNINA9911099998303321
• Pubbl/distr/stampa: River Edge, NJ, : World Scientific, c2003
• ISBN: 9786611956110; 9781281956118; 1281956112; 9789812796721; 981279672X
• Edizione: [1st ed.]
• Descrizione fisica: 1 online resource (457 p.)
• Collana: Series in intelligent control and intelligent automation ; ; vol. 4
• Altri autori (Persone): WangFei-Yue; GaoYanqing <1962->
• Disciplina: 629.892
• Soggetti: Robotics; Manipulators (Mechanism)
• Lingua di pubblicazione: Inglese
• Formato: Materiale a stampa
• Livello bibliografico: Monografia
• Note generali: Description based upon print version of record.
• Nota di bibliografia: Includes bibliographical references.
• Nota di contenuto: Contents ; Preface ; Contributing Authors ; 1. Flexible-link Manipulators: Modeling Nonlinear Control and Observer ; 1.1 Introduction ; 1.2 Modeling ; 1.3 Nonlinear Control ; 1.4 Control with Nonlinear Observer ; 1.5 Simulation Results ; 1.6 Conclusion; 2. Energy-Based Robust Control of Flexible Link Robots 2.1 Introduction ; 2.2 Dynamics of a Single-link Flexible Robot ; 2.3 Controller Design ; 2.4 Multi-link Flexible Robots ; 2.5 Conclusion; 3. Trajectory Planning and Compliant Control for Two Manipulators to Deform Flexible Materials 3.1 Introduction ; 3.2 Efficient Trajectory Planning Using Optimal Bending Model ; 3.3 Compliant Control ; 3.4 Stability Analysis ; 3.5 Experimental Study ; 3.6 Conclusions ; References; 4. Force Control of Flexible Manipulators 4.1 Introduction ; 4.2 Force Control of A One-Link Flexible Arm ; 4.3 Dynamic Hybrid Position/ Force Control of Constrained n-Link Flexible Manipulators ; 4.4 Robust Cooperative Control of Two One-link Flexible Arms ; 4.5 Conclusion; References 5. Experimental Study on the Control of Flexible Link Robots ; 5.1 SFL Manipulator ; 5.2 Multi-Link/Multi-Axis Flexible Link (MMFL) Manipulators ; 5.3 Force Control ; References ; 6. Sensor Output Feedback Control of Flexible Robot Arms ; 6.1 Introduction; 6.2 Dynamic Models of One-Link Flexible Robot Arms
• Sommario/riassunto: Flexible robotic manipulators pose various challenges in research as compared to rigid robotic manipulators, ranging from system design, structural optimization, and construction to modeling, sensing, and control. Although significant progress has been made in many aspects over the last one-and-a-half decades, many issues are not resolved yet, and simple, effective, and reliable controls of flexible manipulators still remain an open quest. Clearly, further efforts and results in this area will contribute significantly to robotics (particularly automation) as well as its application and educat

Assessing research-doctorate programs : a methodology study / / Jeremiah P. Ostriker and Charlotte V. Kuh, editors, assisted by James A. Voytuk ; Committee to Examine the Methodology for the Assessment of Research-Doctorate Programs, Policy and Global Affairs Division, National Research Council of the National Academies

• Record Nr.: UNINA9911148963403321
• Pubbl/distr/stampa: Washington, D.C., : The National Academies Press, c2003
• ISBN: 9786610179466; 9781280179464; 1280179465; 9780309527088; 0309527082
• Edizione: [1st ed.]
• Descrizione fisica: xii, 165 p
• Altri autori (Persone): OstrikerJ. P; KuhCharlotte V; VoytukJames A
• Disciplina: 507/.2/073
• Soggetti: Research - United States - Evaluation; Doctor of philosophy degree - United States - Evaluation; Science - Study and teaching (Higher) - United States - Evaluation; Engineering - Study and teaching (Higher) - United States - Evaluation; Humanities - Study and teaching (Higher) - United States - Evaluation
• Lingua di pubblicazione: Inglese
• Formato: Materiale a stampa
• Livello bibliografico: Monografia
• Note generali: Bibliographic Level Mode of Issuance: Monograph
• Nota di bibliografia: Includes bibliographical references.
• Nota di contenuto: FrontMatter -- Acknowledgments -- Contents -- List of Tables and Charts -- Executive Summary -- 1 Introduction -- 2 How the Study Was Conducted -- 3 Taxonomy -- 4 Quantitative Measures -- 5 Student Education and Outcomes -- 6 Reputation and Data Presentation -- 7 General Conclusions and Recommendations -- References -- Appendixes -- Appendix A Committee and Panel Member Biographical Sketches -- Appendix B Program-Initiation Consultation with Organizations -- Appendix C Meetings and Participants -- Appendix D Sample Questionnaires -- Appendix E ; Taxonomy of Fields and Their Subfields -- Appendix F Fields for Ph.D.s Granted During 1996-2001 -- Appendix G Technical and Statistical Techniques -- Alternate Ways to Present Rankings: Random Halves and Bootstrap Methods -- Correlates of Reputation Analysis.
• Sommario/riassunto: How should we assess and present information about the quality of research-doctorate programs? In recommending that the 1995 NRC rankings in Assessing the Quality of Research-Doctorate Programs: Continuity and Change be updated as soon as possible, this study presents an improved approach to doctoral program assessment which will be useful to administrators, faculty, and others with an interest in improving the education of Ph.D.s in the United States. It reviews the methodology of the 1995 NRC rankings and recommends changes, including the collection of new data about Ph.D. students, additional data about faculty, and new techniques to present data on the qualitative assessment of doctoral program reputation. It also recommends revision of the taxonomy of fields from that used in the 1995 rankings.