This book is an introduction to the mathematical theory of design for articulated mechanical systems known as linkages. The focus is on sizing mechanical constraints that guide the movement of a work piece, or end-effector, of the system. The function of the device is prescribed as a set of positions to be reachable by the end-effector; and the mechanical constraints are formed by joints that limit relative movement. The goal is to find all the devices that can achieve a specific task. Formulated in this way the design problem is purely geometric in character. Robot manipulators, walking machines, and mechanical hands are examples of articulated mechanical systems that rely on simple mechanical constraints to provide a complex workspace for the end- effector. The principles presented in this book form the foundation for a design theory for these devices. The emphasis, however, is on articulated systems with fewer degrees of freedom than that of the typical robotic system, and therefore, less complexity. This book will be useful to mathematics, engineering and computer science departments teaching courses on mathematical modeling of robotics and other articulated mechanical systems.

This new edition includes research results of the past decade on the synthesis of multi loop planar and spherical linkages, and the use of homotopy methods and Clifford algebras in the synthesis of spatial serial chains. One new chapter on the synthesis of spatial serial chains introduces numerical homotopy and the linear product decomposition of polynomial systems. The second new chapter introduces the Clifford algebra formulation of the kinematics equations of serial chain robots. Examples are use throughout to demonstrate the theory."

Rethinking Class and Social Difference brings together contributions from scholars developing new social scientific and theoretical approaches to a wide range of differing forms of social difference and inequality, especially as they are rooted in and informed by the political economy of capitalism. These include race, nationalism, sexuality, professional classes, domestic employment, digital communication and uneven economic development. The volume is brought together by a focus on how seemingly class-neutral processes of social difference and inequality is deeply related to class inequality. Ultimately, the volume argues for a brave rethinking of the ways that class and other forms of social difference are bound together.

Since it was first established in the 1970s, the Applied Linguistics and Language Study series has become a major force in the exploration of practical problems in human communication and language education. Drawing extensively on empirical research and theoretical work in linguistics, sociology, and psychology and education, the series explores key issues in language acquisition and language use. In this book Michael McCarthy and Ronald Carter describe the discoursal properties of language and demonstrate what insights this approach can offer to the student and teacher of language. The authors examine the relationship between complete texts, both spoken and written, and the social and cultural contexts in which they function. They argue that the functions of language are often best understood in a discoursal environment and that exploring language in context compels us to revise commonly-held understandings about the forms and meanings of language. In so doing, the authors argue the need for language teachers, syllabus planners and curriculum organisers to give greater attention to language as discourse. Language as Discourse: Perspectives for Language Teaching challenges many current language teaching orthodoxies and offers the reader new, and sometimes provocative, perspectives on language awareness. There are chapters on issues in teaching spoken and written language; patterns of text organisation; literature, culture and language teaching; teaching grammar and vocabulary from a discourse perspective; and planning a discourse-based language syllabus. Each chapter has reader activities to consolidate the points made throughout the book and there is a detailed and wide-rangingbibliography. The book is a thought-provoking exploration of discourse analysis which will be of relevance to applied linguists, to teachers of both English and foreign languages, and to students of language in education.

The material in this book reviews work dating back to the vocabulary control movement in the 1930s and also refers to more recent work on the role of lexis in language learning. Two chapters describe the main foundations of lexical semantics and relevant research and pedagogical studies in vocabulary and lexicography; and a further chapter discusses recent advances in the field of lexis and discourse analysis. There is also a series of specially commissioned articles which investigate the structure and functions of the modern English lexicon in relation to its exploitation for classroom vocabulary teaching.

In the early 1980s the author was asked to investigate the newly discovered wreck of the Xantho, an iron screw steamship active off the Australian coast during the period 1848 to 1872, and to develop a strategy to stop the looting that was occurring at the site. This relatively straightforward assignment turned into a long-term research program for applying maritime archaeology to the conservation of iron-hulled wrecks.

Has a focus on British English but with reference to a wide range of varieties of English which will ensure the book is relatable to students and those with an interest in English vocabulary around the world. Includes a range of features such as a glossary of key terms, cartoons and illustrations, further reading, reflection points, interesting "factoids" and international examples which makes it an engaging read for students. This book assumes no knowledge of linguistics and fills a gap in the market for a plain-speaking guide focusing on the basics of vocabulary.

- A clear, non-jargonistic introduction to the basics of English language teaching (ELT), covering the history of ELT, main concepts, basic terminology, key knowledge and skills - With a range of pedagogical features such as reflection points, further reading, and a glossary, this accessible guide will be engaging for all beginning students and teachers of ELT and TESOL - A concise and up-to-date guide to the key concepts of language and the learning and teaching of language, written by established authors with decades of international ELT experience

Concrete is ubiquitous and unique, found in every developed and developing country. Indeed, there are no alternatives to concrete as a volume construction material for infrastructure. This raises important questions of how concrete should be designed and constructed for cost effective use in the the short and long term, and to encourage further radical development. Equally, it must be environmentally friendly during manufacture, in an aesthetic presentation in structures and in the containment of harmful materials. The central theme of the Congress is "Concrete in the Service of Mankind", under which five self-contained Conferences, each dealing with a particular aspect, are planned. The Congress offers opportunity to discuss how to improve and extend this service to mankind using responsible exploitation, underwritten by sound technical understanding and research base. It brings together the shared skills and experience of the various disciplines involved in the construction process world wide. This major publication continues the tradition established by Dundee University of organizing major international conferences every three years dealing with some aspect of concrete and also

The words you need to communicate with confidence. Vocabulary explanations and practice for advanced level (C1 to C2) learners of English. Perfect for both self-study and classroom activities. Quickly expand your vocabulary with over 100 units of easy to understand explanations and practice exercises. Be confident about what you are learning, thanks to Cambridge research into how English is really spoken and written, and remember words more effectively with lots of opportunities for personalised practice.

Improve your fluency and sound more natural in English. Collocations are combinations of words which frequently appear together. This book contains explanations and practice of English collocations for intermediate-level (B1 to B2) learners of English. Perfect for both self-study and classroom activities. Learn collocations in context, with lots of different topics, including 'Using the Internet' and 'Presentations'. Be confident about what you are learning, thanks to Cambridge research into how English is really spoken and written, and get better at studying by yourself, with study tips and follow-up activities. This book is also perfect for preparing for Cambridge exams and IELTS, which often test knowledge of collocations.

Advanced vocabulary tests with answers to accompany the popular English Vocabulary in Use Advanced Second Edition reference and practice book. 100 easy-to-use vocabulary tests for advanced learners of English. Test Your English Vocabulary in Use Advanced Second Edition book with answers can be used on its own or along with the English Vocabulary in Use Advanced Second Edition reference and practice book. It offers a wide variety of enjoyable test types and a clear marking system on each page so progress can be easily checked. Ideal as a revision aid and to help advanced learners build their confidence in using new vocabulary.

21st Century Kinematics focuses on algebraic problems in the analysis and synthesis of mechanisms and robots, compliant mechanisms, cable-driven systems and protein kinematics. The specialist contributors provide the background for a series of presentations at the 2012 NSF Workshop. The text shows how the analysis and design of innovative mechanical systems yield increasingly complex systems of polynomials, characteristic of those systems. In doing so, it takes advantage of increasingly sophisticated computational tools developed for numerical algebraic geometry and demonstrates the now routine derivation of polynomial systems dwarfing the landmark problems of even the recent past. The 21st Century Kinematics workshop echoes the NSF-supported 1963 Yale Mechanisms Teachers Conference that taught a generation of university educators the fundamental principles of kinematic theory. As such these proceedings will provide admirable supporting theory for a graduate course in modern kinematics and should be of considerable interest to researchers in mechanical design, robotics or protein kinematics or who have a broader interest in algebraic geometry and its applications.

Co-authored by three anthropologists with long-term expertise studying Pentecostalism in Vanuatu, Angola, and Papua New Guinea/the Trobriand Islands respectively, Going to Pentecost offers a comparative study of Pentecostalism in Africa and Melanesia, focusing on key issues as economy, urban sociality, and healing. More than an ordinary comparative book, it recognizes the changing nature of religion in the contemporary world - in particular the emergence of "non-territorial" religion (which is no longer specific to places or cultures) - and represents an experimental approach to the study of global religious movements in general and Pentecostalism in particular.

Co-authored by three anthropologists with long-term expertise studying Pentecostalism in Vanuatu, Angola, and Papua New Guinea/the Trobriand Islands respectively, Going to Pentecost offers a comparative study of Pentecostalism in Africa and Melanesia, focusing on key issues as economy, urban sociality, and healing. More than an ordinary comparative book, it recognizes the changing nature of religion in the contemporary world - in particular the emergence of "non-territorial" religion (which is no longer specific to places or cultures) - and represents an experimental approach to the study of global religious movements in general and Pentecostalism in particular.

Although the College of Cardinals is the most prestigious and venerable body at the heart of the Catholic Church, no consolidated work on its members had appeared in well over 150 years. This volume finally presents an authoritative roll of the college and of the coats-of arms used by the members of the College, and will therefore be warmly welcomed. MICHAEL McCARTHY was a recognised expert in the field of ecclesiastical heraldry.

This open access book presents fresh ethnographic work from the regions of Africa and Melanesia-where the popularity of charismatic Christianity can be linked to a revival and transformation of witchcraft. The volume demonstrates how the Holy Spirit has become an adversary to the reconfirmed presence of witches, demons, and sorcerers as manifestations of evil. We learn how this is articulated in spiritual warfare, in crusades, and in healing or witch-killing raids. The contributors highlight what happens to phenomena that people address as locally specific witchcraft or sorcery when re-molded within the universalist Pentecostal demonology, vocabulary, and confrontational methodology.