Walking machines have potential advantages over traditional vehicles, and they have already succeeded in carrying out many tasks that wheeled or tracked robots cannot handle. Nevertheless, their use in industry and services is currently limited in scope. Quadrupedal Locomotion: An Introduction to the Control of Four-legged Robots brings together some of the methods and techniques in this emerging field that have recently been developed in an effort to deal with the problems that currently prevent legged robots being more widely used for real applications.

Quadrupedal Locomotion: An Introduction to the Control of Four-legged Robots illustrates the appropriate algorithms and methods through a discussion of simulation and experiments that have been tested on a real machine, the SILO4 walking robot. Data from the experiments can be found on-line at http: //www.iai.csic.es/users/silo4/. This book is divided into two parts: the first part, Walking Measurements and Algorithms, introduces the historical development of quadrupeds, their advantages/disadvantages and potential uses, and the trade-off between quadrupeds and hexapods. The second part, Control Techniques, concentrates on general techniques that have been specifically applied to legged robots, including kinematic and dynamic models, soft computing techniques to increase speed, virtual sensors that help reduce the electronic burden of the machine, and software simulators to study and test certain robot properties.

As the first book to focus specifically on quadrupeds, Quadrupedal Locomotion: An Introduction to the Control of Four-legged Robots will be suitable for researchers, postgraduates and senior undergraduates inthe field of robotics as well as engineers working in industry.

Sound, Image, and National Imaginary in the Construction of Latin/o American Identities addresses a gap in the many narratives discussing the cultural histories of Latin American nations, particularly in terms of the birth, configuration, and perpetuation of national identities. It argues that these processes were not as gradual or constrained as traditionally conceived. The actual circumstances dictating the adoption of particular technologies for the representation of national ideas shifted and varied according to many factors including local circumstances, political singularities, economic disparities, and highly individualized cultural transitions. This book proposes a model of chronology that is valid not only for nations that underwent strong processes of nationalism during the early or mid-twentieth century, but also for those that experienced highly idiosyncratic cultural, economic, and political development into the early twenty-first century.

This volume generalizes the classical theory of orthogonal polynomials on the complex unit circle or on the real line to orthogonal rational functions whose poles are among a prescribed set of complex numbers. The first part treats the case where these poles are all outside the unit disk or in the lower half plane. Classical topics such as recurrence relations, numerical quadrature, interpolation properties, Favard theorems, convergence, asymptotics, and moment problems are generalized and treated in detail. The same topics are discussed for a different situation where the poles are located on the unit circle or on the extended real line. In the last chapter, several applications are mentioned including linear prediction, Pisarenko modeling, lossless inverse scattering, and network synthesis. This theory has many applications both in theoretical real and complex analysis, approximation theory, numerical analysis, system theory, and electrical engineering.

Walking machines have potential advantages over traditional vehicles, and they have already succeeded in carrying out many tasks that wheeled or tracked robots cannot handle. Nevertheless, their use in industry and services is currently limited in scope. Quadrupedal Locomotion: An Introduction to the Control of Four-legged Robots brings together some of the methods and techniques in this emerging field that have recently been developed in an effort to deal with the problems that currently prevent legged robots being more widely used for real applications.

Quadrupedal Locomotion: An Introduction to the Control of Four-legged Robots illustrates the appropriate algorithms and methods through a discussion of simulation and experiments that have been tested on a real machine, the SILO4 walking robot. Data from the experiments can be found on-line at http: //www.iai.csic.es/users/silo4/. This book is divided into two parts: the first part, Walking Measurements and Algorithms, introduces the historical development of quadrupeds, their advantages/disadvantages and potential uses, and the trade-off between quadrupeds and hexapods. The second part, Control Techniques, concentrates on general techniques that have been specifically applied to legged robots, including kinematic and dynamic models, soft computing techniques to increase speed, virtual sensors that help reduce the electronic burden of the machine, and software simulators to study and test certain robot properties.

As the first book to focus specifically on quadrupeds, Quadrupedal Locomotion: An Introduction to the Control of Four-legged Robots will be suitable for researchers, postgraduates and senior undergraduates in the field of robotics as well as engineers working in industry.

This volume generalizes the classical theory of orthogonal polynomials on the complex unit circle or on the real line to orthogonal rational functions whose poles are among a prescribed set of complex numbers. The first part treats the case where these poles are all outside the unit disk or in the lower half plane. Classical topics such as recurrence relations, numerical quadrature, interpolation properties, Favard theorems, convergence, asymptotics, and moment problems are generalized and treated in detail. The same topics are discussed for a different situation where the poles are located on the unit circle or on the extended real line. In the last chapter, several applications are mentioned including linear prediction, Pisarenko modeling, lossless inverse scattering, and network synthesis. This theory has many applications both in theoretical real and complex analysis, approximation theory, numerical analysis, system theory, and electrical engineering.

In the last few decades, advances in molecular biology and in the research - frastructure in this ?eld has given rise to the omics revolution in molecular biology, alongwiththeexplosionofdatabases: fromgenomicstotranscriptomics, proteomics, interactomics, and metabolomics. However, the huge amount of b- logicalinformationavailablehasleftabottleneckindataprocessing: information over?ow has called for innovative techniques for their visualization, modelling, interpretationandanalysis.The manyresultsfromthe ?eldsofcomputerscience andengineeringhavethenmetwithbiology, leadingto new, emergingdisciplines such as bioinformatics and systems biology. So, for instance, as the result of - plicationoftechniquessuchasmachinelearning, self-organizingmaps, statistical algorithms, clusteringalgorithmsandmulti-agentsystemstomodernbiology, we can actually model and simulate some functions of the cell (e.g., protein inter- tion, gene expression and gene regulation), make inferences from the molecular biology database, make connections among biological data, and derive useful predictions. Today, and more generally, two di?erent scenarios characterize the po- genomic era. On the one hand, the huge amount of datasets made available by biological research all over the world mandates for suitable techniques, tools and methods meant at modelling biological processes and analyzing biological sequences. On the other hand, biological systems work as the sources of a wide range of new computational models and paradigms, which are now ready to be applied in the context of computer-based syst

The creation of the doctrine of conventionality control is one of the most recent and ambitious efforts undertaken by the Inter-American Court of Human Rights to increase the effectiveness of and compliance with the American Convention on Human Rights (ACHR) at the State level. It is an international obligation of all State parties to interpret domestic law in accordance with the ACHR and with the Inter-American Corpus Juris more generally, and to avoid the enforcement of that law in the case that no consistent interpretation is legally possible. This book is the first that approaches conventionality control from an analytical, critical and normative perspective. The author applies the principle of subsidiarity as a theoretical framework to argue the legality of and clarify the content of conventionality control as an international legal obligation. This innovative approach explains the normative foundations and effects of the doctrine in a manner that increases the effectiveness of the ACHR and the decisions of the Inter-American Court, whilst also respecting the legitimate freedom of States in the way they implement international human rights law at a domestic level. Coinciding with the 40th anniversary of the ACHR coming into force, The Doctrine of Conventionality Control is an important contribution to the literature on the application of the ACHR in the State parties. It is a book for everybody interested in, involved with or affected by the implementation of the ACHR.

Tracing musicology in Latin American during the twentieth century, this book presents case studies to illustrate how Latin American music has interacted with social and global processes. The book addresses such topics as popular music, post-colonialism, women in Latin American music, tradition and modernity, musical counterculture, globalization, and identity construction through music. It contributes to the development of paradigms of cultural analysis that originated outside of Latin America by testing them in the Latin American musical context, while also exploring how specifically Latin American models can contribute to broader cultural analysis.

Isotope Dilution Mass Spectrometry (IDMS) has become an essential tool in research laboratories and is increasingly used in routine analysis labs (including environmental, food safety and clinical applications). This is the first textbook to present a comprehensive and instructive view of the theory and applications of this growing technique.

The main objective of this book is to cover the theory and applications of Isotope Dilution in Analytical Chemistry. The scope is comprehensive to include elemental analysis, speciation analysis, organic analysis and biochemical and clinical analysis together with applications in metabolism studies and traceability of goods. Until now there have been no books published with the same general scope (only book chapters on particular applications). This is a textbook focused at post-graduate level covering the basic knowledge required for doctoral studies in this field. Isotope Dilution Mass Spectrometry will also outline practical applications of interest for routine testing laboratories where isotope dilution procedures are implemented or can be implemented in the future. This unique book covers all the theoretical and practical aspects of Isotope Dilution Mass Spectrometry (IDMS). Due to the increasing application of IDMS in many research laboratories and the increasing implementation of IDMS methodologies in routine testing laboratories, scientists in industry and working in or affiliated to this area will this an invaluable source of information. Concerning the theoretical aspects, the authors present a uniform theoretical background which grows from previous developments in Organic, Speciation and Elemental analysis both in their own laboratory and in other laboratories around the world. This general approach will be simpler and will also include new emerging fields such as quantitative proteomics and metabolism studies.

This book provides the reader a fully descriptive approach of labia minora hypertrophy and clitoral hood elongation related to anatomical variants. The expert contributors present their reproducible and structured technique of Topographic Labiaplasty, that allows the surgeon to improve surgical results and avoid complications and poor aesthetic outcomes. It also enables surgeons to understand the huge anatomical variants related to labia minora hypertrophy and clitoral frenulum complex aiming a better result from the aesthetic and functional point of view. The eighteen well written chapters include a brief historical research about the history of labiaplasty, classifications of labia minora hypertrophy, indications and contraindications for the surgery, anesthetic considerations, surgical instrumentation, reconstructive aspects, labiaplasty in teenagers and the sexological impact. The book also features surgical videos. Topographic Labiaplasty - From Theory to Practice is addressed to consultants in gynecology, plastic surgery, urogynecology and those interested in female cosmetic genital surgery.

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Javier F. Leon and Helena Simonett curate a collection of essential writings from the last twenty-five years of Latin American music studies. Chosen as representative, outstanding, and influential in the field, each article appears in English translation. A detailed new introduction by Leon and Simonett both surveys and contextualizes the history of Latin American ethnomusicology, opening the door for readers energized by the musical forms brought and nurtured by immigrants from throughout Latin America. Contributors include Marina Alonso Bolanos, Gonzalo Camacho Diaz, Jose Jorge de Carvalho, Claudio F. Diaz, Rodrigo Cantos Savelli Gomes, Juan Pablo Gonzalez, Ruben Lopez-Cano, Angela Luhning, Jorge Martinez Ulloa, Maria Ignez Cruz Mello, Julio Mendivil, Carlos Minana Blasco, Raul R. Romero, Inigo Sanchez Fuarros, Carlos Sandroni, Carolina Santamaria-Delgado, Rodrigo Torres Alvarado, and Alejandro Vera.

This is a reproduction of a book published before 1923. This book may have occasional imperfections such as missing or blurred pages, poor pictures, errant marks, etc. that were either part of the original artifact, or were introduced by the scanning process. We believe this work is culturally important, and despite the imperfections, have elected to bring it back into print as part of our continuing commitment to the preservation of printed works worldwide. We appreciate your understanding of the imperfections in the preservation process, and hope you enjoy this valuable book. ++++ The below data was compiled from various identification fields in the bibliographic record of this title. This data is provided as an additional tool in helping to ensure edition identification: ++++ Curso De Derecho Mercantil, Volume 2; Curso De Derecho Mercantil; Pablo Gonzalez Huebra Pablo Gonzalez Huebra S.n., 1859

Esta edicion recoge la produccion poetica posterior a Obras incompletas. En ella se ahondan y se depuran las notas constitutivas de su brillante poesia. Lo personal, lo autobiografico y lo cotidiano adquieren un aura de autenticidad y de belleza que alcanza a todo tipo de lectores.

Javier F. Leon and Helena Simonett curate a collection of essential writings from the last twenty-five years of Latin American music studies. Chosen as representative, outstanding, and influential in the field, each article appears in English translation. A detailed new introduction by Leon and Simonett both surveys and contextualizes the history of Latin American ethnomusicology, opening the door for readers energized by the musical forms brought and nurtured by immigrants from throughout Latin America. Contributors include Marina Alonso Bolanos, Gonzalo Camacho Diaz, Jose Jorge de Carvalho, Claudio F. Diaz, Rodrigo Cantos Savelli Gomes, Juan Pablo Gonzalez, Ruben Lopez-Cano, Angela Luhning, Jorge Martinez Ulloa, Maria Ignez Cruz Mello, Julio Mendivil, Carlos Minana Blasco, Raul R. Romero, Inigo Sanchez Fuarros, Carlos Sandroni, Carolina Santamaria-Delgado, Rodrigo Torres Alvarado, and Alejandro Vera.