Robotics is the science that attempts to forge an intelligent, computational connection between perception and action. Perhaps the most fundamental problems in robotics today are uncertainty and error in control, sensing, and modelling. In this monograph the author provides what is perhaps the first systematic treatment of the uncertainty problem. This book descibes the theory he developed for planning compliant motions for tasks such as robotic assembly. The planner can synthesize robot control programs that are robust in the face of uncertainty in the control system, the robot sensors, and variation in the geometry of the assembly. Perhaps the deepest contribution lies in a new theory of Error Detection and Recovery (EDR). While EDR is largely motivated by the problem of uncertainty its applicability may be quite broad. EDR has been a persistent but ill-defined theme in AI and robotics research. The author gives a constructive, geometric definition for EDR strategies, and shows how they may be computed. This theory represents an elegant mathematical attack on the problem of error detection and recovery based on geometric and physical reasoning. Finally, algorithms for the automatic synthesis of EDR strategies are described, and new results on their computational complexity are analyzed.

"Well, well, little fox," growled Tikoloshe, "after eating all those beetles, you must be nice and fat. Now I'm really going to eat you up." Three naughty bat-eared fox cubs disobey their mother and, as a consequence, are threatened by an ugly, fierce and vengeful 'mythical' creature whom indigenous South African people refer to as 'Tikoloshe'. Through the ingenuity of the little fox cub and the bravery of the biggest fox cub they ultimately vanquish the tikoloshe and are forgiven by their mother.

R. Donald Shafer knows life is a story and that all of our stories are different. This memoir spans seven decades of his life as a son, brother, friend, husband, father, pastor, bishop, church administrator, and grandfather. Shafer chronologically and topically narrates his unique journey with the hope that his stories will encourage others to look up, laugh, love, and ultimately lift their spirits to accept all that life has to offer.

Shafer begins with his birth in a little Pennsylvania village where he tells of peaceful times growing up near his grandparents. With four siblings, caring parents, an affirming pastor, and fascinating neighbors, life is exciting. During his adolescence Shafer decides to follow Jesus, a decision that changes his life forever. Working at mowing lawns, delivering newspapers, dancing at the high school prom, and a few car accidents are escapades of his youth. Shafer details his college life and love stories of meeting his future wife. Beyond his expectations, he becomes an ordained pastor, church leader, bishop, and even a public relations man. Contemporary church planting on a shoestring and relational caring for pastors marked this church administrator's career.

"Laugh, Love, and Lift" shares one man's uplifting journey through life as he discovers the importance of loving relationships, unyielding faith, and hope for the future.

R. Donald Shafer knows life is a story and that all of our stories are different. This memoir spans seven decades of his life as a son, brother, friend, husband, father, pastor, bishop, church administrator, and grandfather. Shafer chronologically and topically narrates his unique journey with the hope that his stories will encourage others to look up, laugh, love, and ultimately lift their spirits to accept all that life has to offer.

Shafer begins with his birth in a little Pennsylvania village where he tells of peaceful times growing up near his grandparents. With four siblings, caring parents, an affirming pastor, and fascinating neighbors, life is exciting. During his adolescence Shafer decides to follow Jesus, a decision that changes his life forever. Working at mowing lawns, delivering newspapers, dancing at the high school prom, and a few car accidents are escapades of his youth. Shafer details his college life and love stories of meeting his future wife. Beyond his expectations, he becomes an ordained pastor, church leader, bishop, and even a public relations man. Contemporary church planting on a shoestring and relational caring for pastors marked this church administrator's career.

"Laugh, Love, and Lift" shares one man's uplifting journey through life as he discovers the importance of loving relationships, unyielding faith, and hope for the future.

This scarce antiquarian book is a selection from Kessinger Publishing's Legacy Reprint Series. Due to its age, it may contain imperfections such as marks, notations, marginalia and flawed pages. Because we believe this work is culturally important, we have made it available as part of our commitment to protecting, preserving, and promoting the world's literature. Kessinger Publishing is the place to find hundreds of thousands of rare and hard-to-find books with something of interest for everyone

The comments on author Don McGaffigan during his seven year odyssey are: (4 years priesthood quest, 3 years book writing): What are they afraid of? - Dick Connell, Exeter, NH. Don, this is the priesthood (While reading the letters of thanks Don McGaffigan received during his quest) - Father Craig Pregana, Voc. Dir. Diocese of Fall River, MA. This is not the point. (While reading the same letters) - Archbishop Charles Chaput, Diocese of Denver, CO. You have a high moral profile. You want everyone to live up to your standards. - Dr. John Walsh, Psychiatrist, Diocese of Manchester, NH. You did not fail in your quest Don, you discovered. - Paul Kelley, U.S. Marine Corps League, Cape & Islands Detachment 955, Orleans, MA. On behalf of the residents and Activities Department at Exeter Healthcare, I want to thank you for bringing your smiling face... Every day you come, you bring happiness and joy to so many... - Kerry Robertson, Assist. Activities Director, Exeter Healthcare, Exeter, NH. We also think that it is very kind of you to dedicate all these great events to Cindy, who we believe must have been such a great person as you are also. Thank you for the wonderful times.

The aim of this work is to provide a fuller spectrum of information in a single source on enzyme-catalyzed reactions than is currently available in any published reference work or as part of any Internet database. The Enzyme Reference: A Comprehensive Guidebook to Enzyme Nomenclature, Reactions, and Methods includes 20,000 review articles and seminal research papers. Additionally, it provides a novel treatment of so-called ATPase and GTPase reactions to account for the noncovalent substratelike and productlike states of molecular motors, elongation factors, transporters, DNA helicases, G-reulatory proteins, and other energases.
Key Fetures
* Includes a compendium of over 6,000 enzyme reactions (including enzyme commission numbers, alternative names, substrates, products, alternative substrates, and properties)
* Covers over 900 chemical structures of key metabolites and cofactors
* Index directs readers to the exact pages for over 9,500 enzyme names