An interfaith guide to planned giving. Planned gifts are typically the largest gifts received by a charity and can transform religious organizations and congregations to become more sustainable, impactful, and vibrant entities for decades to come. Encouraging planned gifts to congregations and religious organizations is essential at this time of tremendous generational wealth transfer; these gifts also provide an opportunity to enhance relationships between supporters and organizations. Many congregations and religious entities fear that they cannot raise these transformational gifts due to a lack of expertise among staff or volunteers, the limited financial resources of their constituents, or the simple discomfort of addressing ultimate issues with donors. Faithful Giving can help change those dynamics. The book is intentionally inclusive of Christian and other faith traditions by offering several case studies from a variety of Christian denominations and other religions, including Roman Catholic, Episcopal, Presbyterian, Lutheran, Baptist, Jewish, Muslim, Hindu, Sikh, and others.

Iterative learning control (ILC) has its origins in the control of processes that perform a task repetitively with a view to improving accuracy from trial to trial by using information from previous executions of the task. This brief shows how a classic application of this technique - trajectory following in robots - can be extended to neurological rehabilitation after stroke. Regaining upper limb movement is an important step in a return to independence after stroke, but the prognosis for such recovery has remained poor. Rehabilitation robotics provides the opportunity for repetitive task-oriented movement practice reflecting the importance of such intense practice demonstrated by conventional therapeutic research and motor learning theory. Until now this technique has not allowed feedback from one practice repetition to influence the next, also implicated as an important factor in therapy. The authors demonstrate how ILC can be used to adjust external functional electrical stimulation of patients' muscles while they are repeatedly performing a task in response to the known effects of stimulation in previous repetitions. As the motor nerves and muscles of the arm reaquire the ability to convert an intention to move into a motion of accurate trajectory, force and rapidity, initially intense external stimulation can now be scaled back progressively until the fullest possible independence of movement is achieved.