A hybrid systems approach to trajectory tracking control for juggling systems

From a hybrid systems point of view, we provide a modeling framework and a trajectory tracking control design methodology for juggling systems. We present the main ideas and concepts in a one degree-of-freedom juggler, which consists of a ball bouncing on an actuated robot. We design a hybrid control strategy that, with only information of the ball's state at impacts, controls the ball to track a reference rhythmic pattern with arbitrary precision. We extend this hybrid control strategy to the case of juggling multiple balls with different rhythmic patterns. Simulation results for juggling of one and three balls with a single actuated robot are presented. © 2007 IEEE.

Environmental evaluation of localising production as a strategy for sustainable development: a case study of two consumer goods in Jamaica

The objective of this study was to compare the life-cycle environmental impacts of changed production structures for two consumer goods (high-density polyethylene (HDPE) shopping bags and beds) in Jamaica. A scenario technique was used to construct three alternative production structures for each product; each scenario reflecting an increase in local production in Jamaica which depended on an increased supply of input materials which may be sourced: (1) externally from overseas suppliers, (2) from post-consumer recycling, and (3) locally on the island of Jamaica. These three constructed scenarios were then compared to the existing supply chain or reference scenarios of the products. The results showed that for both case products the recycling scenario was most preferable for localising production, resulting in the lowest environmental impact. This was because the production of raw materials accounted for the largest effect on total environmental impact. As such, the most immediate environmental improvements were realised by lowering the production of virgin materials. © 2007 Elsevier Ltd. All rights reserved.