Modeling, Estimation, and Control of Robot-Soil Interactions

This thesis presents the development of hardware, theory, and experimental methods to enable a robotic manipulator arm to interact with soils and estimate soil properties from interaction forces. Unlike the majority of robotic systems interacting with soil, our objective is parameter estimation, not excavation. To this end, we design our manipulator with a flat plate for easy modeling of interactions. By using a flat plate, we take advantage of the wealth of research on the similar problem of earth pressure on retaining walls. There are a number of existing earth pressure models. These models typically provide estimates of force which are in uncertain relation to the true force. A recent technique, known as numerical limit analysis, provides upper and lower bounds on the true force. Predictions from the numerical limit analysis technique are shown to be in good agreement with other accepted models. Experimental methods for plate insertion, soil-tool interface friction estimation, and control of applied forces on the soil are presented. In addition, a novel graphical technique for inverting the soil models is developed, which is an improvement over standard nonlinear optimization. This graphical technique utilizes the uncertainties associated with each set of force measurements to obtain all possible parameters which could have produced the measured forces. The system is tested on three cohesionless soils, two in a loose state and one in a loose and dense state. The results are compared with friction angles obtained from direct shear tests. The results highlight a number of key points. Common assumptions are made in soil modeling. Most notably, the Mohr-Coulomb failure law and perfectly plastic behavior. In the direct shear tests, a marked dependence of friction angle on the normal stress at low stresses is found. This has ramifications for any study of friction done at low stresses. In addition, gradual failures are often observed for vertical tools and tools inclined away from the direction of motion. After accounting for the change in friction angle at low stresses, the results show good agreement with the direct shear values.

The Quadric Reference Surface: Theory and Applications

The conceptual component of this work is about "reference surfaces'' which are the dual of reference frames often used for shape representation purposes. The theoretical component of this work involves the question of whether one can find a unique (and simple) mapping that aligns two arbitrary perspective views of an opaque textured quadric surface in 3D, given (i) few corresponding points in the two views, or (ii) the outline conic of the surface in one view (only) and few corresponding points in the two views. The practical component of this work is concerned with applying the theoretical results as tools for the task of achieving full correspondence between views of arbitrary objects.

The Kineticist's Workbench: Combining Symbolic and Numerical Methods in the Simulation of Chemical Reaction Mechanisms

The Kineticist's Workbench is a program that simulates chemical reaction mechanisms by predicting, generating, and interpreting numerical data. Prior to simulation, it analyzes a given mechanism to predict that mechanism's behavior; it then simulates the mechanism numerically; and afterward, it interprets and summarizes the data it has generated. In performing these tasks, the Workbench uses a variety of techniques: graph- theoretic algorithms (for analyzing mechanisms), traditional numerical simulation methods, and algorithms that examine simulation results and reinterpret them in qualitative terms. The Workbench thus serves as a prototype for a new class of scientific computational tools---tools that provide symbiotic collaborations between qualitative and quantitative methods.

Conditional compositional biplots: theory and application

The biplot has proved to be a powerful descriptive and analytical tool in many areas of applications of statistics. For compositional data the necessary theoretical adaptation has been provided, with illustrative applications, by Aitchison (1990) and Aitchison and Greenacre (2002). These papers were restricted to the interpretation of simple compositional data sets. In many situations the problem has to be described in some form of conditional modelling. For example, in a clinical trial where interest is in how patients’ steroid metabolite compositions may change as a result of different treatment regimes, interest is in relating the compositions after treatment to the compositions before treatment and the nature of the treatments applied. To study this through a biplot technique requires the development of some form of conditional compositional biplot. This is the purpose of this paper. We choose as a motivating application an analysis of the 1992 US President ial Election, where interest may be in how the three-part composition, the percentage division among the three candidates - Bush, Clinton and Perot - of the presidential vote in each state, depends on the ethnic composition and on the urban-rural composition of the state. The methodology of conditional compositional biplots is first developed and a detailed interpretation of the 1992 US Presidential Election provided. We use a second application involving the conditional variability of tektite mineral compositions with respect to major oxide compositions to demonstrate some hazards of simplistic interpretation of biplots. Finally we conjecture on further possible applications of conditional compositional biplots

TU Graz: Course: 707.000 Web Science and Web Technology: Lecture 3: Network Theory and Terminology

In this class, we will discuss network theory fundamentals, including concepts such as diameter, distance, clustering coefficient and others. We will also discuss different types of networks, such as scale-free networks, random networks etc. Readings: Graph structure in the Web, A. Broder and R. Kumar and F. Maghoul and P. Raghavan and S. Rajagopalan and R. Stata and A. Tomkins and J. Wiener Computer Networks 33 309--320 (2000) [Web link, Alternative Link] Optional: The Structure and Function of Complex Networks, M.E.J. Newman, SIAM Review 45 167--256 (2003) [Web link] Original course at: http://kmi.tugraz.at/staff/markus/courses/SS2008/707.000_web-science/

Research Method Overview: Experimental and Comparative Methods

Experimental and comparative methods in the social sciences

Graph Theory and Social Networks Tutorial

For COMP60

Game Theory and Addiction

A brief one lecture introduction to Game Theory and Addiction techniques for building a games.

Alternatives to Reparations in International Investment Arbitration– A Debate Between Theory and Practice

An analysis of the alternatives of compensation in relation to international investment disputes is relevant, because a pecuniary award is not always the appropriate remedy to solve disputes arising between investors and States. This is the case because States may be increasingly interested in opting for a different type of compensation. Furthermore, it is still not clear whether arbitral tribunals have recognised alternative types of awarding damages in respect of international investments disputes. This analysis comprises two principal components, the first, is to identify whether or not the tribunals may render an award that not only demands the payment of a sum of money but also considers some other means of compensation. The second, centres on how compliance with these non-pecuniary awards may be demanded. Our approach to these two principal components will always revolve around the idea of respecting the sovereignty of the State, bearing in mind that the execution of an arbitral award, which obliges the State to refrain from or to perform an act in its territory, relies precisely on the sovereignty of the State to execute it. 

Teoría y práctica de la Prehistoria : perspectivas desde los extremos de Europa = Theory and practice of Prehistory : views from the edges of Europe.

Esta obra es producto de la primera, y única, Reunión Hispano-Soviética de Prehistoriadores organizada por el Departamento de Prehistoria del Centro de Estudios Históricos en el marco del convenio entre la Academia de Ciencias de la U.R.S.S. y el C.S.I.C. español. Su objetivo es promover contactos entre investigadores de ambos países. La publicación se divide en catorce partes: 1. Prefacio. 2. Prólogo. 3. El Centro de Estudios Históricos. 4. El Departamento de Prehistoria. 5. El Instituto de Arqueología de la Academia de Ciencias de Rusia. 6. Gonzalo Ruiz Zapatero. 7. Rauv M. Munchaez (ponencia). 8. Emiliano Aguirre Enríquez (ponencia). 9. Valery P. Alekseev (ponencia). 10. Alfonso Moure Romanillo (ponencia). 11. Jizri A. Amirjanoz (ponencia). 12. Eugenio N. Chernij (ponencia). 13. Arturo Ruiz Rodríguez (ponencia). 14. Valery I. Gulaiev.

Economic integration. an overview of basic economic theory and other related issues

Este documento presenta una visión amplia de la Teoría de Integración Económica desde el punto de vista de la teoría de unión aduanera. Se argumenta que dicha teoría carece de integración y que los recientes desarrollos en el tema no parecen resolver esta falla. A pesar de esto, se sugiere que los desarrollos teóricos surgidos a partir del trabajo seminal de Viner y posteriormente desarrollados por otros teóricos, son aún útiles como herramienta de investigación empírica en el tema.

Teaching science in primary school : a handbook of lesson plans, knowledge and teaching methods.

Este manual proporciona una guía completa de planificación de lecciones y estrategias para la enseñanza de la ciencia en una escuela primaria. Abarca los conocimientos y los enfoques de la ciencia en esta etapa. Incluye actividades de aprendizaje adecuados. Establece los usos de la información y la tecnología para apoyar la enseñanza y el aprendizaje. Ofrece criterios prácticos y estrategias para la evaluación.

English teaching in the secondary school : linking theory and practice.

Es un texto para la enseñanza de la lengua inglesa en las escuelas secundarias dirigido a los profesores que estudian, están recién titulados ó son experimentados docentes. Cumple con los requisitos del plan nacional de estudios inglés para el año 2000 y con la Estrategia Nacional de Alfabetización (National Literacy Strategy) para la etapa 3 (key stage 3). Entre sus objetivos están: dar ideas prácticas específicas que vinculen la teoría y la práctica y estimular el pensamiento crítico sobre la enseñanza del inglés.