Dynamics of Underactuated Multibody Systems

by Robert Seifried

2013 · Springer Science & Business Media

Underactuated multibody systems are intriguing mechatronic systems, as they posses fewer control inputs than degrees of freedom. Some examples are modern light-weight flexible robots and articulated manipulators with passive joints. This book investigates such underactuated multibody systems from an integrated perspective. This includes all major steps from the modeling of rigid and flexible multibody systems, through nonlinear control theory, to optimal system design. The underlying theories and techniques from these different fields are presented using a self-contained and unified approach and notation system. Subsequently, the book focuses on applications to large multibody systems with multiple degrees of freedom, which require a combination of symbolical and numerical procedures. Finally, an integrated, optimization-based design procedure is proposed, whereby both structural and control design are considered concurrently. Each chapter is supplemented by illustrated examples.

Linguistic Theory

by Robert-Alain De Beaugrande

2014 · Routledge

In Linguistic Theory, Robert de Beaugrande analyses linguistic theories not as abstract ideas or theses, but as the process and product of theoretical discourse. He argues that the best documentation of this discourse can be found in the 'fundamental' works of major linguists from Ferdinand de Saussure to Teun van Dijk and Walter Kintsch. He therefore employs the highly unusual strategy of a close reading of these works as discourse performances and strives to uncover their main points and characteristic moves in the linguist's own words. Through this approach, the reader is able to appreciate and understand the variety and controversy among linguistic theories as they have emerged and developed in interaction with each other. Special scrutiny is allocated to the issue of how far the active practice of the linguists followed their own theories and proposals, and why. The author concludes by assessing the prospects for linguistics to be drawn from the retrospect in the previous chapters.