This book presents various techniques to carry out the gait modeling, the gait patterns synthesis, and the control of biped robots. Some general information on the human walking, a presentation of the current experimental biped robots, and the application of walking bipeds are given. The modeling is based on the decomposition on a walking step into different sub-phases depending on the way each foot stands into contact on the ground. The robot design is dealt with according to the mass repartition and the choice of the actuators. Different ways to generate walking patterns are considered, such as passive walking and gait synthesis performed using optimization technique. Control based on the robot modeling, neural network methods, or intuitive approaches are presented. The unilaterality of contact is dealt with using on-line adaptation of the desired motion.

техническая литература

технические науки

Bipedal Robots

любовные романы

фэнтези

учебная и научная литература

современная русская литература

современные любовные романы

современная зарубежная литература

детективы

об истории серьезно

приключения

книги о приключениях

ужасы / мистика

учебники и пособия для вузов

cтихи, поэзия

книги по психологии

стихи и поэзия

гуманитарные и общественные науки

русская классика

мистика

боевики, остросюжетная литература

публицистическая литература

Provides comprehensive coverage of microneedles for delivering and monitoring patient drugs and vaccines Microneedles are an incredibly active research area and have the potential to revolutionize the way many medicines and vaccines are delivered. This comprehensive research book covers the major aspects relating to the use of microneedle arrays in enhancing both transdermal and intradermal drug delivery and provides a sound background to the use of microneedle arrays in enhanced delivery applications. Beginning with a history of the field and the various methods employed to produce microneedles from different materials, Microneedles for Drug and Vaccine Delivery and Patient Monitoring discusses the penetration of the stratum corneum by microneedles and the importance of application method and force and microneedle geometry (height, shape, inter-needle spacing). Transdermal and intradermal delivery research using microneedles is comprehensively and critically reviewed, focusing on the outcomes of in vivo animal and human studies. The book describes the important topics of safety and patient acceptability studies carried out to date. It also covers in detail the growing area for microneedle use in the monitoring of interstitial fluid contents. Finally, it reviews translational and regulatory developments in the microneedles field and describes the work ongoing in industry. The only book currently available on microneedles Filled with tables, graphs, and black and white images (photographs, micrographs) Authored by four experts in pharmaceutics Microneedles for Drug and Vaccine Delivery and Patient Monitoring is an ideal source for researchers in industry and academia working on drug delivery and transdermal delivery in particular, as well as for advanced students in pharmacy and pharmaceutical sciences.

научно-популярная литература

зарубежная образовательная литература

знания и навыки

Microneedles for Drug and Vaccine Delivery and Patient Monitoring

The Chemistry of Heterocyclic Compounds, since its inception, has been recognized as a cornerstone of heterocyclic chemistry. Each volume attempts to discuss all aspects – properties, synthesis, reactions, physiological and industrial significance – of a specific ring system. To keep the series up-to-date, supplementary volumes covering the recent literature on each individual ring system have been published. Many ring systems (such as pyridines and oxazoles) are treated in distinct books, each consisting of separate volumes or parts dealing with different individual topics. With all authors are recognized authorities, the Chemistry of Heterocyclic Chemistry is considered worldwide as the indispensable resource for organic, bioorganic, and medicinal chemists.

The Chemistry of Heterocyclic Compounds, Fused Pyrimidines

The formation, dispersal and germination of seeds are crucial stages in the life cycles of gymnosperm and angiosperm plants. The unique properties of seeds, particularly their tolerance to desiccation, their mobility, and their ability to schedule their germination to coincide with times when environmental conditions are favorable to their survival as seedlings, have no doubt contributed significantly to the success of seed-bearing plants. Humans are also dependent upon seeds, which constitute the majority of the world’s staple foods (e.g., cereals and legumes). Seeds are an excellent system for studying fundamental developmental processes in plant biology, as they develop from a single fertilized zygote into an embryo and endosperm, in association with the surrounding maternal tissues. As genetic and molecular approaches have become increasingly powerful tools for biological research, seeds have become an attractive system in which to study a wide array of metabolic processes and regulatory systems. Seed Development, Dormancy and Germination provides a comprehensive overview of seed biology from the point of view of the developmental and regulatory processes that are involved in the transition from a developing seed through dormancy and into germination and seedling growth. It examines the complexity of the environmental, physiological, molecular and genetic interactions that occur through the life cycle of seeds, along with the concepts and approaches used to analyze seed dormancy and germination behavior. It also identifies the current challenges and remaining questions for future research. The book is directed at plant developmental biologists, geneticists, plant breeders, seed biologists and graduate students.

Annual Plant Reviews, Seed Development, Dormancy and Germination

Now available in paperback. This revised and updated edition of the definitive resource for experimental psychology offers comprehensive coverage of the latest findings in the field, as well as the most recent contributions in methodology and the explosion of research in neuroscience. Volume One: Sensation and Perception focuses on sensory experience and complex learned perceptions through modalities such as vision, touch, smell, and hearing.

общая психология

Stevens' Handbook of Experimental Psychology, Sensation and Perception

Until recently, a modest knowledge of genetics was more than adequate for the daily practice of clinical cardiology, but advances in genetics and genomics are changing cardiovascular medicine in fundamental ways. The identification of the genetic basis of several forms of dyslipidemia, hypertension, diabetes, cardiomyopathies, and vascular diseases signalled the new importance of genetics in clinical medicine. In this timely volume, Drs. Dzau and Liew – both pioneers in the area – help cardiologists understand: • how cardiovascular genetics may remodel the way cardiovascular medicine is practiced • what material has immediate relevance to the practicing clinician • how to incorporate genetics and genomics in your practice to ensure up-to-date patient care The book opens with introductory chapters, then discusses: • cardiovascular single gene disorders • cardiovascular polygenic disorders • therapies and applications Outstanding contributors write on their areas of expertise, making Cardiovascular Genetics and Genomics for the Cardiologist both authoritative and comprehensive. If you want to gain a better appreciation of how genetics and genomics are already shaping current practice and may potentially revolutionize cardiology, look no further than this dependable reference.

медицина / здравоохранение

медицина

Cardiovascular Genetics and Genomics for the Cardiologist

Comprehensive coverage of the foundations, applications, recent developments, and future of conformal differential geometry Conformal Differential Geometry and Its Generalizations is the first and only text that systematically presents the foundations and manifestations of conformal differential geometry. It offers the first unified presentation of the subject, which was established more than a century ago. The text is divided into seven chapters, each containing figures, formulas, and historical and bibliographical notes, while numerous examples elucidate the necessary theory. Clear, focused, and expertly synthesized, Conformal Differential Geometry and Its Generalizations * Develops the theory of hypersurfaces and submanifolds of any dimension of conformal and pseudoconformal spaces. * Investigates conformal and pseudoconformal structures on a manifold of arbitrary dimension, derives their structure equations, and explores their tensor of conformal curvature. * Analyzes the real theory of four-dimensional conformal structures of all possible signatures. * Considers the analytic and differential geometry of Grassmann and almost Grassmann structures. * Draws connections between almost Grassmann structures and web theory. Conformal differential geometry, a part of classical differential geometry, was founded at the turn of the century and gave rise to the study of conformal and almost Grassmann structures in later years. Until now, no book has offered a systematic presentation of the multidimensional conformal differential geometry and the conformal and almost Grassmann structures. After years of intense research at their respective universities and at the Soviet School of Differential Geometry, Maks A. Akivis and Vladislav V. Goldberg have written this well-conceived, expertly executed volume to fill a void in the literature. Dr. Akivis and Dr. Goldberg supply a deep foundation, applications, numerous examples, and recent developments in the field. Many of the findings that fill these pages are published here for the first time, and previously published results are reexamined in a unified context. The geometry and theory of conformal and pseudoconformal spaces of arbitrary dimension, as well as the theory of Grassmann and almost Grassmann structures, are discussed and analyzed in detail. The topics covered not only advance the subject itself, but pose important questions for future investigations. This exhaustive, groundbreaking text combines the classical results and recent developments and findings. This volume is intended for graduate students and researchers of differential geometry. It can be especially useful to those students and researchers who are interested in conformal and Grassmann differential geometry and their applications to theoretical physics.

естественные науки

математика

Conformal Differential Geometry and Its Generalizations

Presents a firm mathematical basis for the use of response-adaptive randomization procedures in practice The Theory of Response-Adaptive Randomization in Clinical Trials is the result of the authors' ten-year collaboration as well as their collaborations with other researchers in investigating the important questions regarding response-adaptive randomization in a rigorous mathematical framework. Response-adaptive allocation has a long history in biostatistics literature; however, largely due to the disastrous ECMO trial in the early 1980s, there is a general reluctance to use these procedures. This timely book represents a mathematically rigorous subdiscipline of experimental design involving randomization and answers fundamental questions, including: How does response-adaptive randomization affect power? Can standard inferential tests be applied following response-adaptive randomization? What is the effect of delayed response? Which procedure is most appropriate and how can «most appropriate» be quantified? How can heterogeneity of the patient population be incorporated? Can response-adaptive randomization be performed with more than two treatments or with continuous responses? The answers to these questions communicate a thorough understanding of the asymptotic properties of each procedure discussed, including asymptotic normality, consistency, and asymptotic variance of the induced allocation. Topical coverage includes: The relationship between power and response-adaptive randomization The general result for determining asymptotically best procedures Procedures based on urn models Procedures based on sequential estimation Implications for the practice of clinical trials Useful for graduate students in mathematics, statistics, and biostatistics as well as researchers and industrial and academic biostatisticians, this book offers a rigorous treatment of the subject in order to find the optimal procedure to use in practice.

The Theory of Response-Adaptive Randomization in Clinical Trials

Полная версия

Bipedal Robots