robotic control
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Professor Blight uses Herman Melville's poem "On the Slain Collegians" to introduce the horrifying slaughter of 1864. The architect of the strategy that would eventually lead to Union victory, but at a staggering human cost, was Ulysses S. Grant, brought East to assume control of all Union armies in 1864. Professor Blight narrates the campaigns of 1864, including the Battles of the Wilderness, Spotsylvania, and Cold Harbor, and the siege o...more
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Prior to the Demographic Transition, fertility in northwestern Europe was controlled by limiting marriage. Marriage was regulated by landowners and the churches, and was not allowed unless a man had accumulated the resources necessary to support a family. Long periods of being landless, a servant, or an apprentice, precluded marriage. Once married, there was no control of fertility. But, only about half of adults were married at any given ...more
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PD Control, Control Partitioning, Motion Control, Disturbance Rejection, Steady-State Error, PID Control, Effective Inertia
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European populations grew only slowly during the period 1200-1700; factors include disease and wars. Human feces and rotting animal remains were not sequestered and often contaminated drinking water. Cities were so filthy that more people died in them than were born. About a third of children died in infancy, many from abandonment and lack of care during wet-nursing. Children that survived were subjected to harsh discipline to control thei...more
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In this lecture, Professor Blight begins his engagement with Reconstruction. Reconstruction, Blight suggests, might best be understood as an extended referendum on the meaning of the Civil War. Even before the war's end, various constituencies in the North attempted to control the shape of the post-war Reconstruction of the South. In late 1863, President Abraham Lincoln offered his lenient "Ten Percent Plan." Six months later, Congressiona...more
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Chimpanzee males compete for position in a dominance hierarchy; status often depends on support from other members, including females, of the group. High-ranking males have much greater sexual access to females in estrus. Males control females by physical violence and intimidation. Chimpanzees also engage in purposeful raids to kill members of other chimpanzee groups. This inter-group violence can help explain intra-group violence. To fend...more
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In this last session on the Republic, the emphasis is on the idea of self-control, as put forward by Adeimantus in his speech. Socrates asserts that the most powerful passion one needs to learn how to tame is what he calls thumos. Used to denote "spiritedness" and "desire," it is associated with ambitions for public life that both virtuous statesmen as well as great tyrants may pursue. The lecture ends with the platonic idea of justice as ...more
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In this lecture, Professor Diamond continues her conversation on the heart, reviewing its chambers and discussing heart valves, heart sounds, cardiac cycle, pathways of the blood through the heart, conduction mechanism, and nerve supply. She first describes distinguishing characteristics of the ventricles, such as the thicker walls of the left ventricle. She also details the atrioventricular (AV) and semilunar (SL) valves that control bl...more
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The idea of ecological communities has changed tremendously over the past forty years. The classical view stated that there were so many different species because evolution packed them tightly into the available niches. The modern view emphasizes the idea of trophic cascades, or top-down control in food chains. This emphasized the importance of predation in ecology, although it downplayed the significance of food webs, which showed the int...more
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Krishna Shenoy is creating "brain-computer interfaces" that will enable paralyzed patients to control prosthetic arms and computer cursors. In this short talk, Shenoy describes how his team of Stanford researchers has built a system that achieves typing at 15 words-per-minute, just by "thinking about it".
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The nineteenth century in Europe is, in many ways, synonymous with the rise of the bourgeoisie. It is misleading, however, to consider this newly dominant middle class as a homogenous group; rather, the century may be more accurately described in terms of the rise of plural middle classes. While the classes comprising this group were united by their search for power based on property rights rather than hereditary privilege, they were other...more
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Course Overview, History of Robotics Video, Robotics Applications, Related Stanford Robotics Courses, Lecture and Reading Schedule, Manipulator Kinematics, Manipulator Dynamics, Manipulator Control, Manipulator Force Control, Advanced Topics
