The Development of Hierarchical Knowledge in Robot Systems

Total Page:16

File Type:pdf, Size:1020Kb

The Development of Hierarchical Knowledge in Robot Systems THE DEVELOPMENT OF HIERARCHICAL KNOWLEDGE IN ROBOT SYSTEMS A Dissertation Presented by STEPHEN W. HART Submitted to the Graduate School of the University of Massachusetts Amherst in partial fulfillment of the requirements for the degree of DOCTOR OF PHILOSOPHY September 2009 Computer Science c Copyright by Stephen W. Hart 2009 All Rights Reserved THE DEVELOPMENT OF HIERARCHICAL KNOWLEDGE IN ROBOT SYSTEMS A Dissertation Presented by STEPHEN W. HART Approved as to style and content by: Roderic Grupen, Chair Andrew Barto, Member David Jensen, Member Rachel Keen, Member Andrew Barto, Department Chair Computer Science To R. Daneel Olivaw. ACKNOWLEDGMENTS This dissertation would not have been possible without the help and support of many people. Most of all, I would like to extend my gratitude to Rod Grupen for many years of inspiring work, our discussions, and his guidance. Without his sup- port and vision, I cannot imagine that the journey would have been as enormously enjoyable and rewarding as it turned out to be. I am very excited about what we discovered during my time at UMass, but there is much more to be done. I look forward to what comes next! In addition to providing professional inspiration, Rod was a great person to work with and for|creating a warm and encouraging labora- tory atmosphere, motivating us to stay in shape for his annual half-marathons, and ensuring a sufficient amount of cake at the weekly lab meetings. Thanks for all your support, Rod! I am very grateful to my thesis committee|Andy Barto, David Jensen, and Rachel Keen|for many encouraging and inspirational discussions. Their comments and feedback significantly contributed to the form of this document. I would especially like to thank Andy for organizing the Intrinsic Motivation seminar I attended a few years ago. This seminar helped focus the direction of my research and led me to pursue many of the topics explored in this dissertation. I would like to thank the many friends and colleagues who helped make my grad- uate years as enjoyable as they were. Thanks especially to Aron Culotta, Sarah Os- entoski, Ashvin Shah, Maryanne Olson, Trek Palmer, Ricky Chang, Heather Perkins, and Shiraj Sen for their friendship and kindness, and for their company during those many, many nights at the Moan & Dove. I would also like to extend my gratitude to v the members of the Laboratory for Perceptual Robotics and the Autonomous Learn- ing Laboratory for our discussions and collaborations|specifically, Emily Horrell, Rob Platt, Shichao Ou, Dirk Ruiken, George Konidaris, and John Sweeney. Priscilla Scott and Leeanne Leclerc deserve special acclimations for making sure all of those nasty administrative details got taken care of and for being patient with all of us flaky academics. My sincere appreciation goes out to my friends at WMUA, especially the members of the weekday morning Jazz Block|Glenn Siegel, Ron Freshley, Ken Irwin, and Michael Ehlers|and to Hank Berry. My years as the Thursday morning DJ of \Soul Station," provided me with a welcome and necessary outlet that helped balance my work and hobbies. The music I discovered during this period provided an additional level of creative inspiration that has, no doubt, profoundly shaped my being at its core. To all those who stood up for their convictions, ran against the grain, and followed their own paths|John Coltrane, Albert Ayler, Bob Dylan, Cecil Taylor, Peter Br¨otzmann,Robert Wyatt, and many others|the passion, creativity, and love that you brought (and bring) to your work is an inspiration to us all. Most of all I would like to thank my fiance´e,Meg, for her love, her kindness, and her patience|especially during these last few stressful months. As I anticipate the journey we are just beginning, I am filled with excitement more than words can express. I would also like to thank my parents, Bill and Jean, and my sister and brother-in-law, Catherine and Adam, for their support and their love as I chose to stay in school for one degree after another. Finally, special gratitude should be extended to Maximus Felinus and Doris Day for their uncanny tolerance. vi ABSTRACT THE DEVELOPMENT OF HIERARCHICAL KNOWLEDGE IN ROBOT SYSTEMS SEPTEMBER 2009 STEPHEN W. HART B.S., UNIVERSITY OF MASSACHUSETTS AMHERST M.S., UNIVERSITY OF MASSACHUSETTS AMHERST Ph.D., UNIVERSITY OF MASSACHUSETTS AMHERST Directed by: Professor Roderic Grupen This dissertation investigates two complementary ideas in the literature on ma- chine learning and robotics|those of embodiment and intrinsic motivation|to ad- dress a unified framework for skill learning and knowledge acquisition.\Embodied" systems make use of structure derived directly from sensory and motor configurations for learning behavior. Intrinsically motivated systems learn by searching for native, hedonic value through interaction with the world. Psychological theories of intrinsic motivation suggest that there exist internal drives favoring open-ended cognitive de- velopment and exploration. I argue that intrinsically motivated, embodied systems can learn generalizable skills, acquire control knowledge, and form an epistemological understanding of the world in terms of behavioral affordances. I propose that the development of behavior results from the assembly of an agent's sensory and motor resources into state and action spaces that can be explored au- vii tonomously. I introduce an intrinsic reward function that can lead to the open-ended learning of hierarchical behavior. This behavior is factored into declarative \recipes" for patterned activity and common sense procedural strategies for implementing them in a variety of run-time contexts. These skills form a categorical basis for the robot to interpret and model its world in terms of the behavior it affords. Experiments conducted on a bimanual robot illustrate a progression of cumulative manipulation behavior addressing manual and visual skills. Such accumulation of skill over the long-term by a single robot is a novel contribution that has yet to be demonstrated in the literature. viii TABLE OF CONTENTS Page ACKNOWLEDGMENTS ............................................. v ABSTRACT ......................................................... vii LIST OF TABLES ...................................................xiii LIST OF FIGURES.................................................. xiv CHAPTER 1. INTRODUCTION ................................................. 1 1.1 Motivation. 1 1.2 Approach . 2 1.3 Contributions . 4 1.4 Document Overview . 5 2. BACKGROUND .................................................. 8 2.1 Dynamical Systems . 8 2.1.1 Feedback Control . 9 2.1.2 Artificial Potential Fields . 10 2.1.3 Potential Fields for Discrete State/Action Spaces . 11 2.2 Dynamical Systems Theories of Development . 13 2.2.1 Epigenetic Development . 13 2.2.2 Dynamic Field Theory . 15 2.2.3 Composable Motion Primitives . 16 2.3 Developmental Robotics . 18 2.3.1 The Role of Embodiment . 19 2.3.2 Affordance Modeling . 21 ix 2.3.3 Intrinsic Motivation . 23 2.4 Discussion . 26 3. A COMBINATORIC BASIS FOR ROBOT CONTROL ........... 27 3.1 Artificial Potential Functions . 28 3.1.1 Quadratic Potential Functions . 30 3.1.2 Harmonic Functions for Collision-Free Motion . 31 3.1.3 Kinematic Conditioning Functions . 32 3.2 Sensory and Motor Signals . 36 3.2.1 Directly Measured Signals . 37 3.2.2 Kinematic Transformations . 39 3.2.3 Internal Models . 41 3.2.4 Typing . 41 3.3 Typed Control Expressions . 43 3.3.1 Primitive Control Actions . 43 3.3.2 Co-Articulation . 44 3.3.3 Examples . 46 3.3.3.1 Kinematically Conditioned Reaching . 46 3.3.3.2 Conditioning for Sensor Acuity. 49 3.4 Discussion . 53 4. SKILL LEARNING ............................................... 58 4.1 A State Representation for Dynamic Processes . 59 4.2 Affordance Discovery . 62 4.2.1 SearchTrack . 65 4.2.2 TactileProbe . 73 4.3 Hierarchical Composition . 77 4.3.1 ReachTouch . 78 4.3.2 VisualInspect . 81 4.3.3 BimanualTouch . 83 4.4 Discussion . 85 x 5. SKILL GENERALIZATION ...................................... 88 5.1 Background . 89 5.1.1 Piagetian Schema . 90 5.1.2 Computational Approaches . 90 5.2 Controller Abstraction . 91 5.2.1 Abstracting SearchTrack . 92 5.2.2 Abstracting TactileProbe . 94 5.3 Control Basis Schema . 98 5.3.1 ReachTouch Procedural Artifacts . 101 5.3.1.1 Approaches for Learning Handedness . 102 5.3.1.2 Comparison of Approaches . 106 5.3.1.3 Learning \Out of Reach" . 111 5.3.2 Hierarchical Generalizations . 112 5.4 Discussion . 114 6. WORLD MODELING ........................................... 115 6.1 Modeling Affordances . 116 6.2 Catalogs . 118 6.2.1 A Probabilistic Method for Exploring Catalogs . 118 6.2.2 Demonstration: Learning Three Catalogs . 121 6.2.2.1 Experimental Setup . 122 6.2.2.2 Results . 124 6.3 Model Exploration Programs . ..
Recommended publications
  • 2021 V. 55 № 1/1 Special Issue the Organizers
    ISSN 0233-528X Aerospace and Environmental Medicine 2021 V. 55 № 1/1 special issue The Organizers: INTERNATIONAL ACADEMY OF ASTRONAUTICS (IAA) STATE SPACE CORPORATION “ROSCOSMOS” MINISTRY OF SCIENCE AND HIGHER EDUCATION OF THE RUSSIAN FEDERATION RUSSIAN ACADEMY OF SCIENCES (RAS) STATE RESEARCH CENTER OF THE RUSSIAN FEDERATION – INSTITUTE OF BIOMEDICAL PROBLEMS RAS Aerospace and Environmental Medicine AVIAKOSMICHESKAYA I EKOLOGICHESKAYA MEDITSINA SCIENTIFIC JOURNAL EDITOR-IN-CHIEF Orlov O.I., M.D., Academician of RAS EDITORIAL BOARD The Organizers: Ardashev V.N., M.D., professor Baranov V.M., M.D., professor, Academician of RAS Buravkova L.B., M.D., professor, Corresponding Member of RAS Bukhtiyarov I.V., M.D., professor Vinogradova O.L., Sci.D., professor – Deputy Editor D’yachenko A.I., Tech. D., professor Ivanov I.V., M.D., professor Ilyin E.A., M.D., professor Kotov O.V., Ph.D. Krasavin E.A., Ph.D., Sci.D., professor, Corresponding Member of RAS Medenkov A.A., Ph.D. in Psychology, M.D., professor Sinyak YU.E., M.D., Tech.D., professor Sorokin O.G., Ph.D. Suvorov A.V., M.D., professor Usov V.M., M.D., professor Homenko M.N., M.D., professor Mukai Ch., M.D., Ph.D. (Japan) Sutton J., M.D., Ph.D. (USA) Suchet L.G., Ph.D. (France) ADVISORY BOARD Grigoriev A.I., M.D., professor, Academician of RAS, Сhairman Blaginin A.A., M.D., Doctor of Psychology, professor Gal’chenko V.F., Sci.D., professor, Corresponding Member of RAS Zhdan’ko I.M., M.D. Ostrovskij M.A., Sci.D., professor, Academician of RAS Rozanov A.YU., D.Geol.Mineral.S., professor, Academician of RAS Rubin A.B., Sci.D., professor, Corresponding Member of RAS Zaluckij I.V., Sci.D., professor, Corresponding Member of NASB (Belarus) Kryshtal’ O.A., Sci.D., professor, Academician of NASU (Ukraine) Makashev E.K., D.Biol.Sci., professor, Corresponding Member of ASRK (Kazakhstan) Gerzer R., M.D., Ph.D., professor (Germany) Gharib C., Ph.D., professor (France) Yinghui Li, M.D., Ph.D., professor (China) 2021 V.
    [Show full text]
  • Stability Analysis of Fitzhughâ•Finagumo With
    Proceedings of GREAT Day Volume 2011 Article 4 2012 Stability Analysis of FitzHugh–Nagumo with Smooth Periodic Forcing Tyler Massaro SUNY Geneseo Follow this and additional works at: https://knightscholar.geneseo.edu/proceedings-of-great-day Creative Commons Attribution 4.0 License This work is licensed under a Creative Commons Attribution 4.0 License. Recommended Citation Massaro, Tyler (2012) "Stability Analysis of FitzHugh–Nagumo with Smooth Periodic Forcing," Proceedings of GREAT Day: Vol. 2011 , Article 4. Available at: https://knightscholar.geneseo.edu/proceedings-of-great-day/vol2011/iss1/4 This Article is brought to you for free and open access by the GREAT Day at KnightScholar. It has been accepted for inclusion in Proceedings of GREAT Day by an authorized editor of KnightScholar. For more information, please contact [email protected]. Massaro: Stability Analysis of FitzHugh–Nagumo with Smooth Periodic Forcin Stability Analysis of FitzHugh – Nagumo with Smooth Periodic Forcing Tyler Massaro 1 Background Since the concentration of K+ ions is so much higher inside the cell than outside, there is a As Izhikevich so aptly put it, tendency for K+ to flow out of these leak channels “If somebody were to put a gun to the head of along its concentration gradient. When this the author of this book and ask him to name the happens, there is a negative charge left behind by single most important concept in brain science, he the K+ ions immediately leaving the cell. This would say it is the concept of a neuron[16].” build-up of negative charge is actually enough to, in a sense, catch the K+ ions in the act of leaving By no means are the concepts forwarded in his and momentarily halt the flow of charge across the book restricted to brain science.
    [Show full text]
  • At Work in Qualitative Analysis: a Case Study of the Opposite
    HISTORIA MATHEMATICA 25 (1998), 379±411 ARTICLE NO. HM982211 The ``Essential Tension'' at Work in Qualitative Analysis: A Case Study of the Opposite Points of View of Poincare and Enriques on the Relationships between Analysis and Geometry* View metadata, citation and similar papers at core.ac.uk brought to you by CORE provided by Elsevier - Publisher Connector Giorgio Israel and Marta Menghini Dipartimento di Matematica, UniversitaÁ di Roma ``La Sapienza,'' P. le A. Moro, 2, I00185 Rome, Italy An analysis of the different philosophic and scienti®c visions of Henri Poincare and Federigo Enriques relative to qualitative analysis provides us with a complex and interesting image of the ``essential tension'' between ``tradition'' and ``innovation'' within the history of science. In accordance with his scienti®c paradigm, Poincare viewed qualitative analysis as a means for preserving the nucleus of the classical reductionist program, even though it meant ``bending the rules'' somewhat. To Enriques's mind, qualitative analysis represented the af®rmation of a synthetic, geometrical vision that would supplant the analytical/quantitative conception characteristic of 19th-century mathematics and mathematical physics. Here, we examine the two different answers given at the turn of the century to the question of the relationship between geometry and analysis and between mathematics, on the one hand, and mechanics and physics, on the other. 1998 Academic Press Un'analisi delle diverse posizioni ®loso®che e scienti®che di Henri Poincare e Federigo Enriques nei riguardi dell'analisi qualitativa fornisce un'immagine complessa e interessante della ``tensione essenziale'' tra ``tradizione'' e ``innovazione'' nell'ambito della storia della scienza.
    [Show full text]
  • Writing the History of Dynamical Systems and Chaos
    Historia Mathematica 29 (2002), 273–339 doi:10.1006/hmat.2002.2351 Writing the History of Dynamical Systems and Chaos: View metadata, citation and similar papersLongue at core.ac.uk Dur´ee and Revolution, Disciplines and Cultures1 brought to you by CORE provided by Elsevier - Publisher Connector David Aubin Max-Planck Institut fur¨ Wissenschaftsgeschichte, Berlin, Germany E-mail: [email protected] and Amy Dahan Dalmedico Centre national de la recherche scientifique and Centre Alexandre-Koyre,´ Paris, France E-mail: [email protected] Between the late 1960s and the beginning of the 1980s, the wide recognition that simple dynamical laws could give rise to complex behaviors was sometimes hailed as a true scientific revolution impacting several disciplines, for which a striking label was coined—“chaos.” Mathematicians quickly pointed out that the purported revolution was relying on the abstract theory of dynamical systems founded in the late 19th century by Henri Poincar´e who had already reached a similar conclusion. In this paper, we flesh out the historiographical tensions arising from these confrontations: longue-duree´ history and revolution; abstract mathematics and the use of mathematical techniques in various other domains. After reviewing the historiography of dynamical systems theory from Poincar´e to the 1960s, we highlight the pioneering work of a few individuals (Steve Smale, Edward Lorenz, David Ruelle). We then go on to discuss the nature of the chaos phenomenon, which, we argue, was a conceptual reconfiguration as
    [Show full text]
  • Table of Contents More Information
    Cambridge University Press 978-1-107-03042-8 - Lyapunov Exponents: A Tool to Explore Complex Dynamics Arkady Pikovsky and Antonio Politi Table of Contents More information Contents Preface page xi 1Introduction 1 1.1 Historical considerations 1 1.1.1 Early results 1 1.1.2 Biography of Aleksandr Lyapunov 3 1.1.3 Lyapunov’s contribution 4 1.1.4 The recent past 5 1.2 Outline of the book 6 1.3 Notations 8 2Thebasics 10 2.1 The mathematical setup 10 2.2 One-dimensional maps 11 2.3 Oseledets theorem 12 2.3.1 Remarks 13 2.3.2 Oseledets splitting 15 2.3.3 “Typical perturbations” and time inversion 16 2.4 Simple examples 17 2.4.1 Stability of fixed points and periodic orbits 17 2.4.2 Stability of independent and driven systems 18 2.5 General properties 18 2.5.1 Deterministic vs. stochastic systems 18 2.5.2 Relationship with instabilities and chaos 19 2.5.3 Invariance 20 2.5.4 Volume contraction 21 2.5.5 Time parametrisation 22 2.5.6 Symmetries and zero Lyapunov exponents 24 2.5.7 Symplectic systems 26 3 Numerical methods 28 3.1 The largest Lyapunov exponent 28 3.2 Full spectrum: QR decomposition 29 3.2.1 Gram-Schmidt orthogonalisation 31 3.2.2 Householder reflections 31 v © in this web service Cambridge University Press www.cambridge.org Cambridge University Press 978-1-107-03042-8 - Lyapunov Exponents: A Tool to Explore Complex Dynamics Arkady Pikovsky and Antonio Politi Table of Contents More information vi Contents 3.3 Continuous methods 33 3.4 Ensemble averages 35 3.5 Numerical errors 36 3.5.1 Orthogonalisation 37 3.5.2 Statistical error 38 3.5.3
    [Show full text]
  • % ^JJV^/W^K Sar^Fcsj^
    % ^JJV^/W^K Sar^fcsj^ sm il 1 » STELLINGEN 1. In de buitenste delen van ^piraalstelsels zijn de rotafiefrequentie, de epicycle- frequentie, en de oscillatiefrequentie Jie de beweging loodrecht op het sym- metrievlak karakteriseert, nagenoeg gelijk. Een eenmaal ontstane asym- metrische afwijking van de gasverdeling ten opzichte van het symmetnevlak (warping) kan zich daarom in de buitenste delen van een spiraalstelsel gedurende lange tijd handhaven. 2. De suggestie dat door resonante effecten bij de binnenste Lindbiad resonantie balkachtige structuren kunnen ontstaan berust vooralsnog op wishful thinkmg. J. W. K. Mark. 1974. in The formation and dynamics of galaxies. I. A. U. Symp. 5B. Hd. Shakeshaft. J. R. (Reidel. Dordrecht). 3. Het is moeilijk een fysische betekenis toe te kennen aan kinematische modellen gebaseerd op dispersieringen, als die modellen worden toegepast op waar- nemingen in de buurt van de binnenste Lindbiad resonantie. S. C. Simonson and G. L. Mader, 1973. Astron. Astrophysics. 27. 33". R. B. Tully. thesis, University of Maryland. 1972. 4. In publicaties van waarnemingen van de verdeling en kinematica van neutrale waterstof in extragalactische stelsels dient naast het afgeleide snelheidsveld ook een efficiënte presentatie te worden gegeven van de gemeten lijnprofielen. A. H. Rots. dissertatie, Rijksuniversiteit Groningen, 1974 5. De bewering van Fernie dat Huggins in 1865 door een foutieve interpretatie van zijn gegevens tot de conclusie kwam dat nevels gasvormig zijn, is onjuist. J. D. Fernie. 1970. Pub. A. S. P. 82, 1189. 6. De toenemende mogenlijkheden om de weersomstandigheden te beinvl^eden maakt spoedig internationaal overleg gewenst om vast te leggen binnen welke grenzen deze beinvloeding toela2tba-: is en om de rechtspositie van door veranderde klimatologische condities getroffen personen vast te stellen.
    [Show full text]
  • Wallace Roney Joe Fiedler Christopher
    feBrUARY 2019—ISSUe 202 YOUr FREE GUide TO THE NYC JAZZ SCENE NYCJAZZRECORD.COM BILLY HART ENCHANCING wallace joe christopher eddie roney fiedler hollyday costa Managing Editor: Laurence Donohue-Greene Editorial Director & Production Manager: Andrey Henkin To Contact: The New York City Jazz Record 66 Mt. Airy Road East feBrUARY 2019—ISSUe 202 Croton-on-Hudson, NY 10520 United States Phone/Fax: 212-568-9628 new york@niGht 4 Laurence Donohue-Greene: interview : wallace roney 6 by anders griffen [email protected] Andrey Henkin: artist featUre : joe fiedler 7 by steven loewy [email protected] General Inquiries: on the cover : Billy hart 8 by jim motavalli [email protected] Advertising: encore : christopher hollyday 10 by robert bush [email protected] Calendar: lest we forGet : eddie costa 10 by mark keresman [email protected] VOXNews: LAbel spotliGht : astral spirits 11 by george grella [email protected] VOXNEWS by suzanne lorge US Subscription rates: 12 issues, $40 11 Canada Subscription rates: 12 issues, $45 International Subscription rates: 12 issues, $50 For subscription assistance, send check, cash or oBitUaries 12 by andrey henkin money order to the address above or email [email protected] FESTIVAL REPORT 13 Staff Writers Duck Baker, Stuart Broomer, Robert Bush, Kevin Canfield, CD reviews 14 Marco Cangiano, Thomas Conrad, Ken Dryden, Donald Elfman, Phil Freeman, Kurt Gottschalk, Miscellany Tom Greenland, George Grella, 31 Anders Griffen, Tyran Grillo, Alex Henderson, Robert Iannapollo, event calendar Matthew Kassel, Mark Keresman, 32 Marilyn Lester, Suzanne Lorge, Marc Medwin, Jim Motavalli, Russ Musto, John Pietaro, Joel Roberts, John Sharpe, Elliott Simon, Andrew Vélez, Scott Yanow Contributing Writers Brian Charette, Steven Loewy, As unpredictable as the flow of a jazz improvisation is the path that musicians ‘take’ (the verb Francesco Martinelli, Annie Murnighan, implies agency, which is sometimes not the case) during the course of a career.
    [Show full text]
  • Spinning Test Particle in Four-Dimensional Einstein–Gauss–Bonnet Black Holes
    universe Communication Spinning Test Particle in Four-Dimensional Einstein–Gauss–Bonnet Black Holes Yu-Peng Zhang 1,2, Shao-Wen Wei 1,2 and Yu-Xiao Liu 1,2,3* 1 Joint Research Center for Physics, Lanzhou University and Qinghai Normal University, Lanzhou 730000 and Xining 810000, China; [email protected] (Y.-P.Z.); [email protected] (S.-W.W.) 2 Institute of Theoretical Physics & Research Center of Gravitation, Lanzhou University, Lanzhou 730000, China 3 Key Laboratory for Magnetism and Magnetic of the Ministry of Education, Lanzhou University, Lanzhou 730000, China * Correspondence: [email protected] Received: 27 June 2020; Accepted: 27 July 2020; Published: 28 July 2020 Abstract: In this paper, we investigate the motion of a classical spinning test particle in a background of a spherically symmetric black hole based on the novel four-dimensional Einstein–Gauss–Bonnet gravity [D. Glavan and C. Lin, Phys. Rev. Lett. 124, 081301 (2020)]. We find that the effective potential of a spinning test particle in this background could have two minima when the Gauss–Bonnet coupling parameter a is nearly in a special range −8 < a/M2 < −2 (M is the mass of the black hole), which means a particle can be in two separate orbits with the same spin-angular momentum and orbital angular momentum, and the accretion disc could have discrete structures. We also investigate the innermost stable circular orbits of the spinning test particle and find that the corresponding radius could be smaller than the cases in general relativity. Keywords: Gauss–Bonnet; innermost stable circular orbits; spinning test particle 1.
    [Show full text]
  • Voltage Control Using Limited Communication**This Work Was
    20th IFAC World Congress 2017 IFAC PapersOnline Volume 50, Issue 1 Toulouse, France 9-14 July 2017 Part 1 of 24 Editors: Denis Dochain Didier Henrion Dimitri Peaucelle ISBN: 978-1-5108-5071-2 Printed from e-media with permission by: Curran Associates, Inc. 57 Morehouse Lane Red Hook, NY 12571 Some format issues inherent in the e-media version may also appear in this print version. Copyright© (2017) by IFAC (International Federation of Automatic Control) All rights reserved. Printed by Curran Associates, Inc. (2018) For permission requests, please contact the publisher, Elsevier Limited at the address below. Elsevier Limited 360 Park Ave South New York, NY 10010 Additional copies of this publication are available from: Curran Associates, Inc. 57 Morehouse Lane Red Hook, NY 12571 USA Phone: 845-758-0400 Fax: 845-758-2633 Email: [email protected] Web: www.proceedings.com TABLE OF CONTENTS PART 1 VOLTAGE CONTROL USING LIMITED COMMUNICATION*............................................................................................................1 Sindri Magnússon, Carlo Fischione, Na Li A LOCAL STABILITY CONDITION FOR DC GRIDS WITH CONSTANT POWER LOADS* .........................................................7 José Arocas-Pérez, Robert Griño VSC-HVDC SYSTEM ROBUST STABILITY ANALYSIS BASED ON A MODIFIED MIXED SMALL GAIN AND PASSIVITY THEOREM .......................................................................................................................................................................13 Y. Song, C. Breitholtz
    [Show full text]
  • Recorded Jazz in the 20Th Century
    Recorded Jazz in the 20th Century: A (Haphazard and Woefully Incomplete) Consumer Guide by Tom Hull Copyright © 2016 Tom Hull - 2 Table of Contents Introduction................................................................................................................................................1 Individuals..................................................................................................................................................2 Groups....................................................................................................................................................121 Introduction - 1 Introduction write something here Work and Release Notes write some more here Acknowledgments Some of this is already written above: Robert Christgau, Chuck Eddy, Rob Harvilla, Michael Tatum. Add a blanket thanks to all of the many publicists and musicians who sent me CDs. End with Laura Tillem, of course. Individuals - 2 Individuals Ahmed Abdul-Malik Ahmed Abdul-Malik: Jazz Sahara (1958, OJC) Originally Sam Gill, an American but with roots in Sudan, he played bass with Monk but mostly plays oud on this date. Middle-eastern rhythm and tone, topped with the irrepressible Johnny Griffin on tenor sax. An interesting piece of hybrid music. [+] John Abercrombie John Abercrombie: Animato (1989, ECM -90) Mild mannered guitar record, with Vince Mendoza writing most of the pieces and playing synthesizer, while Jon Christensen adds some percussion. [+] John Abercrombie/Jarek Smietana: Speak Easy (1999, PAO) Smietana
    [Show full text]
  • A New Compactification for Celestial Mechanics
    Graduate Theses, Dissertations, and Problem Reports 2017 A New Compactification for Celestial Mechanics Daniel Solomon Follow this and additional works at: https://researchrepository.wvu.edu/etd Recommended Citation Solomon, Daniel, "A New Compactification for Celestial Mechanics" (2017). Graduate Theses, Dissertations, and Problem Reports. 6689. https://researchrepository.wvu.edu/etd/6689 This Dissertation is protected by copyright and/or related rights. It has been brought to you by the The Research Repository @ WVU with permission from the rights-holder(s). You are free to use this Dissertation in any way that is permitted by the copyright and related rights legislation that applies to your use. For other uses you must obtain permission from the rights-holder(s) directly, unless additional rights are indicated by a Creative Commons license in the record and/ or on the work itself. This Dissertation has been accepted for inclusion in WVU Graduate Theses, Dissertations, and Problem Reports collection by an authorized administrator of The Research Repository @ WVU. For more information, please contact [email protected]. A New Compactification for Celestial Mechanics Daniel Solomon Dissertation submitted to the Eberly College of Arts and Sciences at West Virginia University in partial fulfillment of the requirements for the degree of Doctor of Philosophy in Mathematics Harry Gingold, Ph.D., Chair Harvey Diamond, Ph.D. Leonard Golubovic, Ph.D. Harumi Hattori, Ph.D. Dening Li, Ph.D. Department of Mathematics Morgantown, West Virginia
    [Show full text]
  • Psychedelia, the Summer of Love, & Monterey-The Rock Culture of 1967
    Trinity College Trinity College Digital Repository Senior Theses and Projects Student Scholarship Spring 2012 Psychedelia, the Summer of Love, & Monterey-The Rock Culture of 1967 James M. Maynard Trinity College, [email protected] Follow this and additional works at: https://digitalrepository.trincoll.edu/theses Part of the American Film Studies Commons, American Literature Commons, and the American Popular Culture Commons Recommended Citation Maynard, James M., "Psychedelia, the Summer of Love, & Monterey-The Rock Culture of 1967". Senior Theses, Trinity College, Hartford, CT 2012. Trinity College Digital Repository, https://digitalrepository.trincoll.edu/theses/170 Psychedelia, the Summer of Love, & Monterey-The Rock Culture of 1967 Jamie Maynard American Studies Program Senior Thesis Advisor: Louis P. Masur Spring 2012 1 Table of Contents Introduction..…………………………………………………………………………………4 Chapter One: Developing the niche for rock culture & Monterey as a “savior” of Avant- Garde ideals…………………………………………………………………………………...7 Chapter Two: Building the rock “umbrella” & the “Hippie Aesthetic”……………………24 Chapter Three: The Yin & Yang of early hippie rock & culture—developing the San Francisco rock scene…………………………………………………………………………53 Chapter Four: The British sound, acid rock “unpacked” & the countercultural Mecca of Haight-Ashbury………………………………………………………………………………71 Chapter Five: From whisperings of a revolution to a revolution of 100,000 strong— Monterey Pop………………………………………………………………………………...97 Conclusion: The legacy of rock-culture in 1967 and onward……………………………...123 Bibliography……………………………………………………………………………….128 Acknowledgements………………………………………………………………………..131 2 For Louis P. Masur and Scott Gac- The best music is essentially there to provide you something to face the world with -The Boss 3 Introduction: “Music is prophetic. It has always been in its essence a herald of times to come. Music is more than an object of study: it is a way of perceiving the world.
    [Show full text]