Making Linkages

This book is an introduction to the mathematical theory of design for articulated mechanical systems known as linkages. The focus is on sizing mechanical constraints that guide the movement of a work piece, or end-effector, of the system. The function of the device is prescribed as a set of positions to be reachable by the end-effector; and the mechanical constraints are formed by joints that limit relative movement. The goal is to find all the devices that can achieve a specific task. Formulated in this way the design problem is purely geometric in character. Robot manipulators, walking machines, and mechanical hands are examples of articulated mechanical systems that rely on simple mechanical constraints to provide a complex workspace for the end- effector. The principles presented in this book form the foundation for a design theory for these devices. The emphasis, however, is on articulated systems with fewer degrees of freedom than that of the typical robotic system, and therefore, less complexity. This book will be useful to mathematics, engineering and computer science departments teaching courses on mathematical modeling of robotics and other articulated mechanical systems. This new edition includes research results of the past decade on the synthesis of multi loop planar and spherical linkages, and the use of homotopy methods and Clifford algebras in the synthesis of spatial serial chains. One new chapter on the synthesis of spatial serial chains introduces numerical homotopy and the linear product decomposition of polynomial systems. The second new chapter introduces the Clifford algebra formulation of the kinematics equations of serial chain robots. Examples are use throughout to demonstrate the theory.

Planar linkages play a very important role in mechanical engineering. As the simplest closed chain mechanisms, planar four-bar linkages are widely used in mechanical engineering, civil engineering and aerospace engineering. Design of Special Planar Linkages proposes a uniform design theory for planar four-bar linkages. The merit of the method proposed in this book is that it allows engineers to directly obtain accurate results when there are such solutions for the specified n precise positions; otherwise, the best approximate solutions will be found. This book discusses the kinematics and reachable workspace and singularity of a planar 3-RRR linkage, which can be used to analyze other planar linkages. Then a foldable stair that retains the walking conversions of human beings and all the merits of a concrete stair in civil engineering is described along with a lifting guidance mechanism that has the advantages of high strength, high rigidity, lightweight overconstraint trusses and motion flexibility. The method proposed in this book can be applied to other planar linkages. This book offers a valuable resource for scientists, researchers, engineers, graduate students in mechanical engineering especially those interested in engineering design, robotics and automation. Jingshan Zhao, Associate professor; Zhijing Feng and Fulei Chu, professor; Ning Ma, Dr., all work at the Department of Mechanical Engineering, Tsinghua University.

Research Skills Among Undergraduate Students: Case Studies from the Humanities and Sciences at Dublin City University (Francoise Blin and Sheelagh Wickham); (24) Untying the Accountancy Knot: The Design, Development and Implementation of Interactive Animations and Simulations to Support Underperforming 1st Year Accountancy Students, Including Those with Dyslexia (Frances Boylan, Pauline Rooney, Fionnghuala Kelly, Jennifer McConnell, Alice Luby, Elaine Mooney, Rebecca Maughan, Dan Shanahan, Daniel King and Tony Kiely); (25) Using Prediction Markets to Create an Active Learning Environment in Large Groups (Patrick Buckley and John Garvey); (26) Crossing Borders through Cyberspace: A Social Work Education Electronic Exchange Project across the Atlantic (Janet Carter Anand and Kris Clarke); (27) Enhancing Rural Development through Graduate Programmes--An Ethiopian Case Study (Nick Chisholm, Mike FitzGibbon, Una Murray, Stephen Thornhill, Tsega Gebrakirstos, Anteneh Belachew); (28) Integrative Learning: Learners Design and Reflect on their "Economic" Behaviour to Coursework Assessment (John Considine); (29) Supporting Therapists' Engagement in Evidence Based Practice through an Interprofessional Post-Qualification Master's Programme (Janice Crausaz, Gill Chard and Clare O'Sullivan); (30) Problem Based Learning in Graduate Nursing Education (Caroline Dalton, Elaine Drummond, Lynne Marsh and Maria Caples); (31) Fostering Interpersonal Skill Development in Online Programmes (Kay Dennis); (32) A National Doctoral Programme for Structured PhD Training (Oonagh Dwane and Martina Prendergast); (33) Cognitive Level of First Year University Science Students (Odilla E. Finlayson, Lorraine McCormack and Thomas J.J. McCloughlin); (34) Multi-Disciplinary Graduate Education at Tyndall (Jim Greer and Orla Slattery); (35) How We Use Values-Exchange in NUI Galway (Barbara L. Griffin, Martin Power and Jane Sixsmith); (36) A Blended Learning Enquiry Based Module: Best Practice of Evaluation Skills in Health Promotion (Barbara L. Griffin, Verna McKenna and Lisa Pursell); (37) Formal PhD Training Experienced by National University of Ireland Maynooth Geography Students (Adrienne Hobbs, Elaine Burroughs and Jackie S. McGloughlin); (38) The Implementation and Evaluation of Peer Learning Programmes in Third Level Science Modules (Jennifer Johnston and Maeve Liston); (39) Focus on Patient Safety: How Lifelong Learning begins between Pharmacy and Medical Students at UCC (Aislinn Joy and Laura Sahm); (40) Nursing Students Design "Glossy" Magazine (Jacinta Kelly); (41) Teaching Historical Research--A Thing of the Past (Jacinta Kelly); (42) DCU Business School Next Generation Management (Theo Lynn, John Connolly, Gerry Conyngham, Aoife McDermott and Caroline McMullan); (43) Preparing Students for Postgraduate Research? Techniques for Improving the Quality of the Undergraduate Dissertation (Kay McKeogh and Proinnsias Breathnach); (44) Promoting Integrative Learning through Student Assignments (Kevin McCarthy); (45) Teaching and Learning Education for Sustainable Development (Amanda McCloat and Helen Maguire); (46) Research Awareness and Readiness Evaluation (RARE) of Undergraduate Chemistry Students at DIT (Claire McDonnell, Christine O'Connor, Sarah Rawe, Michael Seery and David Kett);(47) An Assessment of Ultrasound Scanning Competencies of Radiology Residents: Is There a Role for Improved Sonography Training? (Claire Moran, Patrick C. Brennan, Dermot Malone and Louise A. Rainford); (48) Post Graduate Students Experience Thematic Review (Anne Morrissey, Joseph Stokes and Gary Murphy); (49) Development of a Structured MD Research Curriculum (Shanthi Muttukrishna, Geraldine Boylan and Ray Noble); (50) A Focus Group Investigation of the Learning Opportunities Available in a 1:1 and a 2:1 Model of Clinical Education (Aileen O'Brien and Anne O'Connor); (51) Development of an Online Data Handling Module for Postgraduate Life Science Students (Sandra O'Brien, John Kelly, Ambrose O'Halloran, Fiona Concannon); (52) Enhancing Student Learning on Placement through the Implementation of a Case Based Interprofessional Model of Education: Perspectives of Students, Therapists and Regional Placement Facilitators (Marie O'Donnell, Alison Warren, Mairead Cahill and Olive Gowen);(53) Student Research Skills Development on a Level 9 Taught Programme in Engineering: Experiences and Reflections (Aidan O'Dwyer);(54) The Transfer of the Seven Principles of Universal Design to Diverse Domains (Ciaran O'Leary, Damian Gordon and Deirdre Lawless); (55) Ranking Graduate Competences: Perspectives from Employers and Academia (Catherine O'Mahony); (56) Supporting the Supervisors of Research Students in Higher Education (Catherine O'Mahony, Alan Kelly, Niall Smith, Pat Morgan, Carol O'Sullivan and Willie Donnelly); (57) Professional Attitudes among Final Medical Students in Cork: An International Comparison (Eoin O'Sullivan and Anthony Ryan); and (58) Application of the Teaching for Understanding Framework in Topographical Anatomy (Deniz Yilmazer-Hanke). Individual papers contain tables, figures, references and appendices.

Over three hundred years ago, Galileo is reported to have said, "The laws of nature are written in the language of mathematics." Often mathematics and science go hand in hand, with one helping develop and improve the other. Discoveries in science, for example, open up new advances in statistics, computer science, operations research, and pure and applied mathematics which in turn enabled new practical technologies and advanced entirely new frontiers of science. Despite the interdependency that exists between these two disciplines, cooperation and collaboration between mathematical scientists and scientists have only occurred by chance. To encourage new collaboration between the mathematical sciences and other fields and to sustain present collaboration, the National Research Council (NRC) formed a committee representing a broad cross-section of scientists from academia, federal government laboratories, and industry. The goal of the committee was to examine the mechanisms for strengthening interdisciplinary research between mathematical sciences and the sciences, with a strong focus on suggesting the most effective mechanisms of collaboration. Strengthening the Linkages Between the Sciences and the Mathematical Sciences provides the findings and recommendations of the committee as well as case studies of cross-discipline collaboration, the workshop agenda, and federal agencies that provide funding for such collaboration.

Based on ongoing research conducted by investigative teams at the University of Iowa, NOC and NIC Linkages to NANDA-I and Clinical Conditions: Supporting Critical Thinking and Quality Care, 3rd Edition is the only book on the market that provides linkages between the three standardized languages recognized by the American Nurses Organization (NOC, NIC, and all of the 2009-2010 NANDA-I approved nursing diagnoses). Its user-friendly, tabular format and real-world case studies make it the perfect tool to help you develop effective care plans for your patients. This edition features a new chapter on clinical decision making, a new chapter on the use of NNN in information systems, more concise intervention listings that identify major and suggested interventions, and approximately 20 new linkages to common, high-cost medical diagnoses. Linkages between the three standardized languages recognized by the American Nurses Organization: NANDA-I, Nursing Interventions Classification (NIC), and Nursing Outcomes Classification (NOC) help you select the most effective care plans for patients and allow institutions to track and quantify nursing care. Tabular format allows you to quickly retrieve information. Case studies with nursing care plans demonstrate the practical, real-life application of linkages. Definitions of all NANDA-I, NOC, and NIC labels provide comprehensive coverage of the standardized languages. Serves as an excellent companion to Nursing Outcomes Classification (NOC), 4th Edition and Nursing Interventions Classification (NIC), 5th Edition. NEW! Added linkages to common medical diagnoses help support clinical reasoning, improve quality, and build the evidence needed to enhance nursing care. - Includes 15-20 high-frequency, high-cost medical diagnoses that are commonly experienced by patients across the life span. - Examples include Congestive Heart Failure, Chronic Obstructive Pulmonary Disease (COPD), Total Joint Replacement, and Asthma. NEW! Treatment of Intervention content makes information easier to locate by listing interventions as Major Interventions and Suggested Interventions. Two NEW chapters discuss the use of linkages for clinical reasoning and quality improvement and the use of NNN in computerized information systems. NEW! Information associated with the risk for nursing diagnosis is contained on a single page for quick and easy reference.

Richardson et al.’s respected and seminal Policy Styles in Western Europe (1982) shed valuable light on how countries tend to establish long-term and distinctive ways to make policies that transcend short-term imperatives and issues. This follow-up volume updates those arguments and significantly expands the coverage, consisting of 16 carefully selected country-level case studies from around the world. Furthermore, it includes different types of political regimes and developmental levels to test more widely the robustness of the patterns and variables highlighted in the original book. The case studies – covering countries from the United States, Canada, Germany and the UK to Russia, Togo and Vietnam – follow a uniform structure, combining theoretical considerations and the presentation of empirical material to reveal how the distinct cultural and institutional features of modern states continue to have implications for the making and implementation of public policy decisions within them. The book is essential reading for students and scholars of public policy, public administration, comparative politics and development studies.

Over the past two decades, the Department of Defense has been moving toward commercial-military integration for manufacturing, while at the same time, the printed circuit board industry has been moving steadily offshore. Today, many in DoD, the U.S. Congress, and the federal government lack a clear understanding of the importance of high-quality, trustworthy printed circuit boards (PrCBs) for properly functioning weapons and other defense systems and components. To help develop this understanding, DOD requested the NRC to identify and assess the key issues affecting PrCBs for military use. This report presents a discussion of how to ensure DOD's access to reliable printed circuits; an assessment of its vulnerability to the global printed circuit supply chain; and suggestions about ways to secure the design and manufacture of printed circuits. In addition, this report offers recommendations to help DoD (1) preserve existing systems' capabilities, (2) improve the military's access to currently available PrCBs, and (3) ensure access to future PrCB technology. The recommendations reflect the need to achieve these goals at reasonable cost and in concert with evolving environmental regulations.