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The Prophet
Few political figures of the twentieth century have aroused such intensities of fierce admiration and reactionary fear as Russian revolutionary Leon Trotsky. His extraordinary life and extensive writings have left an indelible mark on the revolutionary consciousness. Yet there was once a danger that his life and influence would be relegated to the footnotes of history. Published over the course of ten years, beginning in 1954, Deutscher's magisterial three-volume biography turned back the tide of Stalin's propaganda, and has since been praised by everyone from Tony Blair to Graham Greene. In this definitive work, now reissued in a single volume, Trotsky's true stature emerges as the most heroic, and ultimately tragic, character of the Russian Revolution.
The Prophet Unarmed
This second volume of the trilogy is a self-contained account of the great struggle between Stalin and Trotsky that followed the end of the civil war in Russia in 1921 and the death of Lenin.
Modelling and Control of an Autonomous Two-Wheeled Vehicle
With respect to the future urban mobility, modern electrical bicycles, advanced motorcycles and innovative two-wheeled vehicles are arresting enormous amount of attention. Especially, model-based control and optimal trajectory planning for such vehicles are important to the research and development of the future. Therefore, a reliable and yet usable vehicle model as well as a systematic approach to motion control for two-wheeled vehicles are essential, to which this work makes a contribution. Currently available two-wheeled vehicle models are mostly either too complex to be used for a systematic control synthesis, or too simple such that the physical behaviour of the vehicle is no more repre...
Distributed Optimisation for Multi-Robot Cooperative Manipulation Control in Dynamic Environments
Since the manipulation tasks for robotic systems become more and more complicated, multi-robot cooperation has been attracting much attention recently. Furthermore, under the trend of human-robot co-existence, collision-free motion control is now also desired on multi-robot groups. This dissertation aims to design a novel distributed optimal control framework to deal with multi-robot cooperative manipulation of rigid objects in dynamic environments. Besides object transportation, the control scheme also tackles obstacle avoidance, joint-space performance optimisation and internal force suppression. The proposed control framework has a two-layer structure, with a distributed optimisation algo...
A Hybrid Physical and Data-drivApproach to Motion Prediction and Control in Human-Robot Collaboration
In recent years, researchers have achieved great success in guaranteeing safety in human-robot interaction, yielding a new generation of robots that can work with humans in close proximity, known as collaborative robots (cobots). However, due to the lack of ability to understand and coordinate with their human partners, the ``co'' in most cobots still refers to ``coexistence'' rather than ``collaboration''. This thesis aims to develop an adaptive learning and control framework with a novel physical and data-driven approach towards a real collaborative robot. The first part focuses on online human motion prediction. A comprehensive study on various motion prediction techniques is presented, i...
Fabian of the Yard
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