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This book addresses the need in the field for a comprehensive review of motion planning algorithms and hybrid control methodologies for complex legged robots. Introducing a multidisciplinary systems engineering approach for tackling many challenges posed by legged locomotion, the book provides engineering detail including hybrid models for planar and 3D legged robots, as well as hybrid control schemes for asymptotically stabilizing periodic orbits in these closed-loop systems. Complete with downloadable MATLAB code of the control algorithms and schemes used in the book, this book is an invaluable guide to the latest developments and future trends in dynamical legged locomotion.
The Church Confronts Modernity assesses the history of Roman Catholicism since 1950 in the United States, the Republic of Ireland, and the Canadian province of Quebec
John Dumont is the first independent presidential candidate to ever have a commanding lead in the polls by mid-October of an election year. With nearly sixty percent of the voting population behind him, he arrives in Boston both for the final presidential debate of the campaign and to visit his son. But as the actions and the choices of his son abruptly become the focus of attention across the country, John finds his campaign in the midst of a crisis and his lead in the polls begins to shrink more and more with each passing day. In order to win the election, John will have to take control of the situation, but can he do it without damaging the bond that he shares with his family? John must choose to either interfere with the delicate balance in the newfound happiness of his son's life, or do something that would seem impossible: convince the public to accept his son just as he has. John is a father that would sacrifice anything he has for his son, but will it cost him the election?
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The only existant listing of historic Fur Trade and aboriginal personages with births, deaths and affiliations for western Canada and adjacent areasfrom 1600-1900.
The Catholic Origins of Quebec's Quiet Revolution challenges a version of history central to modern Quebec's understanding of itself: that the Quiet Revolution began in the 1960s as a secular vision of state and society which rapidly displaced an obsolete, clericalized Catholicism. Michael Gauvreau argues that organizations such as Catholic youth movements played a central role in formulating the Catholic ideology underlying the Quiet Revolution and that ordinary Quebecers experienced the Quiet Revolution primarily through a series of transformations in the expression of their Catholic identity. Providing a new understanding of Catholicism's place in twentieth-century Quebec, Gauvreau reveals that Catholicism was not only increasingly dominated by the priorities of laypeople but was also the central force in Quebec's cultural transformation.. He makes it clear that from the 1930s to the 1960s the Church espoused a particularly radical understanding of modernity, especially in the areas of youth, gender identities, marriage, and family.
One man, Abraham Lincoln, was the sole cause of the War Between the States, l861 1865, and the deaths of almost one million Americans. Honest, compassionate and kind hearted, but forthright to an extreme, Lincoln spoke for millions of Americans who detested slavery, and wanted to eradicate it, and for millions more who wanted to preserve the Union upon confronting the secession of eleven southern states By calling for 75,000 volunteers, men to defend the Union immediately following the attack in Charleston Harbor, Lincoln knowingly inflamed the situation. The war was on. Lincoln wanted it. He also knew that it could have been avoided, it could have been settled amicably without the loss of any men from the North or the South. Lincoln knew that the U.S. Constitution was silent on the issue of secession, that there was then, as there is now, absolutely nothing in the Constitution that prevents any state or any number of states, from peacefully leaving the Union. REVIEW: A great yarn worthy of a Pulitzer. B. Ballard, Rockville, MD