Iutam Symposium on Advances in Mathematical Modelling of Atmosphere And Ocean Dynamics

This book is the result of collaboration within the framework of the Third International Scientific School for Young Scientists held at the Ishlinskii Institute for Problems in Mechanics of Russian Academy of Sciences, 2017, November.

This book is the result of collaboration within the framework of the Third International Scientific School for Young Scientists held at the Ishlinskii Institute for Problems in Mechanics of Russian Academy of Sciences, 2017, November.

This book is the result of collaboration within the framework of the Third International Scientific School for Young Scientists held at the Ishlinskii Institute for Problems in Mechanics of Russian Academy of Sciences, 2017, November.

In the last decade, we have seen an extraordinary progress in the the­ ory and applications of robot kinematics. This has been motivated espe­ cially by the development of complex parallel and humanoid robots. The present book reports the most recent research advances in the theory, design, control and application of robotic systems, which are intended for a variety of purposes such as manipulation, manufacturing, automa­ tion, surgery, locomotion and biomechanics. The issues addressed are fundamentally kinematic in nature, including synthesis, calibration, re­ dundancy, force control, dexterity, inverse and forward kinematics, kine­ matic singularities, as well as over-constrained systems. Methods used include line geometry, quaternion algebra, screw algebra, and linear alge­ bra. These methods are applied to both parallel and serial multi-degree­ of-freedom systems. The results should interest researchers, teachers and students, in fields of engineering and mathematics related to robot theory, design, control and application. This is the sixth book of the series Advances in Robot Kinematics published by Kluwer. The contributions in this book had been rigorously reviewed by in­ dependent reviewers and fifty one articles had been recommended for publication. They were introduced in seven chapters. These articles were also reported and discussed at the ninth international symposium on Advances in Robot Kinematics which was held in June 2004 in Sestri Levante in Italy.

This handbook contains a comprehensive compilation of topics that are at the forefront of many of the technical advances in ocean waves, coastal, and ocean engineering. More than 70 internationally recognized authorities in the field of coastal and ocean engineering have contributed articles on their areas of expertise to this handbook.