About Phi Alpha Theta

Founded in 1921, Phi Alpha Theta is the international history honor society. “We are a professional society whose mission is to promote the study of history through the encouragement of research, good teaching, publication, and the exchange of learning and ideas among historians. We seek to bring students, teachers, and writers of history together for intellectual and social exchanges, which promote and assist historical research and publication by our members in a variety of ways.

Kinematic equations for resolved-rate control of an industrial robot arm

An operator can use kinematic, resolved-rate equations to dynamically control a robot arm by watching its response to commanded inputs. Known resolved-rate equations for the control of a particular six-degree-of-freedom industrial robot arm and proceeds to simplify the equations for faster computations are derived. Methods for controlling the robot arm in regions which normally cause mathematical singularities in the resolved-rate equations are discussed

Mikhailov Stability Criterion for Time-delayed Systems

The valid and invalid application of the Mikhailov criterion to linear, time-invariant systems with time delays is discussed. The Mikhailov criterion is a graphical procedure which was developed to examine the stability of linear, time-invariant systems with no time delays. Two equivalent formulations of the criterion are discussed. Results indicate that the first formulation remains valid for time-delayed systems of the retared type, with the understanding that the Mikhailov curve need not necessarily always rotate in the counterclockwise direction for a stable system. Erroneous results in the second formulation are formed when there are time delays in the systems

Stability boundaries for systems with frequency-model feedback and complacency filter

General parameter-plane equations were derived to generate boundaries for a class of systems characterized by a feedback loop that contains a complementary filter and a model for either the low- or high-frequency portion of the plant. This combination allows those frequencies of the part of the plant that is modeled to be fed back for control while suppressing other frequencies. For all specific examples considered, the stability regions obtained using the complementary filter and frequency model were larger (and in some cases, considerably larger) than those obtained using a low pass filter in the feedback of the system output. Furthermore, higher gain control was possible

Effect of coefficient changes on stability of linear retarded systems with constant time delays

A method is developed to determine the effect of coefficient changes on the stability of a retarded system with constant time delays. The method, which uses the tau-decomposition method of stability analysis, is demonstrated by an example

Power-spectral-density relationship for retarded differential equations

The power spectral density (PSD) relationship between input and output of a set of linear differential-difference equations of the retarded type with real constant coefficients and delays is discussed. The form of the PSD relationship is identical with that applicable to unretarded equations. Since the PSD relationship is useful if and only if the system described by the equations is stable, the stability must be determined before applying the PSD relationship. Since it is sometimes difficult to determine the stability of retarded equations, such equations are often approximated by simpler forms. It is pointed out that some common approximations can lead to erroneous conclusions regarding the stability of a system and, therefore, to the possibility of obtaining PSD results which are not valid

Application of a lunar landing technique for landing from an elliptic orbit established by a hohmann transfer

Lunar landing technique for landing from elliptic orbit by Hohmann transfe

Modified Denavit-Hartenberg parameters for better location of joint axis systems in robot arms

The Denavit-Hartenberg parameters define the relative location of successive joint axis systems in a robot arm. A recent justifiable criticism is that one of these parameters becomes extremely large when two successive joints have near-parallel rotational axes. Geometrically, this parameter then locates a joint axis system at an excessive distance from the robot arm and, computationally, leads to an ill-conditioned transformation matrix. In this paper, a simple modification (which results from constraining a transverse vector between successive joint rotational axes to be normal to one of the rotational axes, instead of both) overcomes this criticism and favorably locates the joint axis system. An example is given for near-parallel rotational axes of the elbow and shoulder joints in a robot arm. The regular and modified parameters are extracted by an algebraic method with simulated measurement data. Unlike the modified parameters, extracted values of the regular parameters are very sensitive to measurement accuracy

Mutual help groups for mental health problems: A review of effectiveness studies

This paper reviews empirical studies on whether participating in mutual help groups for people with mental health problems leads to improved psychological and social functioning. To be included, studies had to satisfy four sets of criteria, covering: (1) characteristics of the group, (2) target problems, (3) outcome measures, and (4) research design. The 12 studies meeting these criteria provide limited but promising evidence that mutual help groups benefit people with three types of problems: chronic mental illness, depression/anxiety, and bereavement. Seven studies reported positive changes for those attending support groups. The strongest findings come from two randomized trials showing that the outcomes of mutual help groups were equivalent to those of substantially more costly professional interventions. Five of the 12 studies found no differences in mental health outcomes between mutual help group members and non-members; no studies showed evidence of negative effects. There was no indication that mutual help groups were differentially effective for certain types of problems. The studies varied in terms of design quality and reporting of results. More high-quality outcome research is needed to evaluate the effectiveness of mutual help groups across the spectrum of mental health problems