Control of nonlinear underactuated systems

In this paper we introduce a new method to design control laws for non-linear underactuated systems. Our method produces an infinite dimensional family of control laws, whereas most control techniques only produce a finite dimensional family. These control laws each come with a natural Lyapunov function. The inverted pendulum cart is used as an example. In addition, we construct an abstract system which is open loop unstable and cannot be stabilized using any linear control law, and demonstrate that our method produces a stabilizing control law.Comment: 17 page

The continuity of social care when moving across regional boundaries

© The Author(s) 2018. Summary: This paper reports the experiences of adults in receipt of social care when relocating to new local authorities, and of family carers. While many matters need to be considered when moving, the study focused specifically on the ‘portability’ of social care. The study draws on data from semi-structured interviews conducted between July and November 2013 with 12 adults who had relocated between English local authorities. Data were collected prior to the implementation of the Care Act 2014; the potential impact of the Act in respect of relocation is considered. Findings: Although some positive experiences were identified, participants primarily reported challenges when moving with social care support. Five themes were identified, these related to the amount of organisation, planning and activity required; the need for a timely approach and the risk of delays and interruptions to care delivery; differences between the practices of local authorities; a lack of control and involvement; a negative impact on emotional and physical well-being. As a result of such difficulties, some experienced delays or interruptions to their care and support; lost all or some of their care package; experienced stress, anxiety and worry. Applications: The paper documents the experiences of people relocating with social care support, which have been little explored to date within the UK or internationally, and contributes to the evidence base in respect of relocation and portability of care. It highlights the importance of smooth transitions for those relocating between local authorities, and the potential for social workers to assist by addressing potential problems

Sexology

The reality is we need God. Because we\u27re not Him. We need others because it\u27s not good for us to be alone, and we need the other sex because it ain\u27t inside us. And we can\u27t rival God. So we have a creational relationship with God, a communal relationship with each other, a complementary relationship with the opposite sex, and we have a contrasting relationship with the animals

“Boundary Work for Water Sustainability and Urban Climate Adaptation: Lessons from the Decision Center for a Desert City”

地域環境知プロジェクト第1回国際シンポジウム，総合地球環境学研究所 講演室，2014-09-13，総合地球環境学研究所 地域環境知プロジェク

Ireland\u27s Opportunity to Learn from England\u27s Difficulties? Auditing Uncertainty in Child Protection

This article draws from the authors’ experiences of research in England on aspects of New Labour’s reforms in the field of child protection to counsel caution against standardisation processes currently underway in the Republic of Ireland. It is argued that such processes are deeply problematic when dealing with the complexity of child protection work. Alternatives to standardisation are offered drawing from the literature on systems design. Such alternatives are likely to build confidence and trust in services

Relocation, portability and social care practice: A scoping review

Summary The portability of publicly-funded adult social care across local authority boundaries received recent policy attention in England and was addressed in the Care Act 2014. This article presents the findings of a scoping review conducted between July–September 2012 that searched selected journals and online databases for relevant material. The aim of the review was to identify what is known about the experiences of adults entitled to publicly-funded social care who move between local authorities, and the support provided by social workers to those planning to relocate. The review focused specifically on disabled adults and carers, eligible for and in receipt of social care support, who relocate for work or education in England. Findings The review identified little direct research covering experiences of moving between local authorities. However, six specific barriers, challenges and facilitators to relocation were identified; these included the portability of social care support, variations in policy and practice between local authorities, and housing availability. The review concludes that the process of relocation may be complex, challenging, and uncertain, although individuals may experience benefits and positive outcomes. Applications The review outlines areas for good social work practice in supporting people using social care services to relocate. These include: ensuring the provision of information; close working between local authorities and social workers; the development of interim plans to address potential delays in setting up support; proactive and rapid monitoring and reassessment following a move to address potentially changed support needs arising from changed housing circumstances

Verifying timestamps of occultation observation systems

We describe an image timestamp verification system to determine the exposure timing characteristics and continuity of images made by an imaging camera and recorder, with reference to Coordinated Universal Time (UTC). The original use was to verify the timestamps of stellar occultation recording systems, but the system is applicable to lunar flashes, planetary transits, sprite recording, or any area where reliable timestamps are required. The system offers good temporal resolution (down to 2 msec, referred to UTC) and provides exposure duration and interframe dead time information. The system uses inexpensive, off-the- shelf components, requires minimal assembly and requires no high-voltage components or connections. We also describe an application to load FITS (and other format) image files, which can decode the verification image timestamp. Source code, wiring diagrams and built applications are provided to aid the construction and use of the device.Comment: 10 pages, 7 figures, accepted to Publications of the Astronomical Society of Australia (PASA

Session F-2: Simple Chemistry Labs and Activities to Teach Difficult and Important Concepts

This will be a hands-on session where participants will perform four chemistry activities/experiments (two of the experiments will be a variation on one theme). The topics will include bonding, equilibrium, and stoichiometry. Teachers will be provided with copies of the activities to take back to their classes. In the spirit of learning together, we ask participants to bring their favorite activity/lab to share with the group (these labs will not be performed, just shared. Bringing an activity to share is optional, not required)

The Role of GIS to Enable Public-Sector Decision Making Under Conditions of Uncertainty

Uncertainty is inherent in environmental planning and decision making. For example, water managers in arid regions are attuned to the uncertainty of water supply due to prolonged periods of drought. To contend with multiple sources and forms of uncertainty, resource managers implement strategies and tools to aid in the exploration and interpretation of data and scenarios. Various GIS capabilities, such as statistical analysis, modeling and visualization are available to decision makers who face the challenge of making decisions under conditions of deep uncertainty. While significant research has lead to the inclusion and representation of uncertainty in GIS, existing GIS literature does not address how decision makers implement and utilize GIS as an assistive technology to contend with deep uncertainty. We address this gap through a case study of water managers in the Phoenix Metropolitan Area, examining how they engage with GIS in making decisions and coping with uncertainty. Findings of a qualitative analysis of water mangers reveal the need to distinguish between implicit and explicit uncertainty. Implicit uncertainty is linked to the decision-making process, and while understood, it is not displayed or revealed separately from the data. In contrast, explicit uncertainty is conceived as separate from the process and is something that can be described or displayed. Developed from twelve interviews with Phoenix-area water managers in 2005, these distinctions of uncertainty clarify the use of GIS in decision making. Findings show that managers use the products of GIS for exploring uncertainty (e.g., cartographic products). Uncertainty visualization emerged as a current practice, but definitions of what constitutes such visualizations were not consistent across decision makers. Additionally, uncertainty was a common and even sometimes helpful element of decision making; rather than being a hindrance, it is seen as an essential component of the process. These findings contradict prior research relating to uncertainty visualization where decision makers often express discomfort with the presence of uncertainty.