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Literature_Lectures | Lecture_16_Literary_Prophecy_Amos.txt | Professor Christine Hayes: Let me just briefly recap as we are moving into the literary prophets, or the classical prophets, they are sometimes called. It is easiest to think of them as being associated with particular crises in the nation's history. We are not going to be looking at them all, and I have picked out som... |
Literature_Lectures | 6_The_New_Criticism_and_Other_Western_Formalisms.txt | Prof: All right. Now last time we were giving examples of what might happen if one takes seriously that extraordinary eleventh footnote in Wimsatt's "The Intentional Fallacy" in which he says that the history of words after a poem was composed may well be relevant to the overall structure of the poem and should not be ... |
Literature_Lectures | 23_Queer_Theory_and_Gender_Performativity.txt | Prof: Now, I don't think it's ever happened to me before-- although it might have but I can't recall its having happened-- that I found myself lecturing on a person who had lectured yesterday here at Yale, but that's what happened in this case. You read--let's just call it--the facetious article on the lecture in The D... |
Literature_Lectures | An_Introduction_to_Anton_Chekhov.txt | Russians refer to Tolstoy and Dostoevsky as great writers great geniuses but Chekhov as a friend he actually engages with all those big questions of life and death but he does it with such lightness Chekhov always denied that he had any kind of agenda he was interested in human beings and how they interacted he did rep... |
Literature_Lectures | 11_Deconstruction_II.txt | Prof: I'd like to start with a little more discussion of Derrida before we turn to de Man. I know already that I'm going to forego what for me is a kind of pleasure-- -perhaps it wouldn't be for you--which is an explication of the last extraordinary sentence in Derrida's essay on page 926 in the right-hand column. I'm ... |
Literature_Lectures | 10_J_D_Salinger_Franny_and_Zooey.txt | Professor Amy Hungerford: In light of the fact that I have just sent you paper topics, my lecture today is going to do two things. It is going to give you a way into Franny and Zooey, but it's going to actually give you more than a way into it. It is really going to give you a whole packaged reading of Franny and Zooey... |
Literature_Lectures | Chaucer_what_is_hidden_in_the_Canterbury_Tales_by_Dolores_Cullen.txt | have you seen it someone's just written a book called who murdered Chaucer you may think that's a joke but it isn't and when you hear what I have to say you may be ready to take that title seriously Geoffrey Chaucer died in 1400 forget images of Robin Hood damsels being rescued and peasants happy in their work the 14th... |
Literature_Lectures | 3_Flannery_OConnor_Wise_Blood.txt | Professor Amy Hungerford: We finished Black Boy last time, and one of the big questions coming out of my discussion of that autobiography is: how do you manage the question of context in reading a novel or an autobiography--in reading any text? And we had a very complex publishing history to think about with that text.... |
Literature_Lectures | Harvard_ENGL_E129_Lecture_1_Introduction.txt | um let me get a sense if I may of how many of you have studied Shakespeare before how many may I even ask this how many of you have studied Shakespeare with me before okay uh um and uh how many of you are brand new at the adult level that is the the the you haven't studied Shakespeare in college or more recently than C... |
Literature_Lectures | ENGL_3328_LECTURE_4B.txt | okay and I think we have a question don't we well some of them will I mean you know some of them will we're going to start talking about this stuff next week by the way as we begin to get into the Victorians but remember that we're going to be taking one of the issues that in our text will be raised as the Victorian is... |
Literature_Lectures | 12_Freud_and_Fiction.txt | Prof: Well, now today is obviously a kind of watershed or transition in our syllabus. You remember we began with an emphasis on language. We then promised to move to an emphasis on psychological matters, and finally social and cultural determinants of literature. So far we have immersed ourselves in notions to the effe... |
Literature_Lectures | 2_Introduction_cont.txt | Prof: Last time we introduced the way in which the preoccupation with literary and other forms of theory in the twentieth century is shadowed by a certain skepticism, but as we were talking about that we actually introduced another issue which isn't quite the same as the issue of skepticism-- namely, determinism. In ot... |
Marketing_Basics_Prof_Myles_Bassell | 2_of_20_Marketing_Basics_Myles_Bassell.txt | [Music] all right so let's [Music] start all right so let's get started all right so what we're going to do today is we're going to continue our discussion about marketing we're going to look at the 3M um video segment remember I told you that we're going to try each class to look at a video case study and um today we'... |
Marketing_Basics_Prof_Myles_Bassell | 18_of_20_Marketing_Basics_Professor_Myles_Bassell.txt | so we've been talking about we talked about um the marketing mix and we've been getting into some detail about products types of products we talked about goods and services and this different classifications for products we talked about new product development and why products fail and we've talked about pricing differ... |
Marketing_Basics_Prof_Myles_Bassell | 9_of_20_Marketing_Basics_31912wmv.txt | [Music] all right let's get started what we're going to talk about today is Place mint mint last time we Ted price in right so the marketing mix consist of product promotion price and place those are the four Ps we refer to that as the marketing mix so today what we're going to talk about is place we're going to talk a... |
Marketing_Basics_Prof_Myles_Bassell | 10_of_20_Marketing_Basics_32112.txt | [Music] so let's continue where we left off we were talking about marketing channels so we were uh discussing about um these two students Nick and remember they said they were studying for an upcoming exam in their introduction to marketing course and they had an interesting conversation while they were um studying for... |
Marketing_Basics_Prof_Myles_Bassell | Marketing_2.txt | [Music] you let me down show me when I needed you [Music] the [Music] I thought that mr. Bies when you let me [Music] [Applause] [Music] [Applause] [Music] [Music] [Music] let's learn I know I'm worthy get the wrong yeah yes bizarre I'm gonna take it down [Applause] [Music] [Applause] [Music] [Music] [Applause] [Music]... |
Marketing_Basics_Prof_Myles_Bassell | Marketing_Basics_12_of_20_Professor_Myles_Bassell.txt | so let's start off talking about segmentation what is segmentation what is segmentation when a company divides their their products into smaller groups to to well let's make a clarification to that because um one you're talking about um sounds like you're talking a little bit about um the portfolio of the company which... |
Marketing_Basics_Prof_Myles_Bassell | 8_of_20_Marketing_Basics_Myles_Bassell_31412.txt | [Music] so we're GNA continue our conversation about pricing remember we talked about pricing constraints pricing objectives we talked about different pricing strategies and approaches to pricing we talked about demand oriented approaches which includes what skimming penetration pricing we said were examples Prestige p... |
Marketing_Basics_Prof_Myles_Bassell | 15_of_20_Marketing_Basics_Prof_Myles_Bassell.txt | all right so we're going to continue our conversation about marketing today we're going to make more of a transition from talking about products to brands so up until now we've been um talking about them simultaneously right melinda but today we're gonna um move from our discussion of products and talk a lot more about... |
Marketing_Basics_Prof_Myles_Bassell | Marketing_5.txt | [Music] you let me down show me when I needed you [Music] the [Music] I thought that mr. Bies when you let me [Music] [Applause] [Music] [Music] [Music] let's learn I know I'm worthy get the wrong yeah yes bizarre I'm gonna take it down [Applause] [Music] [Applause] [Music] [Music] [Applause] [Music] [Music] you let me... |
Marketing_Basics_Prof_Myles_Bassell | Marketing_Basics_13_of_20_Professor_Myles_Bassell.txt | one defining the sides of the market and targeting which is ultimately us selecting markets that was going to penetrate so pocket-sized things in part because they're gonna look at the size of the market in terms of the number of units sold the number of people in that segment the dollar size of that market the growth ... |
Marketing_Basics_Prof_Myles_Bassell | 1_of_20_Marketing_Basics_Myles_Bassell.txt | all right so we're going to talk about marketing are you guys ready marketing all right so today what we're going to do is we're going to talk about what is marketing and we're going to talk about some business strategies we're going to talk about some different growth strategies for example Market penetration Market d... |
Marketing_Basics_Prof_Myles_Bassell | 20_of_20_Marketing_Basics_Professor_Myles_Bassell.txt | [Music] So today we're going to continue our conversation about integrated marketing Communications so we said it's not just about advertising advertising of course is important what are some of the key takeaways last time just briefly to recap we talked about different advertising mediums so once we decide what our Ta... |
Marketing_Basics_Prof_Myles_Bassell | Marketing_3.txt | [Music] you let me down show me when I needed you the [Music] I thought that mr. Bies when you let me [Music] let's learn I know I'm worthy get the wrong yeah yes bizarre I'm gonna take it down [Music] [Music] [Music] [Music] you let me down [Music] [Music] [Music] [Music] our SPU's now yes go ahead strategic business ... |
Marketing_Basics_Prof_Myles_Bassell | 14_of_20_Marketing_Basics_Prof_Myles_Bassell_92712.txt | last time we talked about uh segmentation we talked about positioning remember we said that positioning positioning is the space that our brand occupies in the mind of the customer we can't be all things to all people so we need to decide where we want to be positioned in the marketplace based on certain key Dimensions... |
Marketing_Basics_Prof_Myles_Bassell | Marketing_9.txt | [Music] you let me down show me when I needed you [Music] the [Music] I thought that mr. Bies when you let me [Music] [Applause] [Music] [Applause] [Music] [Music] [Music] let's learn I know I'm worthy get the wrong yeah yes bizarre I'm gonna take it down [Applause] [Music] [Applause] [Music] [Music] [Applause] [Music]... |
Marketing_Basics_Prof_Myles_Bassell | Marketing_6.txt | [Music] you let me down show me when I needed you [Music] the [Music] I thought that mr. Bies when you let me [Music] [Applause] [Music] [Applause] [Music] [Music] [Music] let's learn I know I'm worthy get the wrong yeah yes bizarre I'm gonna take it down [Applause] [Music] [Applause] [Music] [Music] [Applause] [Music]... |
Marketing_Basics_Prof_Myles_Bassell | 4_of_20_Marketing_Basics_Myles_Bassell_28.txt | alright so we're gonna pick up where we left off last time which is a discussion about segmentation if we're talking about different types of segmentation and we're going to continue we're just going to review a couple of key points so today we're talking about chapter 9 we're going to talk a little bit about chapter 1... |
Marketing_Basics_Prof_Myles_Bassell | Marketing_4.txt | [Music] you let me down show me when I needed you the [Music] I thought that mr. Bies when you let me [Music] let's learn I know I'm worthy get the wrong yeah yes bizarre I'm gonna take it down [Music] [Music] [Music] [Music] you let me down [Music] [Music] [Music] [Music] Matthew Nicole Nicole angry then you drop Juli... |
Marketing_Basics_Prof_Myles_Bassell | Marketing_7.txt | you let me down show me when I needed you the I thought that mr. Bies when you let me let's learn I know I'm worthy get the wrong yeah yes bizarre I'm gonna take it down you let me down price points but of course different features so like I suggested some will have 16 gigabytes of internal storage some will have 32 gi... |
Marketing_Basics_Prof_Myles_Bassell | Marketing_10.txt | you let me down show me when I needed you the I thought that mr. Bies when you let me let's learn I know I'm worthy get the wrong yeah yes bizarre I'm gonna take it down you let me down that's not like you know people say okay wait for it wait for it wait for it no you can't wait for that to happen but we need to do th... |
Marketing_Basics_Prof_Myles_Bassell | Marketing_1.txt | [Music] because your success is my number one priority tell your neighbor our success is his number one priority look at your neighbor and say our success is his number one priority that's good good job so i'm hoping everybody gets an a in this class you can do it yes you can you don't believe me watch me watch me so m... |
Marketing_Basics_Prof_Myles_Bassell | 6_of_20_Marketing_Basics.txt | camera action alright here we go who's gonna be the first question about the strategic business unit level all right friends glad you're on the segment you were just trying to see if I paying attention right yeah all right attention right ahead this is business unit level at which managers set a more specific strategic... |
Marketing_Basics_Prof_Myles_Bassell | 7_of_20_Marketing_Basics_Myles_Bassell_31212.txt | [Music] all right so today we're going to continue our conversation about price so we talked um last class about price who could give us a little bit of a quick recap from last class you could tell us what we talked about what are some of the key the key takeaways we talked about pricing objectives yeah what do we say ... |
Marketing_Basics_Prof_Myles_Bassell | 19_of_20_Marketing_Basics_Professor_Myles_Bassell.txt | [Music] all right so today mostly we're going to talk about integrated marketing [Music] Communications and importantly I want to emphasize that when we talk about marketing Communications we're not just talking about advertising very often the focus is on advertising and certainly we're going to talk quite a bit about... |
Marketing_Basics_Prof_Myles_Bassell | 17_of_20_Marketing_Basics_Professor_Myles_Bassell.txt | [Music] all right so today we're going to continue our conversation about price and let's um just uh briefly recap some of the things we talked about last time as it relates to price we said that in order for us to set a price to determine a price for our product or service we have to understand our costs now remember ... |
Marketing_Basics_Prof_Myles_Bassell | 16_of_20_Marketing_Basics_Prof_Myles_Bassell.txt | [Music] So today we're going to talk about price he said that the marketing mix contains the four Ps and one of the four Ps is price and of course there's also Place promotion and product those are the other three Fe but today we're going to focus our attention on price and how that's going to impact our ability to be ... |
Marketing_Basics_Prof_Myles_Bassell | 3_of_20_Marketing_Basics_Myles_Bassell.txt | [Music] all right so marketing team how's everybody doing today good good good so today we're going to talk about a very important aspect of marketing which is segmentation and some of the related Concepts so we're going to talk about segmentation we're going to talk about um Market sizing targeting positioning very im... |
Marketing_Basics_Prof_Myles_Bassell | Marketing_8.txt | you let me down show me when I needed you the I thought that mr. Bies when you let me let's learn I know I'm worthy get the wrong yeah yes bizarre I'm gonna take it down you let me down distributed by Procter & Gamble Cincinnati Ohio that's minute corporate headquarters are but they don't they have a different brand a ... |
Marketing_Basics_Prof_Myles_Bassell | 5_of_20_Marketing_Basics_Myles_Bassell.txt | so we saw the video segment about transports where and it talked about how they segment their market first let's talk about some of the different ways that we said we could segment to market what are some of the key ways that we said we could segment a market then we said segmenting is about dividing a market into sub ... |
MIT_HST508_Genomics_and_Computational_Biology_Fall_2002 | 7A_Protein_1_3D_Structural_Genomics_Homology_Catalytic_and_Regulatory_Dynamics_Fun.txt | The following content is provided by MIT OpenCourseWare under a Creative Commons license. Additional information about our license and MIT OpenCourseWare in general is available at ocw.mit.edu. GEORGE CHURCH: OK, ready. OK. So welcome to the third phase of our omics discussion. Someone pointed out that I should point o... |
MIT_HST508_Genomics_and_Computational_Biology_Fall_2002 | 6A_RNA_2_Clustering_by_Gene_or_Condition_and_Other_Regulon_Data_Sources_Nucleic_Acid.txt | The following content is provided by MIT OpenCourseWare under a Creative Commons license. Additional information about our license and MIT OpenCourseWare in general is available at ocw.mit.edu. PROFESSOR: OK, welcome to RNA 2, which of course begins with a RNA 1 overview where we talked about the secondary and tertiary... |
MIT_HST508_Genomics_and_Computational_Biology_Fall_2002 | 10A_Networks_2_Molecular_Computing_Selfassembly_Genetic_Algorithms_Neural_Networks.txt | The following content is provided by MIT OpenCourseWare under a Creative Commons license. Additional information about our license and MIT OpenCourseWare in general is available at ocw.mit.edu. PROFESSOR: OK. Welcome. Welcome to the second discussion of networks and the second to last talk of lecture of this course. Th... |
MIT_HST508_Genomics_and_Computational_Biology_Fall_2002 | 6B_RNA_2_Clustering_by_Gene_or_Condition_and_Other_Regulon_Data_Sources_Nucleic_Acid.txt | The following content is provided by MIT OpenCourseWare under a Creative Commons license. Additional information about our license and MIT OpenCourseWare, in general, is available at ocw.mit.edu. GEORGE CHURCH: OK, welcome back. I'm sure you're all dying to know the answer, so y'all came back faster than usual. [LAUGHT... |
MIT_HST508_Genomics_and_Computational_Biology_Fall_2002 | 3B_DNA_1_Genome_Sequencing_Polymorphisms_Populations_Statistics_Pharmacogenomics.txt | The following content is provided by MIT OpenCourseWare under a Creative Commons license. Additional information about our license and MIT OpenCourseWare in general is available at ocw.mit.edu. GEORGE CHURCH: OK. Welcome back. We're going to go through a very specific example of association studying, illustrating this ... |
MIT_HST508_Genomics_and_Computational_Biology_Fall_2002 | 11A_Networks_3_The_Future_of_Computational_Biology_Cellular_Developmental_Social_E.txt | The following content is provided by MIT OpenCourseWare under a Creative Commons license. Additional information about our license and MIT OpenCourseWare, in general, is available at OCW.MIT.edu. GEORGE CHURCH: OK, so welcome tonight, a very special lecture for me tonight in more ways than I can express. This is the la... |
MIT_HST508_Genomics_and_Computational_Biology_Fall_2002 | 1A_Intro_1_Computational_Side_of_Computational_Biology_Statistics_Perl_Mathematica.txt | The following content is provided by MIT OpenCourseWare under a Creative Commons license. Additional information about our license and MIT OpenCourseWare in general is available at ocu.mit.edu. GEORGE CHURCH: OK. We're getting ready. And let's go. OK. So welcome to the first class of BIOE101 or biophysics 101 or HST.50... |
MIT_HST508_Genomics_and_Computational_Biology_Fall_2002 | 2B_Intro_2_Biological_Side_of_Computational_Biology_Comparative_Genomics_Models_A.txt | The following content is provided by MIT OpenCourseWare under a Creative Commons license. Additional information about our license and MIT OpenCourseWare in general is available at ocw.mit.edu. [SIDE CONVERSATION] GEORGE CHURCH: OK, welcome back to the second half of the second lecture. Here, we're going to take this b... |
MIT_HST508_Genomics_and_Computational_Biology_Fall_2002 | 8A_Protein_2_Mass_Spectrometry_Postsynthetic_Modifications_Quantitation_of_Protein.txt | The following content is provided by MIT OpenCourseWare under a Creative Commons license. Additional information about our license and MIT OpenCourseWare in general is available at ocw.mit.edu. GEORGE CHURCH: OK. Welcome to the second proteins. Just as with the RNA analyses, we started with, in that case, a brief discu... |
MIT_HST508_Genomics_and_Computational_Biology_Fall_2002 | 1B_Intro_1_Computational_Side_of_Computational_Biology_Statistics_Perl_Mathematica.txt | The following content is provided by MIT OpenCourseWare under a Creative Commons license. Additional information about our license and MIT OpenCourseWare in general is available at ocw.mit.edu. GEORGE CHURCH: Is there a section? No, there are no sections for a few days. The sections, both the weekly sections and the ex... |
MIT_HST508_Genomics_and_Computational_Biology_Fall_2002 | 7B_Protein_1_3D_Structural_Genomics_Homology_Catalytic_and_Regulatory_Dynamics_Fun.txt | The following content is provided by MIT OpenCourseWare under a Creative Commons license. Additional information about our license, and MIT OpenCourseWare in general, is available at MIT.edu. PROFESSOR: OK. Welcome back to the second half. We'll pick up on this somewhat pessimistic note of how one goes from a very accu... |
MIT_HST508_Genomics_and_Computational_Biology_Fall_2002 | 9A_Networks_1_Systems_Biology_Metabolic_Kinetic_Flux_Balance_Optimization_Methods.txt | The following content is provided by MIT OpenCourseWare under a Creative Commons license. Additional information about our license and MIT OpenCourseWare in general is available at ocw.mit.edu. GEORGE CHURCH: OK. Well, even though we've been hinting at networks pretty heavily all the way through the course, these are t... |
MIT_HST508_Genomics_and_Computational_Biology_Fall_2002 | 5C_RNA_1_Microarrays_Library_Sequencing_and_Quantitation_Concepts.txt | The following content is provided by MIT OpenCourseWare under a Creative Commons license. Additional information about our license and MIT OpenCourseWare in general is available at ocw.mit.edu. GEORGE CHURCH: Use this slide to review how far the in-situ might go, and what its current limitations might be. And then we'l... |
MIT_HST508_Genomics_and_Computational_Biology_Fall_2002 | 4B_DNA_2_Dynamic_Programming_Blast_Multialignment_Hidden_Markov_Models.txt | The following content is provided by MIT OpenCourseWare under a Creative Commons license. Additional information about our license, and MIT OpenCourseWare in general, is available at ocw.mit.edu. GEORGE CHURCH: OK. Welcome back to the second half, where we'll talk about multisequence alignment, for starters. And I said... |
MIT_HST508_Genomics_and_Computational_Biology_Fall_2002 | 2A_Intro_2_Biological_Side_of_Computational_Biology_Comparative_Genomics_Models_A.txt | The following content is provided by MIT OpenCourseWare under a Creative Commons license. Additional information about our license and MIT OpenCourseWare in general is available at ocw.mit.edu. GEORGE CHURCH: 101 or [? EBIO101, ?] all the other numbers. Usually we'll start these with a very brief, one slide overview of... |
MIT_HST508_Genomics_and_Computational_Biology_Fall_2002 | 5AB_RNA_1_Microarrays_Library_Sequencing_and_Quantitation_Concepts.txt | The following content is provided by MIT OpenCourseWare under a Creative Commons license. Additional information about our license, and MIT OpenCourseWare in general, is available at ocw.mit.edu. GEORGE CHURCH: We've come to the fifth lecture, the first of a series, on RNA and expression analysis. First, a quick review... |
MIT_HST508_Genomics_and_Computational_Biology_Fall_2002 | 8B_Protein_2_Mass_Spectrometry_Postsynthetic_Modifications_Quantitation_of_Protein.txt | NARRATOR: The following content is provided by MIT OpenCourseWare under a Creative Commons license. Additional information about our license and MIT OpenCourseWare, in general, is available at ocw.mit.edu. DR. GEORGE CHURCH: OK, welcome back. One quick announcement before we get started. The teaching Fellows and I have... |
MIT_HST508_Genomics_and_Computational_Biology_Fall_2002 | 9B_Networks_1_Systems_Biology_Metabolic_Kinetic_Flux_Balance_Optimization_Methods.txt | NARRATOR: The following content is provided by MIT OpenCourseWare under a Creative Commons license. Additional information about our license and MIT OpenCourseWare, in general, is available at ocw.mit.edu. DR. GEORGE CHURCH: As promised, we're going into flux balance analysis. The simplifications here are even greater ... |
MIT_HST508_Genomics_and_Computational_Biology_Fall_2002 | 3A_DNA_1_Genome_Sequencing_Polymorphisms_Populations_Statistics_Pharmacogenomics.txt | The following content is provided by MIT OpenCourseWare under a Creative Commons license. Additional information about our license and MIT OpenCourseWare in general is available at ocw.mit.edu. PROFESSOR: Ready? OK. Well, welcome to the third lecture. Quick review of what we did last time-- first slide. We talked about... |
MIT_HST508_Genomics_and_Computational_Biology_Fall_2002 | 11B_Networks_3_The_Future_of_Computational_Biology_Cellular_Developmental_Social.txt | - The following content is provided by MIT OpenCourseWare under a Creative Commons license. Additional information about our license and MIT OpenCourseWare in general is available at ocw.mit.edu. GEORGE CHURCH: OK, welcome back. We just finished our discussion of predator, prey, and host parasites illustrating it with ... |
MIT_HST508_Genomics_and_Computational_Biology_Fall_2002 | 4A_DNA_2_Dynamic_Programming_Blast_Multialignment_Hidden_Markov_Models.txt | The following content is provided by MIT OpenCourseWare under a Creative Commons license. Additional information about our license and MIT OpenCourseWare, in general, is available at ocw.mit.edu. GEORGE CHURCH: OK, so welcome to the fourth lecture. This will be the second one on the subject of DNA. The major difference... |
Modern_Robotics_All_Videos | Modern_Robotics_Videos_Acknowledgments_Kevin_Lynch.txt | Frank Park and I would like to thank you for watching these videos. I'd also like to thank the many people who contributed to this video project including my colleagues Michael Peshkin, who created the Lightboard, and Jarvis Schultz, who assisted with the robot simulations. Also the many students involved including Ji... |
Modern_Robotics_All_Videos | Modern_Robotics_Chapter_1216_Planar_Graphical_Methods_Part_1_of_2.txt | Any planar twist can be visualized as a rotation about an axis out of the plane. This twist can be represented by a point (x_c, y_c) and the angular velocity omega_z about the point. We define the center of rotation to be the point (x_c, y_c) plus a label that gives the sign of the angular velocity. The motion could al... |
Modern_Robotics_All_Videos | Modern_Robotics_Chapter_412_Product_of_Exponentials_Formula_in_the_EndEffector_Frame.txt | In the previous video, we derived the product of exponentials formula to calculate T of theta, the configuration of the end-effector frame {b} relative to the fixed space frame {s}, when we're given the joint positions theta. In that formula, the joint screw axes are defined in the {s}-frame fixed to the world. In this... |
Modern_Robotics_All_Videos | Modern_Robotics_Chapters_91_and_92_PointtoPoint_Trajectories_Part_1_of_2.txt | A robot controller typically accepts a steady stream of desired robot configurations, reads joint sensors to determine the robot's actual configuration, and updates the actuator commands to follow the desired configuration. This process can happen thousands of times a second. A robot configuration as a function of time... |
Modern_Robotics_All_Videos | Modern_Robotics_Chapter_512_Body_Jacobian.txt | In the previous video, we learned how to take the joint screw axes S_1 to S_n, defined in the space frame {s} when the robot is at the zero configuration, and transform them to the n columns of the space Jacobian at any arbitrary joint configuration theta. In this video, we construct the 6 by n body Jacobian J_b from t... |
Modern_Robotics_All_Videos | Modern_Robotics_Chapter_1331_Modeling_of_Nonholonomic_Wheeled_Mobile_Robots.txt | Nonholonomic wheeled mobile robots employ conventional wheels that don't allow sideways sliding, such as this wheel rolling upright on a plane. Its configuration q consists of the heading angle phi, the contact position (x,y), and the rolling angle theta. There are two controls driving the wheel: u_1, the forward-backw... |
Modern_Robotics_All_Videos | Modern_Robotics_Chapter_4_Forward_Kinematics_Example.txt | The 4-joint RRRP robot, like you see here, is a popular choice for certain kinds of assembly tasks. In this picture, we see it at its zero configuration. To solve the forward kinematics, we need to find M, the configuration of the {b}-frame, and the joint screw axes when the arm is at its zero configuration. Then we ca... |
Modern_Robotics_All_Videos | Modern_Robotics_Chapter_94_TimeOptimal_Time_Scaling_Part_2_of_3.txt | In the last video we learned to express the robot's joint force and torque limits as constraints on the feasible accelerations s-double-dot along the path theta-of-s, as a function of the state (s, s-dot). In this video, we'll express those constraints graphically and gain some insight into the time-optimal time-scalin... |
Modern_Robotics_All_Videos | Modern_Robotics_Chapter_105_Sampling_Methods_for_Motion_Planning_Part_1_of_2.txt | In an earlier video, we learned that path planning based on a true roadmap representation of free C-space is complete, meaning that the planner will find a path if one exists. Since it is difficult to analytically calculate a true roadmap, we look for methods to approximately construct a roadmap. One type of approximat... |
Modern_Robotics_All_Videos | Modern_Robotics_Chapter_114_Motion_Control_with_Torque_or_Force_Inputs_Part_3_of_3.txt | Recall our dynamics for a single-joint robot. I'll lump together the gravity and friction terms into a single term h. In the last video we learned about PID feedback control. While it can give good performance, it still requires error to accumulate before it will command a torque. If we have a good dynamic model of the... |
Modern_Robotics_All_Videos | Modern_Robotics_Chapter_323_Exponential_Coordinates_of_Rotation_Part_2_of_2.txt | In this video we'll see how the matrix exponential can be applied to integrate the angular velocity of a rotating rigid body. Let's start with this frame of coordinate axes, which will rotate about a unit angular velocity axis. To understand the motion of the coordinate axes, it suffices to consider just one of the coo... |
Modern_Robotics_All_Videos | Modern_Robotics_Chapter_331_Homogeneous_Transformation_Matrices.txt | We can represent the configuration of a body frame {b} in the fixed space frame {s} by specifying the position p of the frame {b}, in {s} coordinates, and the rotation matrix R specifying the orientation of {b}, also in {s} coordinates. We gather these together in a single 4 by 4 matrix T, called a homogeneous transfor... |
Modern_Robotics_All_Videos | Modern_Robotics_Chapter_1223_Force_Closure.txt | Given a set of frictional contacts acting on a body, it is in force closure if the positive span of the wrench cones is the entire wrench space. Another way of saying this is that the contacts can theoretically resist any wrench applied to the body. The test for this condition is essentially the same as for first-order... |
Modern_Robotics_All_Videos | Modern_Robotics_Chapter_1217_Form_Closure.txt | If a rigid body is fully immobilized by a set of rigid stationary fixtures, we say it is in form closure. In particular, first-order form closure means that only the zero twist satisfies the impenetrability constraints for all the contacts. This condition is equivalent to the condition that the positive linear span of ... |
Modern_Robotics_All_Videos | Modern_Robotics_Chapter_81_Lagrangian_Formulation_of_Dynamics_Part_2_of_2.txt | In the last video we derived the equations of motion for a 2R robot. In this video we focus on the velocity-product terms, c of (theta, theta-dot). In particular, terms that have the square of a single joint velocity are called centripetal terms. Terms that have a product of two different joint velocities are called Co... |
Modern_Robotics_All_Videos | Modern_Robotics_Chapter_114_Motion_Control_with_Torque_or_Force_Inputs_Part_2_of_3.txt | In the previous video, we learned that setpoint PD control can eliminate steady-state error for a torque-controlled joint in the absence of gravity. If we add gravity, though, the error dynamics are no longer homogeneous. As a result, even if the error dynamics are stable, at steady state when theta-double-dot and thet... |
Modern_Robotics_All_Videos | Modern_Robotics_Chapter_89_Actuation_Gearing_and_Friction.txt | We've been assuming that there is an actuator at each joint that directly creates the joint force or torque. This is the idea behind robots called direct-drive robots: there is a motor at each joint that creates torque without any gearing. Such designs are often impractical, though, since an electric motor with the rig... |
Modern_Robotics_All_Videos | Modern_Robotics_Chapter_131_Wheeled_Mobile_Robots.txt | In the final chapter we focus on motion planning and control of wheeled mobile robots that move without skidding on hard flat surfaces, such as this differential drive robot, which moves by independently controlling the rotation of two conventional wheels, and this omnidirectional mobile robot, which moves by independe... |
Modern_Robotics_All_Videos | Modern_Robotics_Chapter_25_Task_Space_and_Workspace.txt | The C-space is the space of all possible configurations of a robot. Two somewhat different spaces of interest are the task space and the workspace. The task space is a space in which the robot's task can be naturally expressed. For example, if the task is to control the position of the tip of a marker on a board, then ... |
Modern_Robotics_All_Videos | Modern_Robotics_Chapter_1334_Feedback_Control_for_Nonholonomic_Mobile_Robots.txt | Once we've planned a trajectory for a nonholonomic wheeled mobile robot, we need a feedback controller to track the trajectory. Although feedback control to a stationary configuration requires a control law that's time-varying, or, discontinuous in the configuration, as we learned in an earlier video, feedback control ... |
Modern_Robotics_All_Videos | Modern_Robotics_Chapter_813_Understanding_the_Mass_Matrix.txt | By now you're familiar with the equations of motion of a robot. In this video we focus on better understanding the mass matrix M of theta. First, recall that the kinetic energy of a point mass is one-half m-v-squared, where m is the mass and v is its scalar velocity. If v is a vector, we could rewrite this as one-half ... |
Modern_Robotics_All_Videos | Modern_Robotics_Chapter_1332_Controllability_of_Wheeled_Mobile_Robots_Part_2_of_4.txt | As we learned in the last video, nonholonomic mobile robots are not linearly controllable. They may, however, satisfy weaker controllability conditions from nonlinear control theory. We model a nonholonomic mobile robot as a nonlinear control system of the form q-dot equals G of q times u, where the configuration q is ... |
Modern_Robotics_All_Videos | Modern_Robotics_Chapter_107_Nonlinear_Optimization.txt | In this last video of Chapter 10, we consider a very different approach to motion planning, based on nonlinear optimization. The goal is to design a control history u of t, a trajectory q of t, and a trajectory duration capital T minimizing some cost functional J, such as the total energy consumed or the duration of th... |
Modern_Robotics_All_Videos | Modern_Robotics_Chapter_102_CSpace_Obstacles.txt | We know that any robot configuration is described uniquely by a point in its configuration space, or C-space. One of the key ideas in motion planning is to represent any obstacle in the robot's environment as a set of points in C-space where the robot is in collision with the obstacle. So we should become comfortable w... |
Modern_Robotics_All_Videos | Modern_Robotics_Chapters_2_and_3_Foundations_of_Robot_Motion.txt | In Chapters 2 and 3, on configuration space and rigid-body motions, we'll study the representation of positions, velocities, and forces in three-dimensional space. A firm understanding of this material is arguably the most important foundation for the further study of robotics, since all robots move in the physical wor... |
Modern_Robotics_All_Videos | Modern_Robotics_Chapter_1332_Controllability_of_Wheeled_Mobile_Robots_Part_3_of_4.txt | The control system for a wheeled mobile robot can be written in the general form q-dot equals G of q times u, where q is the n-dimensional configuration, u is the m-dimensional control input, and the m columns of the G matrix are the control vector fields associated with each control input. For the canonical nonholonom... |
Modern_Robotics_All_Videos | Modern_Robotics_Chapter_132_Omnidirectional_Wheeled_Mobile_Robots_Part_1_of_2.txt | Wheeled mobile robots employ either conventional wheels, like this unicycle wheel, that do not allow sideways sliding, or wheels that allow sideways sliding through the use of rollers around the rim of the wheel, such as the omniwheel and the mecanum wheel. While it's possible to build omnidirectional mobile robots usi... |
Modern_Robotics_All_Videos | Modern_Robotics_Chapter_93_Polynomial_Via_Point_Trajectories.txt | In the last two videos we learned how to define straight-line paths and then time scale them to get trajectories. If we want more flexibility to design the shape of the path, as well as the speed with which it is executed, we could specify a set of configurations through which we would like the robot to transit. These ... |
Modern_Robotics_All_Videos | Modern_Robotics_Chapter_114_Motion_Control_with_Torque_or_Force_Inputs_Part_1_of_3.txt | Starting in this video, we assume that the robot controller commands forces or torques at the joints, not velocities as in the previous videos. Because the controls are forces or torques, the robot's dynamics must be taken into account. We will again begin by assuming a single-joint robot. It is easy to generalize the ... |
Modern_Robotics_All_Videos | Modern_Robotics_Chapter_105_Sampling_Methods_for_Motion_Planning_Part_2_of_2.txt | Until now, we have mostly studied collision-free paths for robots with velocity controls for each degree of freedom. In this video, I will describe a popular sampling-based motion planner that applies to robots with arbitrary dynamics of the form x-dot equals f of (x,u). The planner is based on rapidly exploring random... |
Modern_Robotics_All_Videos | Modern_Robotics_Chapter_82_Dynamics_of_a_Single_Rigid_Body_Part_1_of_2.txt | Starting in Chapter 8.2, we learn the Newton-Euler method for deriving the dynamics of a robot. Whereas the Lagrangian formulation starts with the potential and kinetic energy and applies a variational approach based on derivatives, the Newton-Euler method is derived directly from f equals m-a for the rigid bodies that... |
Modern_Robotics_All_Videos | Modern_Robotics_Chapter_1213_Multiple_Contacts.txt | In the previous video we learned that a contact between two rigid bodies divides the space of twists of one body relative to another into two halves: a half-space of feasible relative twists and a half-space of relative twists that violate the rigid-body assumption. Twists on the dividing hyperplane result in rolling o... |
Modern_Robotics_All_Videos | Modern_Robotics_Chapter_1222_Planar_Graphical_Methods.txt | A planar wrench has 3 components: moment about the z-axis out of the plane and linear forces in the x and y directions. If the wrench has a nonzero linear component, then it can be represented as an arrow in the plane, where the tail of the arrow is at (x,y) and the arrow tip is at (x + f_x, y + f_y). The point (x,y) m... |
Modern_Robotics_All_Videos | Modern_Robotics_Chapter_11222_SecondOrder_Error_Dynamics.txt | Let's continue with our mass-spring-damper analogy for the error dynamics of a controlled single-joint robot. Design of the controller allows us to alter the spring k and damper b, and therefore how the error theta_e evolves. We divide the second-order differential equation by the leading coefficient m to get this form... |
Modern_Robotics_All_Videos | Modern_Robotics_Chapter_62_Numerical_Inverse_Kinematics_Part_2_of_2.txt | In the previous video, we derived the Newton-Raphson numerical algorithm for inverse kinematics when the end-effector configuration is represented by a minimum set of coordinates x_d. In this final video of Chapter 6, we modify the algorithm so that the desired end-effector configuration is described by the transformat... |
Modern_Robotics_All_Videos | Modern_Robotics_Chapter_1332_Controllability_of_Wheeled_Mobile_Robots_Part_4_of_4.txt | In the last video, we learned that the Lie bracket of two vector fields expresses their noncommutativity. This noncommutativity may allow approximate motion in directions not directly allowed by the control vector fields. The Lie bracket is, itself, a vector field. Therefore, we can take Lie brackets of Lie brackets. F... |
Modern_Robotics_All_Videos | Modern_Robotics_Chapter_103_Complete_Path_Planners.txt | As I mentioned in previous videos, it is common to represent a continuous free C-space as a graph and to search on that graph. If that graph happens to be something called a "roadmap," then it is possible to ensure the property of completeness: if a path exists, the planner will find one. To be a roadmap, the graph has... |
Modern_Robotics_All_Videos | Modern_Robotics_Chapter_1212_Contact_Types_Rolling_Sliding_and_Breaking.txt | If two bodies are in contact, then the contact constrains the possible twists of the bodies. For example, let's say that bodies A and B are in point contact, and that point can be expressed in a space frame as p_A or p_B. Even though they're at the same point in space, I've drawn them so we can see that one is consider... |
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