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Robot motion planning has become a major focus of robotics. Research findings can be applied not only to robotics but to planning routes on circuit boards, directing digital actors in computer graphics, robot-assisted surgery and medicine, and in novel areas such as drug design and protein folding. This text reflects the great advances that have taken place in the last ten years, including sensor-based planning, probabalistic planning, localization and mapping, and motion planning for dynamic and nonholonomic systems. Its presentation makes the mathematical underpinnings of robot motion accessible to students of computer science and engineering, rleating low-level implementation details to high-level algorithmic concepts.

• Sales Rank: #238981 in Books
• Published on: 2005-05-20
• Original language: English
• Number of items: 1
• Dimensions: 9.00" h x 1.25" w x 8.00" l, 2.90 pounds
• Binding: Hardcover
• 632 pages

About the Author

Howie Choset is Associate Professor in the Robotics Institute at Carnegie Mellon University.

Wolfram Burgard is Professor of Computer Science and Head of the research lab for Autonomous Intelligent Systems at the University of Freiburg.

Lydia E. Kavraki is Professor of Computer Science and Bioengineering, Rice University.

George Kantor is Project Scientist in the Center for the Foundations of Robotics, Robotics Institute, Carnegie Mellon University.

Seth Hutchinson is Professor in the Department of Electrical and Computer Engineering, University of Illinois at Urbana-Champaign.

Kevin M. Lynch is Associate Professor in the Mechanical Engineering Department, Northwestern University.

Most helpful customer reviews

6 of 6 people found the following review helpful.
Comprehensive coverage of the field
By Henrik I. Christensen
At the outset one might expect this book to be pure about motion planning or motion control. In reality the book is remarkably comprehensive in coverage of perception, planning and control with in-depth coverage of basic kinematics, basic planning mechanisms and applied estimation such as Kalman filters for robot perception. The book was written/edited by the first authors with in-depth coverage in particular chapters by the other authors. In the end it is a very coherent, up-to-date and comprehensive book. The book is written to have enough detail for a 1 term senior under-graduate or junior graduate course in robotics or as a reference for practitioners. Truly a great book

0 of 1 people found the following review helpful.
Excellent book
By Evgeny Kagan
It is excellent book that gives contemporary presentation of the main topics of robots motion. It provides both clear explanations of the underlying principles and accurate algorithms and methods, which can be directly applied for the robots control. I use this book as one of the main sources for the course in mobile robots and as a handbook for research projects, and higly recommend it for everyone who deals with modern robotic systems.

4 of 8 people found the following review helpful.
Great book on mobile robotics
By Fernando D. Ramirez Figueroa
This is a great book on mobile robotics, a lot of methods are explained in the book and its writing is clear and easy to understand. I have used it on several undergraduate and graduate courses that I have taken, I fully recommend it.

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[D611.Ebook] Fee Download The Art of Application Performance Testing: Help for Programmers and Quality Assurance, by Ian Molyneaux

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This practical book provides a step-by-step approach to testing mission-critical applications for scalability and performance before they're deployed -- a vital topic to which other books devote one chapter, if that.

Businesses today live and die by network applications and web services. Because of the increasing complexity of these programs, and the pressure to deploy them quickly, many professionals don't take the time to ensure that they'll perform well and scale effectively. The Art of Application Performance Testing explains the complete life cycle of the testing process, and demonstrates best practices to help you plan, gain approval for, coordinate, and conduct performance tests on your applications. With this book, you'll learn to:

• Set realistic performance testing goals
• Implement an effective application performance testing strategy
• Interpret performance test results
• Cope with different application technologies and architectures
• Use automated performance testing tools
• Test traditional local applications, web-based applications, and web services (SOAs)
• Recognize and resolves issues that are often overlooked in performance tests

Written by a consultant with 30 years of experience in the IT industry and over 12 years experience with performance testing, this easy-to-read book is illustrated with real-world examples and packed with practical advice. The Art of Application Performance Testing thoroughly explains the pitfalls of an inadequate testing strategy and offers you a robust, structured approach for ensuring that your applications perform well and scale effectively when the need arises.

"Ian has maintained a vendor-agnostic methodology beautifully in this material. The metrics and graphs, along with background information provided in his case studies, eloquently convey to the reader, 'Methodology above all, tools at your discretion...' Ian's expertise shines through throughout the entire reading experience." -- Matt St. Onge, Enterprise Solution Architect, HCL Technologies America / Teradyne

• Sales Rank: #1360414 in Books
• Brand: O'Reilly Media
• Published on: 2009-01-30
• Ingredients: Example Ingredients
• Original language: English
• Number of items: 1
• Dimensions: 9.14" h x .41" w x 7.14" l, .65 pounds
• Binding: Paperback
• 158 pages

Features

• Used Book in Good Condition

About the Author

Originally hailing from Auckland, New Zealand, Ian Molyneaux ended up in IT purely by chance after applying for an interesting looking job advertised as "junior computer operator" in the mid '70s. The rest is history, 30 years later I've held many roles in IT, although I've shied away from anything management related as I'm a techie at heart. His current role is EMEA SME (Subject Matter Expert) for Application Performance Assurance at Compuware. Presently residing in Buckinghamshire, U.K. with wife Sarah, daughter Sasha, and two cats, and trying to get used to the idea of turning 49!

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9 of 9 people found the following review helpful.
Good Primer, Lacks Depth
By OnceMore
This well-written primer provides just enough information to help one get started with automated performance testing. It outlines several recommended practices to automating performance testing (e.g., user activity recording, deploying software monitors, etc) and describes how some of them were put to use in two case studies and how they helped in root cause analyses. It discusses desirable capabilities to look for in performance testing tools and only briefly mentions special considerations for technologically complex applications such as those that use AJAX, SAP, or Citrix, for example. A more in-depth discussion of those considerations and how to address them would have been really useful. Although information on select tool vendors and the type of tool offerings they provide is included, there is no additional description of any of the tools' capabilities or qualities (for this, the reader has to visit the provided vendor's website). Finally, most of the sample scenarios discussed in the book pertain to performance testing in Windows environments; while this won't matter to most readers because the principles discussed are equally applicable to other OS environments, this may matter to some readers who do not work with Windows environments at all.

6 of 7 people found the following review helpful.
Good Overview For Managers
By Philip R. Heath
As I've mentioned in my reviews of Effective Software Testing: 50 Specific Ways to Improve Your Testing and Implementing Automated Software Testing: How to Save Time and Lower Costs While Raising Quality, I recently became the manager of my company's automated and performance testing team. My background had previously been in application development, and I purchased this book to get an overview to performance testing. For the most part The Art of Application Performance Testing was a good choice. The core of the book is in chapters 2-4 where the author discusses the fundamentals of performance testing, the process of performance testing, and analyzing the results of a performance test. There were times when I didn't exactly follow some Molyneaux's thought process so I didn't get 100% of the material. This meat and potatoes section of the book is also only about 90 pages so it wouldn't have hurt to have a little more explanation. The biggest example of this was the example he gave where he calculated the virtual user numbers for an application that was going to have an increase in concurrent users. The table with the current production numbers and the numbers for the test seemed to drop out of the air with minimal explanation. This surprised me a bit because I rarely have difficulty following technical books. The other issue I had with this book is one that should never happen. A number of the tables and charts used fonts that were too small to be readable. I have 20/20 near vision, and I have never had a problem with a technical book like this. The final consideration I would offer readers is the price in comparison to the size of the book. The chapter material tops out at 114 pages, and I would say that the cover price of the book is probably overpriced by about 30-40%. Perhaps the author thought that the lack of already published material on this subject merited the higher cost.

It may seem that my comments to mesh with the number of starts that I gave the book. In the end the two material issues I had with the book did not keep me from achieving the purpose I set out with when I bought the book. I know have a good understanding of performance testing so it was worth the investment even if I consider it to have been a little higher than necessary. People who do performance testing as their day to day activity will only find a base level of knowledge here. This is not a stopping point if you are looking to build up your performance testing skills. I would almost put this in the "for managers" category.

Overall: B-

2 of 2 people found the following review helpful.
Great reference
By Trisha Davis
Though this book is geared towards Quality Assurance testers, developers can take away a lot from this material. The book explains methodologies at a high level and remains vendor-agnostic which is nice, but the context always seems to hover around Windows. If it were not for the specific case studies (which seem like they are from the author's personal experience) I would have to say this book would be more on the boring side.

The author did a great job of "teaching a man to fish" instead of "giving a man a fish". For example, in chapter 2, instead of simply giving a list of tools and telling readers to try them, the author goes into details about what to look for in a performance testing tool and how to choose one based on the scenario.

I would recommend this text to anyone who is new to testing as a great introduction, but I would suspect that experienced testers would also gain some insight from it as well.

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• Sales Rank: #4200770 in Books
• Published on: 1952
• Binding: Hardcover
• 40 pages

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First Published in 1993. Routledge is an imprint of Taylor & Francis, an informa company.

• Sales Rank: #1391726 in eBooks
• Published on: 2015-06-03
• Released on: 2015-06-03
• Format: Kindle eBook

Most helpful customer reviews

26 of 28 people found the following review helpful.
An excellent introduction to a world unknown in the West.
By A Customer
The author covers every aspect of Kurdish life, especially religion quite well. The book is a good approximation of the country studies available from the library of congress on the various recognized independent states.
Since Kurdistan is not recognized as an independent state, it does not have a library of congress handbook. As a replacement, Izady's book is a good substitute.
There are a few difficulties and inaccuracies in the book, but given its size and its attempt to cover such a long span of history, these mistakes can be forgiven. For example, the claim that Armenian King Tigranes II The Great was of Kurdish origin is at best very debatable. The King is a central figure in Armenian history, and Izady's initial words seemed to be aimed at attacking Armenian history. But he quickly repairs this potential point of contention and clearly points out that the King probably regarded himself as an Armenian whatever his origins may have been.
In addition to bringing to life history that is treated as a taboo subject in Turkey, Iraq and other Middle Eastern and even some Western states. Izady does a great deal to shatter the image of religious conformity in the region. We learn of the Yazidis, the Cult of angels, the Alevis, the Syrian Arab Alawites (Nusayris), and other groups including Kurdish Christians.
This book is a must-read for every United States Middle Eastern policy maker, because it draws a clear, accurate flesh and blood picture of a people long-maligned, massacred and misunderstood. Every American analyst interested in learning more about the Kurds, their life, survival, tragedies and triumphs should read this book as a introduction to this remarkable nation.

25 of 27 people found the following review helpful.
The Kurds: A Concise Handbook
By Michael Saroyan
Although 8 years old, this still remains the best book I have ever read about the Kurds. We Armenians know very little, and that also so biased, when it comes to our neighbors the Kurds. I think this book should be made a mandatory reading in all the Armenian schools.
The book is like an encyclopedia and the author is successful in not taking any political side. He is also respectful to the Armenians and their Genocide in which as Izady writes, the Kurdish tribal leaders took part with the Turks. His treatment of the Kurdish culture, art and history is as fascinating as his coverage of politics, religion, langauge and demography. It is an excellent resource.
It is a pitty that this book is not more widely known or available in the Armenian language. I wished the publishers of the book would consider translating and publishing this into other languages too and not just English.

5 of 6 people found the following review helpful.
The Ultimate Reference!
By Shergo Dakouri
This book is the ultimate reference when it comes to the Kurds and all aspects of their life. The analysis is deep, academic, and far from biased. Although some of the historical facts Professor Izady provides need to be prooved, the historical research seems very miticulous. Although this book serves its purpose perfectly, such a small handbook isn't enough to eliminate the numerous common misconceptions and fallacies about the Kurds and their history. We need a far more detailed book with more proofs about what it states, and I hope that Izady's next book will be like that. Anyway, despite being a bit outdated, this is the finest refernce on the Kurds available so far. Highly Recommended!!

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[G640.Ebook] Download PDF A Village Affair, by Joanna Trollope

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The general view in the village of Pitcombe was that Alice Jordan was extraordinarily blessed among mortals - lovely house, nice husband, dear little children and more than enough money. Why then, did Alice herself feel there was something missing?

• Sales Rank: #2772844 in Books
• Published on: 1989-08
• Original language: English
• Number of items: 1
• Binding: Hardcover
• 231 pages

Features

• 1st Edition

From Publishers Weekly
In this readable, emotionally nuanced novel, Trollope ( The Choir ) depicts a young wife and mother who gets what she wants--the perfect house in Pitcombe, a perfect village in England. But instead of being overjoyed, Alice is depressed until she meets Clodagh Unwin, an imperiously wayward daughter of local nobility. Clodagh falls in love with Alice and seduces her. But when the sexual relationship between the women is exposed, Alice's husband and the Pitcombe citizenry (who had accepted her as a depressed housewife), become less hospitable to the cheerful lesbians. Despite a tendency to stereotype, to recount offstage climactic moments instead of directly depicting them, and to quote George Eliot excessively, Trollope has abundant talents. Her spare, pithy style and resonant dialogue contribute to an absorbing story in which a woman learns to eschew conventions and embrace independence.
Copyright 1989 Reed Business Information, Inc.

From Library Journal
In 1977 Alice Meadows marries Martin Jordan to escape her parents' seedy house and join his glamorous and prosperous family. Her painting flourishes. By the mid-1980s, Alice finds herself with three children, a plodding husband, and a picturesque house in a "much sought-after village" near Salisbury. However, she exists in an emotional vacuum and can no longer paint. Then the local squire's daughter, Clodagh, arrives to awaken Alice to passion and artistic rebirth. The women's affair shatters Martin and scandalizes the village. Eventually Alice rejects eveyone, including Clodagh, and decides to support her children through her art. Because Alice is so tiresome and self-absorbed, most readers probably won't care whether she succeeds or not. The strenght of several minor characters cannot compensate for the tedium of considering Alice's woes.
- Kathy Piehl, Mankato State Univ., Minn.
Copyright 1989 Reed Business Information, Inc.

About the Author
Joanna Trollope, a member of the same family as novelist Anthony Trollope, is a #1 bestselling author in England.

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0 of 0 people found the following review helpful.
Five Stars
By Jae Brown
Had to read this book until the end.

13 of 13 people found the following review helpful.
Not At All Ordinary
By Wendy Kaplan
Joanna Trollope never goes for the easy way out. All of her books are full of people that are so real, so full of the layers of "humanhood," if you will, that we can't help but feel we know everybody in her books. This is, of course, her very great talent.
"A Village Affair" is, on the surface, the story of a marriage grown slightly stale after 3 children and the predictable daily chores that accompany parenthood. Alice and Martin are settled into a comfortable, upwardly mobile, slightly boring lifestyle. Neither is particularly happy, but neither will acknowledge this fact to themselves or each other.
When Alice's third child, Charlie, is born, Alice, the quintessential latter-day flower child, falls into a deep depression that she cannot shake. As she tries to regain her equilibrium, we are taken back to her earlier years as a university student whose wretched homelife spurs her to seek the life she imagines she wants. Alice's great flaw then, and later, when we meet her several years into her marriage, is that she has no notion of herself whatsoever, but only sees herself as reflected in the mirror of others' approval or disapproval.
Thus, when Alice is a very young woman, the reflected glory of Cecily Jordan, a famous gardener/author, leads Alice to marry Cecily's son Martin, even though she is not in love with him. It is Cecily and her beautiful house that Alice loves--but she doesn't realize it for quite a while. After the marriage, Alice is happy as a young wife, artist (she paints quite well and has a small following to whom she sells her works), and quasi-hippie, her long braid and offbeat clothes advertising her "otherness" to her admiring circle of friends and neighbors.
When her first child, Natasha, is born, Alice is able to keep going in this mold. Natasha is an easy baby, Alice is even more admired as the perfect wife and mother, and things are easy. But with the birth of James, a much more difficult little person, Alice begins to unravel. And finally, the birth of Charlie destroys any illustions she may have had of a happy and fulfilled marriage.
Enter Clodagh, the youngest and very flamboyant daughter of the "big house" in the village. Clodagh has a secret...but Alice doesn't know it for quite a while. As Clodagh swiftly and surely takes over Alice's life and identity, the two begin a quite unorthodox relationship that shocks the village, destroys Alice's reputation, ruins her marriage, and makes her finally, at long last, take a look at herself as a woman and a human being.
The ending is not predictable, the characters are not one-dimensional. There is great pain in this book...and great love. As happens many times with Trollope, I felt that Alice was my dearest friend, as close to me as a sister would be. I could see her in my mind's eye, see her clothes, her beautiful hair, her children--see her paintings, her house, and her garden. I understood completely where she was coming from, even when I despaired of her destructive actions.
"A Village Affair" proves once again that life is not black and white--and that things are rarely what they seem. It is written with charm, humor, compassion and warmth, almost as if Trollope herself despairs of her naughty Alice, but wants her so much to be OK at the end, as does the reader.
This book kept my interest until the very last sentence, and haunted me for days. It brings up as many questions as it answers, and offers no pat solutions. It is just, plain and simple, a story of ordinary, and very likeable, people.

31 of 31 people found the following review helpful.
Passions run high amidst rural idyll-
By Kimberly van Deth
A Village Affair takes advantage of all the skilful expertise of its author in unraveling a tale of repressed sexuality , passion and rejection set in a the quintessential English village. Alice, the mother of 3 well defined and lovable children( all children in Joanna Trollope's novels are remarkably fleshed out )moves with her husband Martin to the "Grey House" a symbol of achievement, respectablity and class , the perfect home in the perfect village setting. But Alice appears to be on the verge of a breakdown from the day they arrive... As we meet their respective families and see the lack of emotion on one hand, and overabundance of it on the other, we recognise the gaping holes that have formed in their seemingly "perfect " marriage. The lack of sexual excitement is the final - or most vital - symptom. The crisis comes when Alice meets Clodagh, the youngest daughter up at the"Big House" who has supposedly come home from New York with a broken heart. Though we are already anticipating loopholes, ready to expose the sham of Alice and Martin"s relationship, there is a delightful shock when Clodagh reveals first her preference for women , and amidst domestic bliss in Alice's home, a preference for Alice too. This is true love for both women, made ragged by the inevitable and terrible consequences for the grandparents, Martin, and in a subtle and open ended fashion, the children. Trollope has a huge gift for presenting every facet of these events without bias or critiscm,through the villagers, the vicar, inlaws and family friends. The reader is kept entranced by the unfolding tale of passionate reaction and despair resulting from a declaration of their affair by the two women. I found this one of the most engrossing Trollope novels with a sharp contemporary edge and a bittersweet ending, that left you wanting to know what would happen next in the lives of these characters. ( and ready to pick up another Joanna Trollope novel!)

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For soprano voice solo, 2 alto voice solos, tenor voice solo, bass voice solo, SSATB choir, 2 oboes, bassoon, 2 trumpets, timpani, strings, basso continuo (Solo Soprano/2 Solo Altos/Solo Tenor/Solo Bass/Mixed Choir: SSATB/2 Oboes/Bassoon/2 Trumpets/Timpani/Strings/Basso continuo). This edition: Paperback, Urtext edition. Paperback. Level 4; UK Grade 7. Piano reduction. Language: English. HWV 56. Duration 3 hours.

• Sales Rank: #5274475 in Books
• Binding: Paperback

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"Winner of the Literary Awards for 2009 Best Autobiography/Biography" -Multicultural Literature Advocacy Group, Living in Color Literary Awards . . "Thank you for thinking of me" -Sonia Sotomayor, United States Supreme Court Justice . . "A Prison Story/Autobiography like you have never read before" -Michael Levine, WBAI 99.5 FM. Expert Witness Radio . . "Nominated as Finalist for the 12th Annual International Latino Book Awards" -Jim Sullivan, Executive Director, May 28, 2010.

• Sales Rank: #3245512 in Books
• Brand: Brand: Al Berrmudez Pereira
• Published on: 2009-11-25
• Original language: English
• Number of items: 1
• Dimensions: 9.02" h x .63" w x 5.98" l, .91 pounds
• Binding: Perfect Paperback
• 323 pages

Features

• Used Book in Good Condition

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1 of 1 people found the following review helpful.
A book that pulls no punches
By Joe Sanchez
"Ruins of a Society and the Honorable", pulls no punches. Al Bermudez Pereira tells it the way it was and still is when it comes to working as a correction officer up the river at Sing Sing Correctional Facility. Unlike the book "Newjack", written by a journalist who did only a year at Sing Sing as a correction officer, Al Bermudez did close to 18-years and was injured numerous times... once nearly killed by an inmate who wanted to prove to other inmates that he was the baddest inmate, and dared anyone to mess with him. Al was in good shape and survived the attack while also making sure he was not the only one going to the hospital. He was so respected by staff and inmates that during the attack two imates came to his aid, saving his life.

Bermudez tells it all from cop killers, corrupt correction officers, to caring, honest, dedicated officers. I should know. After being betrayed by the NYPD and let go, I became a correction officer working at Sing Sing and had the honor to work with Al.

For those who want to know what it's like to work as a correction officer at one of America's notorious prison, read his book.

-Joe Sanchez Picon

Author with Mo Dhania of "Latin Blues" & "True Blue: A tale of the enemy within"

0 of 1 people found the following review helpful.
Do not purchase
By ALB
This text is poorly organized, full of grammatical and spelling errors that detract from a smooth read, and does not add anything of significance to the issue of being a prison guard in society today. This is self-publication at its worst.

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