A5040394450- Robotic Mechanisms and Dynamics
- Robot Manipulation and Learning
- Teleoperation and Haptic Systems
- Poverty, Education, and Child Welfare
- Dynamics and Control of Mechanical Systems
- Space Satellite Systems and Control
- Robotic Path Planning Algorithms
- Banking stability, regulation, efficiency
- COVID-19 Pandemic Impacts
- Adaptive Control of Nonlinear Systems
- Child Nutrition and Water Access
- Robotics and Automated Systems
- Corporate Finance and Governance
- Robotics and Sensor-Based Localization
- Insurance and Financial Risk Management
- Housing Market and Economics
- COVID-19 epidemiological studies
- Fiscal Policy and Economic Growth
- Global Health Care Issues
- Indigenous and Place-Based Education
- Gender, Labor, and Family Dynamics
- Soft Robotics and Applications
- Social Issues and Policies
- Planetary Science and Exploration
- Infection Control and Ventilation
University of California, Berkeley
2014-2023
Berkeley College
2021-2023
Center for Effective Global Action
2019-2023
New York University
2023
Alliant International University
2023
National Bureau of Economic Research
2019-2023
Max Planck Institute for Research on Collective Goods
2022
University of California, San Diego
2019-2022
Milken Institute
2020
George Washington University
2020
Industrial robots are mechanical manipulators whose dynamic characteristics highly nonlinear. To control a manipulator which carries variable or unknown load and moves along planned path, it is required to compute the forces torques needed drive all its joints accurately frequently at an adequate sampling frequency (no less than 60 Hz for arm considered). This paper presents new approach of computation based on method Newton-Euler formulation independent type manipulator-configuration....
Position control of a manipulator involves the practical problem solving for correct input torques to apply joints set specified positions, velocities, and accelerations. Since is nonlinear system whose are highly coupled, it very difficult control. This paper presents technique which adopts idea "inverse problem" extends results "resolved-motion-rate" controls. The method deals directly with position orientation hand. It differs from others in that accelerations all feedback done at hand...
The Newton-Euler formulation of the equations motion an open-loop kinematic chain is used within a dynamic computer simulation robotic mechanism. Four different methods are presented for obtaining joint variable accelerations given positions, velocities, and input torques or forces. Each these was programmed in FORTRAN then executed on CYBER 175 digital computer. This paper contains comparison computational complexity execution time programs which implement them.
Despite numerous journalistic accounts, systematic quantitative evidence on economic conditions during the ongoing COVID-19 pandemic remains scarce for most low- and middle-income countries, partly due to limitations of official statistics in environments with large informal sectors subsistence agriculture. We assemble from over 30,000 respondents 16 original household surveys nine countries Africa (Burkina Faso, Ghana, Kenya, Rwanda, Sierra Leone), Asia (Bangladesh, Nepal, Philippines),...
ABSTRACT The repo market has been viewed as a potential source of financial instability since the 2007 to 2009 crisis, based in part on findings that margins increased sharply segment this market. This paper provides evidence suggesting there was no system‐wide run repo. Using confidential data tri‐party repo, major market, we show that, level and amount funding were surprisingly stable for most borrowers during crisis. However, also document sharp decline Lehman September 2008.
How large economic stimuli generate individual and aggregate responses is a central question in economics, but has not been studied experimentally. We provided one‐time cash transfers of about USD 1000 to over 10,500 poor households across 653 randomized villages rural Kenya. The implied fiscal shock was 15 percent local GDP. find impacts on consumption assets for recipients. Importantly, we document positive spillovers non‐recipient firms, minimal price inflation. estimate transfer...
The authors have coined the term teleautonomous to describe methods for producing intelligent action at a distance. Teleautomation goes beyond autonomous control in that it blends human intelligence and as appropriate. It teleoperation incorporates much autonomy is possible or reasonable. A novel approach solving one of fundamental problems facing systems discussed detail: need overcome time delays due telemetry signal propagation. Concepts called position clutches are introduced; these...
This paper provides a descriptive and quantitative account of the tri-party repo market before reforms proposed in 2010 by Task Force on Tri-Party Repo Infrastructure (Task 2010). We provide an extensive description mechanics this market. also use data from July 2008 to early document features find that both level haircuts amount funding were surprisingly stable The stability margins is contrast evidence other markets. Perhaps surprisingly, reveal relatively few signs stress for dealers than...
Background The Coronavirus Disease 2019 (COVID-19) pandemic and associated mitigation policies created a global economic health crisis of unprecedented depth scale, raising the estimated prevalence depression by more than quarter in high-income countries. Low- middle-income countries (LMICs) suffered negative effects on living standards most severely. However, consequences for mental LMICs have received less attention. Therefore, this study assesses association between COVID-19 8 LMICs....
Significance The belief that investing in child health and nutrition can generate improvements individuals’ future quality of life is the rationale for many policy initiatives around world. Yet there remains limited evidence on causal impacts gains adult living standards, especially developing countries. This study contributes addresses leading methodological concerns, by using variation via a randomized intervention provided deworming treatment to Kenyan children. We estimate individual...
Contact between free-flying space robots, and the minimization of impulse at contact are studied. A general approach for modeling systems with a moving base is presented. In particular, formulation dynamical equations motion space-based manipulator system external applied forces considered. The new equation then used to derive model. Unlike previous approaches, analysis takes into account both relative translational rotational motions contacting bodies. An model reveals that could be...
This paper provides a quantitative account of the tri-party repo market during recent financial crisis. Using data from July 2008 to January 2010, we show that level haircuts and amount funding were surprisingly stable in this market. The stability contrasts with evidence bilateral market, where, as shown by Gorton Metrick (2011), increased sharply. During crisis, adjustments volume dealers not gradual; instead, can decrease precipitously. Our findings suggest runs resemble traditional bank runs.
An adaptive controller is presented for the coordinated motion control of two manipulators handling an object unknown mass. Global convergence in tracking both position and internal force trajectories proved, assuming perfect models manipulators. The computational algorithm similar to Newton-Euler inverse dynamics with complexity linear number links A significant feature method that use identical algorithm. Thus, concept master/slave relationship between avoided. Two simulations are...
A control method is presented that achieves globally stable trajectory tracking in the presence of uncertainties inertial parameters system. The 15-degree-of-freedom (DOF) system dynamics are divided into two components: a 9-DOF invertible portion and 6-DOF noninvertible portion. controller then designed to achieve system, which consists manipulator joint positions orientation base. motion bounded but otherwise unspecified. This position robot's base reaction wheels. simulation demonstrate...
A novel algorithm for the adaptive control of a robot manipulator which may contain closed kinematic loops is described. The identifies mass properties each link and viscous friction coefficients joint manipulator. It similar to Newton-Euler inverse dynamics and, hence, obtains its computational efficiency through recursive nature algorithm. Improved achieved by eliminating need compute constraint forces. Only inertial gravitational forces are actually computed Simulation results presented.<...
As a result of recent advances in artificial intelligence, human cognitive modelling, autonomous systems and telerobotics, there is an opportunity to broaden our concepts technology for projecting action at distance. We draw on these develop conceptual architectural framework that enables efficient projection time space intermingled manipulation cognition tasks. Where AI-based have previously been concerned with supervisory intervention primarily level, we add methods rendezvous, capture...