In recent years, researchers have achieved great success in guaranteeing safety in human-robot interaction, yielding a new generation of robots that can work with humans in close proximity, known as collaborative robots (cobots). However, due to the lack of ability to understand and coordinate with their human partners, the ``co'' in most cobots still refers to ``coexistence'' rather than ``collaboration''. This thesis aims to develop an adaptive learning and control framework with a novel physical and data-driven approach towards a real collaborative robot. The first part focuses on online human motion prediction. A comprehensive study on various motion prediction techniques is presented, including their scope of application, accuracy in different time scales, and implementation complexity. Based on this study, a hybrid approach that combines physically well-understood models with data-driven learning techniques is proposed and validated through a motion data set. The second part addresses interaction control in human-robot collaboration. An adaptive impedance control scheme with human reference estimation is presented. Reinforcement learning is used to find optimal control parameters to minimize a task-orient cost function without fully knowing the system dynamic. The proposed framework is experimentally validated through two benchmark applications for human-robot collaboration: object handover and cooperative object handling. Results show that the robot can provide reliable online human motion prediction, react early to human motion variation, make proactive contributions to physical collaborations, and behave compliantly in response to human forces.

A tutorial on the ancient practice of limpias to heal the mind, body, and soul • Offers step-by-step instructions for the practice of limpias, shamanic cleansing rituals to heal, purify, and revitalize people as well as physical spaces • Examines different types of limpia ceremonies, such as fire rites for transformation, water rites for cleansing and influencing, and sweeping rites for divination • Explores the sacred stories behind limpia rituals and traces these curanderismo practices to their indigenous roots Exploring the essential tools and practices of Mesoamerican shamans and curanderos, specifically the ancient Yukatek Maya and Mexica (Aztec), Erika Buenaflor, M.A., J.D., provides a step-by-step guide for conducting the most common practice within curanderismo: limpias. These practical and incredibly effective shamanic cleanses heal, purify, and revitalize people and spaces with herbs, flowers, eggs, feathers, fire, and water. They are also powerful tools for self-empowerment, spiritual growth, soul retrieval, rebirth, and gracefully opening up pathways for new beginnings. Drawing on her 20 years’ experience as a curandera and her graduate studies focused on Mesoamerican shamanism, the author traces modern curanderismo practices to their indigenous roots. She explores the sacred stories behind limpia rituals and examines different types of limpia ceremonies in depth, such as fire rites for transformation, water rites for cleansing and influencing, and sweeping rites for divination. She outlines how limpias work holistically to enable one to let go and cleanse the body, mind, and spirit of limiting beliefs, traumas, and broken stories; heal acute and chronic illnesses such as depression, insomnia, and anxiety; and revitalize and activate sacred spaces by renewing their essence and clearing negative energies. She explains the healing properties of the plants used in limpia rites and how to perform the medicinal chants used by the curanderos. In addition, the author details how the practice of platicas, heart-straightening talks, supports limpia rites by encouraging one to vocalize their needs as they eject traumas and unwanted energies from the body, setting the stage for self-awareness and healing. Sharing the story of her own complete healing from a catastrophic injury with limpias as well as inspirational testimonies from others who have experienced limpias, the author provides a personal and thoroughly practical guide to the ancient shamanic method of limpias to promote healing and personal transformation in our times.

With over 200 detailed illustrations and descriptions, these two catalogs are essential reading and reference materials and identification guides for Stickley furniture. Among the items depicted and described are chairs, rockers, stools, settles, desks, library tables, music cabinets, drop-leaf tables, nests of tables, chests of drawers, sideboards, china cabinets and dressing tables.

This book presents the state of the art in reinforcement learning applied to robotics both in terms of novel algorithms and applications. It discusses recent approaches that allow robots to learn motor. skills and presents tasks that need to take into account the dynamic behavior of the robot and its environment, where a kinematic movement plan is not sufficient. The book illustrates a method that learns to generalize parameterized motor plans which is obtained by imitation or reinforcement learning, by adapting a small set of global parameters and appropriate kernel-based reinforcement learning algorithms. The presented applications explore highly dynamic tasks and exhibit a very efficient learning process. All proposed approaches have been extensively validated with benchmarks tasks, in simulation and on real robots. These tasks correspond to sports and games but the presented techniques are also applicable to more mundane household tasks. The book is based on the first author’s doctoral thesis, which won the 2013 EURON Georges Giralt PhD Award.

ICT Innovations for Sustainability is an investigation of how information and communication technology can contribute to sustainable development. It presents clear definitions of sustainability, suggesting conceptual frameworks for the positive and negative effects of ICT on sustainable development. It reviews methods of assessing the direct and indirect impact of ICT systems on energy and materials demand, and examines the results of such assessments. In addition, it investigates ICT-based approaches to supporting sustainable patterns of production and consumption, analyzing them at various levels of abstraction – from end-user devices, Internet infrastructure, user behavior, and social practices to macro-economic indicators. Combining approaches from Computer Science, Information Systems, Human-Computer Interaction, Economics, and Environmental Sciences, the book presents a new, holistic perspective on ICT for Sustainability (ICT4S). It is an indispensable resource for anyone working in the area of ICT for Energy Efficiency, Life Cycle Assessment of ICT, Green IT, Green Information Systems, Environmental Informatics, Energy Informatics, Sustainable HCI, or Computational Sustainability.