Notes, summaries, assignments, exams, and problems for Baccalaureate

Robot Kinematics

Euler’s Rotation Theorem

Any rigid body motion that leaves one point fixed can be represented by a single rotation about an axis through the fixed point.

Chasles’ Theorem

Any rigid body motion is the translation of a designated point & a rotation of the whole body about that point.

Kinematic Parameters

These parameters are associated with the kinematic configuration of each link and joint of the robot arm. There are four main kinematic parameters:

Joint Parameters

The relative position and orientation of two successive links can be specified by two joint parameters:

• Joint Angle (θk): The amount of rotation about zk-1 so that Xk-1 is parallel to Xk.
• Joint Distance (dk): The amount of translation along the Zk-1 needed to make

Internet Fundamentals: A Network of Networks

The Internet is often described as a "network of networks," comprising interconnected Internet Service Providers (ISPs).

Key Components of the Internet

• Hosts: End Systems for Applications

  Hosts are the end systems (clients & servers) that run applications. They connect at the edge of the Internet.

• Packet Switches: Forwarding Data

  Packet switches forward data in chunks called packets. These include:

  • Routers: Forward data between different networks.
  • Switches: Operate within the core of the Internet, not at the edge.

• Communication Links: The Data Pathways

  Communication links connect routers and can be made of:

  • Fiber optic cables
  • Copper wires
  • Radio waves
  • Satellite connections

  The transmission rate of a link is

Key Concepts in Microbial Pathogenicity

• Pathogenicity: The ability of a microorganism to cause disease.
• Virulence: The extent or degree of pathogenicity.
• Normal Microbiota: Resident microbes, often referred to as commensals.
• Infection: The invasion of normally sterile tissues by microorganisms.
• Pathogen: An infectious agent capable of causing disease.
• Infectious Disease: A disease caused by infection by a pathogen.
• Colonization: The process of establishing a population of organisms in a host.
• Resident Colonizer: An organism that establishes a long-term presence in the host.
• Transient Presence: A short-term presence of an organism in the host.

Major Factors in the Development of an Infection

1. Adherence: Initial Attachment to Host Cells

   Adherence is crucial

T-Cell Coreceptor Specificity

• Helper T-cells require antigen and Class II markers.
• Co-presentation requirements stem from different coreceptors on Killer and Helper T cells:
  • Killer T-cell coreceptor CD8 interacts only with Class I markers.
  • Helper T-cell coreceptor CD4 interacts only with Class II markers.

Interactions: Antigen-Presenting Cells & Lymphocytes

Active Immunity

Primary and Secondary Immune Responses

1. On first exposure to a pathogen, there is a latency of 5-10 days before specific antibodies are made, known as the primary response.
   • Antibody levels plateau after a few days and decline after a few weeks.
2. Subsequent exposure to the same antigen causes a secondary response.
   • Antibody production is much more rapid and sustained.

Clonal Selection

E-commerce: Buying and Selling Online

Like many people, I regularly buy things online, mostly books, music, and airline tickets. Many online retailers offer good rates or discounts. Occasionally, I also buy things on internet auction sites such as eBay, where people sell items to the highest bidder.

The Four Main Steps to Buying Online

There are four main steps to buying online:

1. First, you enter a site dedicated to e-commerce and browse their products.
2. Then, you put the items you want to buy into a virtual shopping cart, a program that lets you select the products and purchase with a credit card.
3. Third, you enter your personal data – you may have to log in with a username and a password if you have an account with the site.
4. Finally, you confirm

Unit 14: Moving Text

Cutting and Pasting

Anna: Ben, do you know how I can move this paragraph? I want to put it at the end of this page.

Ben: I think so. First, select the text with your mouse. Then, choose "Cut" from the Edit menu.

Anna: Like this?

Ben: Yes. The text disappears and is copied to the Clipboard. Click where you want the text to go.

Anna: Okay. Is that right?

Ben: Yes, if that's the correct spot. Next, choose "Paste" from the Edit menu, or press CTRL+V.

Anna: Okay, done. Is that all?

Ben: Yes. If you make a mistake, choose "Undo" from the Edit menu to reverse your last action.

Anna: Brilliant! Thanks!

Ben: You're welcome.

Unit 15: Spreadsheet Fundamentals

Introduction

Let's start with the basics. Spreadsheets are used in business for financial... Continue reading "Spreadsheet Basics and Text Editing Tips" »

Windows Popularity and Vista Features

Unit 13

Interviewer: There is no doubt that Windows has revolutionized the way we use computers today. Bill, can you explain just why it’s so popular?

Bill: Well, very simply, people find Windows very easy to use because everything is presented in graphic images. It’s also compatible with thousands of programs.

Interviewer: The big news at the moment is, of course, the launch of Windows Vista – the successor to Windows XP. I understand that there are several versions of Vista available. Could you give us some advice on which one to get?

Bill: Yes, you’re right – there are four main editions: Home Basic, Home Premium, Business and Ultimate.

Windows Vista Editions:

• Home Basic: Designed for users with basic

Unit 12

Visitor: Hello there. I’m thinking of buying a USB flash drive and I’ve heard you’re presenting a new device at this show. Could I see it?

Salesperson: Of course. This is the new Dragon flash drive, a compact flash memory drive that acts like a portable hard drive.

Visitor: And what’s the storage capacity?

Salesperson: Well, this model here can hold 16 gigabytes of data. We also have drives of 64 gigs, but they’re more expensive. The drive consists of a USB connector covered by a removable cap, a mass storage controller, and a flash memory chip. It also includes a write-protect switch and password protection.

Visitor: You’re getting a bit too technical for me! Does it connect like a normal drive?

Salesperson: Yes, you just plug... Continue reading "Dragon Flash Drive and MP4 Player: Features and Comparison" »

Choosing the Right Portable Hard Drive

When selecting a portable hard drive, it's essential to consider your specific storage needs. Here's a comparison of two popular models:

Available Portable Hard Drive Models

• Iomega eGO Portable Hard Drive: Offers a substantial 160 gigabytes (GB) of storage capacity.
• Edge DiskGO Mini Portable Hard Drive: Provides 12 gigabytes (GB) of storage capacity.

Comparing Iomega eGO and Edge DiskGO

The choice between these drives depends on your intended use:

• The Iomega eGO is ideal for mobile professionals, offering ample space to back up an entire PC.
• The Edge DiskGO is ultra-lightweight, making it perfect for easily transporting personal files such as photos, music, and data documents.

Portable Hard Drive Pricing

• Iomega

Parametric Inference Fundamentals

The probability distribution of the population under study is known, except for a finite number of parameters. Its goal is to estimate those parameters. Examples include the T-test and ANOVA.

Non-Parametric Inference Basics

The distribution of the population is not known. It is used to test the assumptions of parametric methods, for example, to check if the population distribution is normal.

What is a Statistic?

A random variable function of the sample that does not depend on the unknown parameter.

Understanding Estimators

A statistic whose values are acceptable for estimating an unknown parameter.

Unbiasedness in Estimation

We do not allow systematic overestimation or underestimation of the parameter, which would result... Continue reading "Statistical Inference & Hypothesis Testing Concepts" »