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John Maynard Keynes, in describing how G.E. Moore's Principia Ethica influencedthe Bloomsbury Group, made the following statement on the important things in life:The appropriate subjects of passionate contemplation and communionwere a beloved person, beauty and truth, and one's prime objects in lifewere love, the creation and enjoyment of aesthetic experience and thepursuit of knowledge. Of these love came a long way first.Keeping those words in mind, this dissertation represents part of my pursuit of knowl-edge and thus comes a long way behind love. Without the love, support, and incred-ible patience of my wife, Emily, I don't know if I would have been able to find theresources and willpower necessary to complete this work.Thank you to my fellow students, especially qahika Gens, Kurt Rohloff, Tae-SicYoo, Fred Zeitz, colleagues in the search for knowledge and invaluable discussionpartners and friends.Of course, my deepest gratitude goes to my advisor, Demos Teneketzis, for hisencouragement, guidance, and for always finding the time to discuss problems andideas. Thanks also go to my committee members, Sthphane Lafortune, Kevin Comp-ton, and Bill Rounds, for their interest in, and their willingness to evaluate, my work.Thanks also go to the many other professors and great minds I have had the pleasureof interacting with while at Michigan,,..tested for theQ1 PC1 bus cardBoth these projects mere sofixare des elopment efforts tonards contributing to dlfferentaspects of Roboucs and lZ1echatronics projects m the Controls and Roboucs Group..
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