Fix typos, grammar issues, and UK English compliance

README.md

@@ -62,8 +62,8 @@ The content shown in this work is based on my own expert knowledge (and interpre
 
 ## Contents
 
-- [The Basics of Kinematic Modeling and Control of Serial-link Manipulators Using `numpy`](basic_lessons/README.md).            
-- [Kinematic modeling and control of serial-link robotic manipulators using `dqrobotics`: From zero to hero.](other/dqrobotics).
+- [The Basics of Kinematic Modelling and Control of Serial-link Manipulators Using `numpy`](basic_lessons/README.md).            
+- [Kinematic modelling and control of serial-link robotic manipulators using `dqrobotics`: From zero to hero.](other/dqrobotics).
 
 
 

basic_lessons/README.md

@@ -1,4 +1,4 @@
-# The Basics of Kinematic Modeling and Control of Serial-link Manipulators Using `numpy`
+# The Basics of Kinematic Modelling and Control of Serial-link Manipulators Using `numpy`
 
 In this five-lesson tutorial, we start from the very basics of scalar and matricial operations in Python using `numpy`,
 all the way until the basics of kinematic control. Until kinematic control, most is based on [@spong2020robot].

basic_lessons/lesson1_exercise_answers.ipynb

@@ -154,4 +154,4 @@
  },
  "nbformat": 4,
  "nbformat_minor": 2
-}
+}

basic_lessons/lesson1_tutorial.ipynb

@@ -10,7 +10,7 @@
     "\n",
     "*Author: Murilo M. Marinho (murilo.marinho@manchester.ac.uk)*\n",
     "\n",
-    "### Pre-requisites\n",
+    "### Prerequisites\n",
     "The user of this notebook is expected to have prior knowledge in\n",
     "- Basic Python [[Tutorial]](https://docs.python.org/3/tutorial/index.html)\n",
     "- Numpy \n",
@@ -21,7 +21,7 @@
     "### I found an issue\n",
     "Thank you! Please report it at https://github.com/MarinhoLab/OpenExecutableBooksRobotics/issues\n",
     "\n",
-    "### Latex Macros"
+    "### Latex Macros\n"
    ]
   },
   {
@@ -33,7 +33,7 @@
    },
    "source": [
     "$\\providecommand{\\myvec}[1]{{\\mathbf{\\boldsymbol{{#1}}}}}$\n",
-    "$\\providecommand{\\mymatrix}[1]{{\\mathbf{\\boldsymbol{{#1}}}}}$"
+    "$\\providecommand{\\mymatrix}[1]{{\\mathbf{\\boldsymbol{{#1}}}}}$\n"
    ]
   },
   {
@@ -52,7 +52,7 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "# A quick Python refresher"
+    "# A quick Python refresher\n"
    ]
   },
   {
@@ -65,7 +65,7 @@
     "\n",
     "$$a\\triangleq 10,b\\triangleq 5.$$\n",
     "\n",
-    "We can replicate the above in Python with"
+    "We can replicate the above in Python with\n"
    ]
   },
   {
@@ -83,7 +83,7 @@
    "metadata": {},
    "source": [
     "## Output variables\n",
-    "Variables can be output using `print`. For example, for $a$"
+    "Variables can be output using `print`. For example, for $a$\n"
    ]
   },
   {
@@ -109,7 +109,7 @@
    "source": [
     "\n",
     "### Output text and variables using f-strings\n",
-    "To output $a$ and $b$ within a string, we can use `print` and f-strings as follows"
+    "To output $a$ and $b$ within a string, we can use `print` and f-strings as follows\n"
    ]
   },
   {
@@ -139,7 +139,7 @@
     "\n",
     "#### Sum\n",
     "\n",
-    "$$c = a + b.$$"
+    "$$c = a + b.$$\n"
    ]
   },
   {
@@ -166,7 +166,7 @@
    "metadata": {},
    "source": [
     "#### Subtraction\n",
-    "$$c = a - b.$$"
+    "$$c = a - b.$$\n"
    ]
   },
   {
@@ -193,7 +193,7 @@
    "metadata": {},
    "source": [
     "#### Multiplication\n",
-    "$$c=ab$$"
+    "$$c=ab$$\n"
    ]
   },
   {
@@ -220,7 +220,7 @@
    "metadata": {},
    "source": [
     "#### Division\n",
-    "$$c = \\frac{a}{b}$$"
+    "$$c = \\frac{a}{b}$$\n"
    ]
   },
   {
@@ -247,7 +247,7 @@
    "metadata": {},
    "source": [
     "### Exponentiation\n",
-    "$$c = a^{b}$$"
+    "$$c = a^{b}$$\n"
    ]
   },
   {
@@ -275,7 +275,7 @@
    "source": [
     "### Math functions\n",
     "\n",
-    "For the following functions, we will need Python's built-in `math` module."
+    "For the following functions, we will need Python's built-in `math` module.\n"
    ]
   },
   {
@@ -293,7 +293,7 @@
    "source": [
     "### Square root\n",
     "\n",
-    "$$c = \\sqrt{a}$$"
+    "$$c = \\sqrt{a}$$\n"
    ]
   },
   {
@@ -314,15 +314,15 @@
     "\n",
     "$$c= \\sqrt[n]{a}, n \\in \\mathbb{N},$$\n",
     "\n",
-    "does not seem to have a shorthanded version in Python, but can computed through simple properties such as\n",
+    "does not seem to have a shorthand version in Python, but can be computed through simple properties such as\n",
     "\n",
     "$$c = \\sqrt[n]{a} = a^{\\frac{1}{n}} = e^{\\frac{ln(a)}{n}}.$$\n",
     "\n",
     "For example, suppose that\n",
     "\n",
     "$$n = 3.$$ \n",
     "\n",
-    "Then,"
+    "Then,\n"
    ]
   },
   {
@@ -338,7 +338,7 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "and we can calculate the n-th root like so"
+    "and we can calculate the n-th root like so\n"
    ]
   },
   {
@@ -365,7 +365,7 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "or like so"
+    "or like so\n"
    ]
   },
   {
@@ -398,7 +398,7 @@
     "$$ \\phi = \\frac{\\pi}{4},$$\n",
     "$$ s_{\\phi} = \\sin \\left( \\phi \\right),$$\n",
     "$$ c_{\\phi} = \\cos \\left( \\phi \\right),$$\n",
-    "$$ t_{\\phi} = \\tan \\left( \\phi \\right).$$"
+    "$$ t_{\\phi} = \\tan \\left( \\phi \\right).$$\n"
    ]
   },
   {
@@ -437,7 +437,7 @@
     "\n",
     "### Installing the library\n",
     "\n",
-    "Just in case `numpy` is not already installed, we can install it with the following command. Nothing will happen if the library is already installed."
+    "Just in case `numpy` is not already installed, we can install it with the following command. Nothing will happen if the library is already installed.\n"
    ]
   },
   {
@@ -455,7 +455,7 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "### Importing the library"
+    "### Importing the library\n"
    ]
   },
   {
@@ -472,12 +472,12 @@
    "metadata": {},
    "source": [
     "### Instantiating vectors\n",
-    "A row vector can be instanteated from a list of list. For instance, for \n",
+    "A row vector can be instantiated from a list of lists. For instance, for \n",
     "$$\\myvec{v} = \\left[\\begin{array}{ccc}\n",
     "         1 & 2 \n",
     "        \\end{array}\\right],\n",
     "$$ \n",
-    "we have"
+    "we have\n"
    ]
   },
   {
@@ -504,12 +504,12 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "A column vector can be instanted from a list of singleton *lists*. For instance, for \n",
+    "A column vector can be instantiated from a list of singleton *lists*. For instance, for \n",
     "$$\\myvec{u} = \\left[\\begin{array}{ccc}\n",
     "         1 \\\\\n",
     "         2\n",
     "        \\end{array}\\right],$$ \n",
-    "we have"
+    "we have\n"
    ]
   },
   {
@@ -540,7 +540,7 @@
    "source": [
     "### Dot product\n",
     "\n",
-    "$$\\myvec{c} = <\\myvec{u},\\myvec{u}>$$ "
+    "$$\\myvec{c} = <\\myvec{u},\\myvec{u}>$$ \n"
    ]
   },
   {
@@ -588,7 +588,7 @@
     "\n",
     "we can obtain the cross product\n",
     "\n",
-    "$$\\myvec{c} = \\myvec{u}_3 \\times \\myvec{v}_3$$ "
+    "$$\\myvec{c} = \\myvec{u}_3 \\times \\myvec{v}_3$$ \n"
    ]
   },
   {
@@ -623,7 +623,7 @@
     "\n",
     "<div class=\"alert alert-block alert-info\">\n",
     "Note that the function is np.<b>linalg</b>.norm, as the norm calculation is within the module <b>linalg</b>.\n",
-    "</div>"
+    "</div>\n"
    ]
   },
   {
@@ -659,7 +659,7 @@
     "        5 & 6 \\\\\n",
     "        7 & 8 \n",
     "        \\end{array}\\right] \n",
-    "$$"
+    "$$\n"
    ]
   },
   {
@@ -694,7 +694,7 @@
    "source": [
     "### Transpose\n",
     "\n",
-    "$$\\mymatrix{C} = \\mymatrix{A}^T$$ "
+    "$$\\mymatrix{C} = \\mymatrix{A}^T$$ \n"
    ]
   },
   {
@@ -723,7 +723,7 @@
    "source": [
     "### Sum\n",
     "\n",
-    "$$ \\mymatrix{C} = \\mymatrix{A} + \\mymatrix{B} $$"
+    "$$ \\mymatrix{C} = \\mymatrix{A} + \\mymatrix{B} $$\n"
    ]
   },
   {
@@ -752,7 +752,7 @@
    "source": [
     "### Subtraction\n",
     "\n",
-    "$$ \\mymatrix{C} = \\mymatrix{A} - \\mymatrix{B} $$"
+    "$$ \\mymatrix{C} = \\mymatrix{A} - \\mymatrix{B} $$\n"
    ]
   },
   {
@@ -788,7 +788,7 @@
     "<div class=\"alert alert-block alert-info\">\n",
     "The matrix multiplication operator, <b>@</b>, is very unusual. Pay close attention.\n",
     "Mistaking this can be a major source of bugs and confusion.\n",
-    "</div>"
+    "</div>\n"
    ]
   },
   {
@@ -822,7 +822,7 @@
     "        \\end{array}\\right],\n",
     "$$\n",
     "$$ \\myvec{d} = \\myvec{v}\\myvec{u} = 5.\n",
-    "$$"
+    "$$\n"
    ]
   },
   {
@@ -858,7 +858,7 @@
     "\n",
     "<div class=\"alert alert-block alert-info\">\n",
     "We only use the \".\" sign to denote matrix multiplication when otherwise it would be difficult to read the equation.\n",
-    "</div>"
+    "</div>\n"
    ]
   },
   {
@@ -888,7 +888,7 @@
    "source": [
     "### Diagonal matrices\n",
     "\n",
-    "Diagonal matrices get increasingly sparse with size, so it is important to have shorthanded commands for creating them. For instance, suppose that we have the following diagonal matrix\n",
+    "Diagonal matrices get increasingly sparse with size, so it is important to have shorthand commands for creating them. For instance, suppose that we have the following diagonal matrix\n",
     "\n",
     "$$\\mymatrix{D} = \\left[\\begin{array}{ccc}\n",
     "         1 & 0 & 0 \\\\\n",
@@ -897,7 +897,7 @@
     "        \\end{array}\\right] ,\n",
     "$$\n",
     "\n",
-    "this can be instanteated in `numpy` with"
+    "this can be instantiated in `numpy` with\n"
    ]
   },
   {
@@ -936,7 +936,7 @@
     "        \\end{array}\\right],\n",
     "$$ \n",
     "\n",
-    "can be instanteated in `numpy` with"
+    "can be instantiated in `numpy` with\n"
    ]
   },
   {
@@ -977,7 +977,7 @@
     "\n",
     "<div class=\"alert alert-block alert-info\">\n",
     "The <b>np.zeros</b> function takes a tuple to generate a properly sized matrix. Do not confuse it with <b>np.eye</b> that accepts a scalar.\n",
-    "</div>"
+    "</div>\n"
    ]
   },
   {
@@ -1013,7 +1013,7 @@
     "\n",
     "$$ e_1 = \\sin(\\phi) + 4\\cos(\\frac{\\phi}{5}).$$\n",
     "\n",
-    "Using the `math` module which is already imported, calculate the value of $e_1$ and store it in the variable `e1` shown in the cell below."
+    "Using the `math` module which is already imported, calculate the value of $e_1$ and store it in the variable `e1` shown in the cell below.\n"
    ]
   },
   {
@@ -1045,7 +1045,7 @@
     "Let\n",
     "$$\\mymatrix{C}_2 = \\mymatrix{A}_2 + \\mymatrix{B}_2 + \\mymatrix{A}_2\\mymatrix{B}_2 - \\mymatrix{B}_2\\mymatrix{A}_2.$$\n",
     "\n",
-    "Using the numpy module which is already imported, calculate the value of $\\mymatrix{C}_2$ and store it in the variable `C2` shown in the cell below."
+    "Using the numpy module which is already imported, calculate the value of $\\mymatrix{C}_2$ and store it in the variable `C2` shown in the cell below.\n"
    ]
   },
   {
@@ -1077,4 +1077,4 @@
  },
  "nbformat": 4,
  "nbformat_minor": 2
-}
+}