Philippe Müllhaupt
Lecturer
philippe.muellhaupt@epfl.ch +41 21 693 38 38 http://lawww.epfl.ch
Citizenship: Swiss & Irish
+41 21 693 38 38
EPFL
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+41 21 693 38 38
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Web site: Web site: https://sph.epfl.ch/
+41 21 693 38 38
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Fields of expertise
Nonlinear Control (Geometry and Algebra)
Classical Dynamics
Robotics
Classical Dynamics
Robotics
Biography
Philippe Mullhaupt received his Diplôme dProfessional course
Post-Doc
Centre Automatique et Syst�mes
ENSMP-Paris (Fontainebleau)
1999-2000
Researcher and Lecturer
LA
EPFL
2000 - 2014
Scientist
Space Center
EPFL
2014 - 2016
Scientist
BIOROB
EPFL
2014 - 2017
Scientist
LBO
EPFL
2014 - 2018
Researcher and Lecturer
IGM
EPFL
2014 - (now)
Academic Promotion
STI-DO
EPFL
2019-2025
Inventory management and follow-ups
STI-DO
EPFL
2017 - 2019
Publications
Infoscience publications
Publications
A Matlab toolbox for scaled-generic modeling of shoulder and elbow
Scientific Reports. 2021. DOI : 10.1038/s41598-021-99856-y.Bayesian inference with Expectation Maximisation for the characterisation of antibiotic treatment recovery in Cystic Fibrosis
2021Feasibility of an alternative method to estimate glenohumeral joint center from videogrammetry measurements and CT/MRI of patients
Computer Methods In Biomechanics And Biomedical Engineering. 2021. DOI : 10.1080/10255842.2020.1808889.Muscle co-contraction in an upper limb musculoskeletal model: EMG-assisted vs. standard load-sharing
Computer Methods in Biomechanics and Biomedical Engineering. 2021. DOI : 10.1080/10255842.2020.1814755.On two isomorphic Lie algebroids for Feedback Linearization
2019On two isomorphic Lie algebroids associated with feedback linearization
2019. 8th International-Federation-of-Automatic-Control (IFAC) Symposium on Mechatronic Systems (MECHATRONICS) / 11th International-Federation-of-Automatic-Control (IFAC) Symposium on Nonlinear Control Systems (NOLCOS), Vienna, AUSTRIA, September 04-06, 2019. p. 280 - 285. DOI : 10.1016/j.ifacol.2019.11.792.Imprecise dynamic walking with time-projection control
2018A Closed-Loop EMG-Assisted Shoulder Model
Lausanne, EPFL, 2018. DOI : 10.5075/epfl-thesis-8658.Time-projection control to recover inter-sample disturbances, application to bipedal walking control
2018A simulation framework for humeral head translations
Medical Engineering and Physics. 2017. DOI : 10.1016/j.medengphy.2017.08.013.A framework for forward-dynamics simulation of the human shoulder
2016. 11th Conference of the International Shoulder Group, ISG 2016, Winterthur, Switzerland, 14-16 July 2016.Modelling of the human shoulder as a parallel mechanism without constraints
Mechanism and Machine Theory. 2016. DOI : 10.1016/j.mechmachtheory.2016.02.004.Musculoskeletal Model of the Human Shoulder for Joint Force Estimation
Lausanne, EPFL, 2015. DOI : 10.5075/epfl-thesis-6497.Comparison of an EMG-based and a stress-based method to predict shoulder muscle forces
Computer Methods In Biomechanics And Biomedical Engineering. 2015. DOI : 10.1080/10255842.2014.899587.A Cable-Driven Pendulum for Analysing the Stability of Joint Stiffness Control
2015Application of Artificial Neural Networks in Assessing the Equilibrium Depth of Local Scour Around Bridge Piers
2015. ASME 2015 34th International Conference on Ocean, Offshore & Arctic Engineering OMAE2015, St. John’s, Newfoundland, Canada, May 31-June 5. DOI : 10.1115/OMAE2015-42387.Active Stability of Glenohumeral Joint Diminishes during the End-range Motions
2015. 21st Congress of the European Society of Biomechanics ESB 2015, Prague, Czech Republic, 5-8 July 2015.Modeling and Compensating Friction in Power Steering
2015. European Control Conference 2015, Linz, Austria, July 15-17. p. 2138 - 2143. DOI : 10.1109/ECC.2015.7330856.A Friction Compensation Control for Power Steering
IEEE Transactions on Control Systems Technology. 2015. DOI : 10.1109/Tcst.2015.2483561.Muscle Moment-Arms: A Key Element in Muscle-Force Estimation
Computer Methods in Biomechanics and Biomedical Engineering. 2015. DOI : 10.1080/10255842.2013.818666.Review of "Stability analysis and design of nonlinear singular systems" by Yang, Chun Yu, Zhang Qing Ling, Zhou Linna, Springer, Heidelberg, LCNCIS 435, 2013
Mathematical reviews + database fee. 2014.Nonlinear Analysis of a Coaxial Microhelicopter with a Bell Stabilizer Bar
Journal of the American Helicopter Society. 2014. DOI : 10.4050/JAHS.59.012003.Review of "Neutral wrenches of 3-parametric robot-manipulators of spherical rank 1" by Marksova, Marta, Appl. Math. 56, n0. 4, 405-416, 2011
Mathematical reviews + database fee. 2014.Review of "Critical configurations of planar robot arms" by Khimshiashvili Giorgi, Panina Gaiane, Siersma Dirk and Zhukova Alena, in Cent. Eur. J. Math. 11, no. 3, 519-529, 2013
Mathematical reviews + database fee. 2014.A Quotient Method for Designing Nonlinear Controllers
European Journal of Control. 2013. DOI : 10.1016/j.ejcon.2012.10.001.Finite Dimensional Methods for Differential Flatness
Lausanne, EPFL, 2013. DOI : 10.5075/epfl-thesis-5749.Review of "The shape of some linear transformations", by Hou, Bo and Gao, Suogang, Linear Algebra Appl., 433, 2010, n0 11-12, 2088-2095
Mathematical reviews + database fee. 2012.Review of "Flexible Multibody Dynamics", by Bauchau, O. A., Springer, 2011.
Mathematical reviews + database fee. 2012.Application of Legendrian Foliations in Differential Flatness Problems
2012. IEEE CDC 2012, Hawaii. p. 3570 - 3575. DOI : 10.1109/CDC.2012.6426237.Quotient-method Algorithms for Input-affine Single-input Nonlinear Systems
Lausanne, EPFL, 2012. DOI : 10.5075/epfl-thesis-5467.Review of "A characterization of one-element p-bases of rings of constants", by Jedrzejewicz, P., Bull. Pol. Acad. Sci. Math. 59 (2011), no. 1, 19–26.1732-8985
Mathematical reviews + database fee. 2012.Numerical algorithm for feedback linearizable systems
2012. 10th Int. Conference of Numerical Analysis and Applied Mathematics, Kos, Greece, September 2012. p. 1458 - 1461. DOI : 10.1063/1.4756436.Quotient method for stabilising a ball-on-a-wheel system – Experimental results
2012. IEEE CDC 2012, Hawaii, December 2012. p. 1271 - 1278. DOI : 10.1109/CDC.2012.6426434.Bilinear Control Systems with Forced Integrable Filtration
2012. Int. Conf. on Numerical Analysis and Applied Mathematics (ICNAAM), Kos, Greece, September 19-25, 2012. p. 1450 - 1453. DOI : 10.1063/1.4756434.Review of "Some nonlinear boundary value problems describing conflict control with continuous feedback and nonconvex target set", by S.A. Brykalov and Y.A. Latushkin, Nonlinear Analysis, 71, 2009, no 12, pp. 1116-1123
Mathematical reviews + database fee. 2012.Review of "A multiple time-scale solution for non-linear vibration of mass grounded system", by A. Shooshtari and A.A. Pasha Zanoosi, Appl. Math. Model., 34, 2010, no. 7, 1918-1929.
Mathematical reviews + database fee. 2012.Avoiding Feedback-Linearization Singularity Using a Quotient Method -- The Field-Controlled DC Motor Case
2012. American Control Conference, Montreal, Canada, June 27-29, 2012. p. 1155 - 1161. DOI : 10.1109/ACC.2012.6315095.Minimal State Representation for Open Fluid-Fluid Reaction Systems
2012. 2012 American Control Conference (ACC), Montreal, Canada, June 27 - 29, 2012. p. 3496 - 3502. DOI : 10.1109/ACC.2012.6315195.Asymptotic Rejection of Nonvanishing Disturbances Despite Plant-Model Mismatch
Int. Journal of Adaptive Control and Signal Processing. 2012. DOI : 10.1002/acs.2292.Review of "Condition number related to the outer inverse of a complex matrix", by D. Mosic and D. Djordjevic, Appl. Math. Comput. 215, 2009, no.8, pp 2826-2834
Mathematical reviews + database fee. 2011.A quotient method for designing nonlinear controllers
2011. 50th IEEE Conference of Decision and Control (CDC)/European Control Conference (ECC), Orlando, FL, Dec 12-15, 2011. p. 7980 - 7987. DOI : 10.1109/CDC.2011.6160803.Review of "The complex solution to a quaternion matrix equation with applications", Ding, Yu-Han; Wang, Qing-Wen, Math. Sci. Res. J. 12, no. 9, pp. 215-224, 2008
Mathematical reviews + database fee. 2011.Stabilization of the cart-pendulum system through approximate manifold decomposition
2011. IFAC, Milano, Italy 2011, August 28th to September 2nd 2011. p. 10659 - 10666. DOI : 10.3182/20110828-6-IT-1002.01168.Review of "Modeling, performance analysis and control of robot manipulators" Edited by Etienne Dombre and Wisama Khalil
Mathematical reviews + database fee. 2011.Feedback Linearizability and Flatness in Restricted Control Systems
2011. 18th IFAC World Congress, Milano, Italy, August 28, 2011. p. 13362 - 13367. DOI : 10.3182/20110828-6-IT-1002.01987.Review of "On functions whose graph is a Hamel basis. II", Krzysztof Plotka, Canad. Math. Bull. 52, No. 2, pp 295-302, 2009.
Mathematical reviews + database fee. 2011.Review of "On symplectic polar spaces over non-perfect fields of characteristic 2", De Bruyn, B. and Pasini, A., Linear Multilinear Algebra 57, no. 6, pp. 567-575, 2009
Mathematical reviews + database fee. 2010.Advances in the Theory of Control, Signals and Systems with Physical Modeling
New York, Heidelberg, Berlin: Springer Verlag.Review of "Some remarks on Eisenstein's criterion", Woo, Sung Sik, Commun. Korean Math. Soc. 23 (2008), no.4, 499-509
Mathematical reviews + database fee. 2010.Modeling and Flatness of Rigid and Flexible Cable Suspended Underactuated Robots
2010. 2010 IEEE International Conference on Control Applications Part of 2010 IEEE Multi-Conference on Systems and Control, Yokohama, Japan, September 8-10, 2010. p. 1307 - 1312. DOI : 10.1109/CCA.2010.5611216.Modeling and Flatness of Rigid and Flexible Cable Suspended Underactuated Robots
2010. IEEE Multi-Conference on Systems and Control, Yokohama, Japan, September 8-10, 2010. p. 1307 - 1312. DOI : 10.1109/CCA.2010.5611216.Iterative Learning Control Using Stochastic Approximation Theory with Application to a Mechatronic System
Advances in the Theory of Control, Signals and Systems with Physical Modeling; London: Springer, 2010. p. 49 - 64.Review of "Rigid body dynamics in terms of quaternions: Hamiltonian formulation and conserving numerical integration" Betsch, P. and Siebert, R., International J. Numer. Methods, Engrg. 79, no. 4, pp. 444-473, 2009
Mathematical reviews + database fee. 2010.A musculoskeletal shoulder model based on pseudo-inverse and null-space optimization
Medical Engineering and Physics. 2010. DOI : 10.1016/j.medengphy.2010.07.006.Overactuated systems coordination
Lausanne, EPFL, 2009. DOI : 10.5075/epfl-thesis-4299.End-to-end adaptation scheme for ubiquitous remote experimentation
Personal and Ubiquitous Computing. 2009. DOI : 10.1007/s00779-007-0184-x.Velocity-Scheduling Control for a Unicycle Mobile Robot: Theory and Experiments
IEEE Transactions on Robotics and Automation. 2009. DOI : 10.1109/TRO.2009.2014494.Quotient method for controlling the acrobot
2009. CDC 2009, Shanghai, December 2009. p. 1770 - 1775. DOI : 10.1109/CDC.2009.5400729.Dynamics and Control of 2D SpiderCrane: A Lie-Bäcklund Approach
2009. European Control Conference, Budapest, August 2009. p. 808 - 813. DOI : 10.23919/ECC.2009.7074503.Review of "Generalized Differential Galois Theory." P. Landesmann, Trans. Amer. Math. Soc. 360 (2008) no. 8, pp 4441-4495.
Mathematical reviews + database fee. 2009.Review of "The inversion formulae for automorphisms of polynomial algebras and rings of differential operators in prime characteristic", by Bavula, V. V., J. Pure Appl. Algebra, 212, 2008, no. 10, pp 2320-2337
Mathematical reviews + database fee. 2009.Introduction à l'Analyse et la Commande Non Linéaire
Lausanne: PPUR.Dynamical biomechanical model of the shoulder: null space based optimization of the overactuated system
2009. 2008 IEEE International Conference on Robotics and Biomimetics, Bangkok, December 14-17, 2008. p. 67 - 73. DOI : 10.1109/ROBIO.2009.4912981.Review of "Holditch-type theorems under the closed planar homothetic motions"
Mathematical reviews + database fee. 2008.Jet-Scheduling Control for SpiderCrane: Experimental Results
2008. IFAC World Congress, Seoul, July 2008. p. 3148 - 3154. DOI : 10.3182/20080706-5-KR-1001.00535.Review of "The Holditch sickles for the open homothetic motions"
Mathematical reviews + database fee. 2008.Review of "Standard bases for local rings of branches and their module of differentials"
Mathematical reviews + database fee. 2008.On Achieving Periodic Joint-Motion for Redundant Robots
2008. IFAC World Congress, Seoul, 6-11 July, 2008. p. 4355 - 4360. DOI : 10.3182/20080706-5-KR-1001.00734.Dedicated controller design for a dual-stage opto-mechatronic system
2008. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Xian, China, 2-5 July 2008. p. 457 - 464. DOI : 10.1109/AIM.2008.4601704.Review of "On the determination of the basin of attraction for stationary and periodic movements"
Mathematical reviews + database fee. 2008.Control of the Toycopter using a Flat Approximation
IEEE Transactions on Control Systems Technology. 2008. DOI : 10.1109/TCST.2007.916333.Review of "Geometrical derivation of Lagrange's equations for a system of rigid bodies."
Mathematical reviews + database fee. 2008.Stabilization of a 2D-SpiderCrane Mechanism Using Damping Assignment Passivity-based Control
2008. IFAC World Congress, Seoul, July 2008. DOI : 10.3182/20080706-5-KR-1001.00536.Real-time compensation of hysteresis in piezoelectric-stack actuator tracking a stochastic reference
2008. American Control Conference, Seattle, June 2008. p. 2939 - 2944. DOI : 10.1109/ACC.2008.4586942.Review of "Quantum field theory and the Jones polynomial."
Mathematical reviews + database fee. 2008.Jet-scheduling control for flat systems
Lausanne, EPFL, 2008. DOI : 10.5075/epfl-thesis-3996.A Two-Time-Scale Control Scheme for Fast Unconstrained Systems
2007. Int. Workshop on Nonlinear Model Predictive Control, Freudenstadt-Lauterbad, August 26-30, 2005. p. 551 - 563. DOI : 10.1007/978-3-540-72699-9_46.Review of "On Lagrange multipliers in flexible multibody dyanmics" by B. Simeon, Comput. Meth. Appl. Mech. Eng., vol. 195, p. 6993-7005
Mathematical reviews + database fee. 2007.Review of "The dynamics of legged locomotion: models, analysis, and challenges" by Ph. Holmes, R. J. Full, D. Koditschek, and J. Guckenheimer, SIAM Rev. 48 (2006), no. 2, 207-304
Mathematical reviews + database fee. 2007.A Numerical Sufficiency Test for the Asymptotic Stability of Linear Time-Varying Systems
Automatica. 2007. DOI : 10.1016/j.automatica.2006.10.014.Review of "Control of chaos and its relevancy to spacecraft steering" by E. E. N. Macau and C. Grebogi in Phil. Trans. R. Soc. A, vol. 364, p. 2463-2481
Mathematical reviews + database fee. 2007.A Two-Time-Scale Control Scheme for Fast Systems
Assessment and Future Directions of Nonlinear Model Predictive Control; Springer, 2007. p. 551 - 563.Trajectory Tracking through Overactuation for an Optical Delay Line
2007Fast Step-response Evaluation of Linear Continuous-time Systems with Time Delay in the Feedback Loop
2007. IFAC World Congress Seoul, Seoul, june 2008. p. 2631 - 2636. DOI : 10.3182/20080706-5-KR-1001.00443.Review of "Trajectory tracking of leader-follower formations characterized by constant line-of-sight angles"
Mathematical reviews + database fee. 2007.Review of "Rational constants of monomial derivations" by A. Nowicki and J. Zielinski, J. Algebra 302 (2006),no. 1, 387-418
Mathematical reviews + database fee. 2007.Dynamics of torque control continuously variable transmissions
Lausanne, EPFL, 2006. DOI : 10.5075/epfl-thesis-3646.Experimental Results for a Nonholonomic Mobile Robot Controller Enforcing Linear Equivalence Asymptotically
2006. IEEE Conference on Industrial Electronics and Applications, Singapore, May 2006. DOI : 10.1109/ICIEA.2006.257233.Velocity Scheduling Controller for a Nonholonomic Mobile Robot
2006. Chinese Control Conference, Harbin, August 2006. p. 2103 - 2108. DOI : 10.1109/CHICC.2006.280926.Quotient Submanifolds for Static Feedback Linearization
Systems & Control Letters. 2006. DOI : 10.1016/j.sysconle.2005.12.002.Strategy for the Control of a Dual-stage Nano-positioning System with a Single Metrology
2006. 2006 IEEE International Conference on Robotics, Automation & Mechatronics (RAM), Bangkok, Thailand, June 7-9, 2006. DOI : 10.1109/RAMECH.2006.252649.Improving tokamak vertical position control in the presence of power supply voltage saturation
Plasma Physics and Controlled Fusion. 2005. DOI : 10.1088/0741-3335/47/10/008.Introduction à l'analyse et la commande des systèmes non linéaires
--.SpiderCrane: Model and Properties of a Fast Weight-Handling Equipment
2005. 16th IFAC World Congress, Prague, July 4-8, 2005. DOI : 10.3182/20050703-6-CZ-1902.00750.Real-Time Interaction over the Internet: Model for QOS Adaptation
2005. 16th IFAC World Congress, Prague, July 3-8, 2005. p. 85 - 90. DOI : 10.3182/20050703-6-CZ-1902.02287.Interactive 3D Simulation of Flat Systems: The SpiderCrane as a Case Study
2005. CDC/ECC, Seville. p. 6222 - 6227. DOI : 10.1109/CDC.2005.1583158.Analysis of Cascade Structure with Predictive Control and Feedback Linearization
IEE Proceedings on Control Theory and Applications. 2005. DOI : 10.1049/ip-cta:20041309.The PRIMA Astrometric Planet Search project
2004. New Frontiers in Stellar Interferometry, Glasgow, Scotland, United Kingdom, June 21, 2004. p. 424 - 432. DOI : 10.1117/12.551481.PRIMA astrometry operations and software
2004. New Frontiers in Stellar Interferometry, Glasgow, Scotland, United Kingdom, June 21, 2004. p. 1203 - 1211. DOI : 10.1117/12.550865.A Globally Stabilising Controller under Saturated Input for Linear Planar Systems with One Unstable Pole
2004. p. 4681 - 4686. DOI : 10.23919/ACC.2004.1384051.A Quotient Subspace Algorithm for Testing Controllability and Computing Brunovsky's Outputs
2004. p. 2161 - 2164. DOI : 10.1109/CDC.2004.1430368.Improving tokamak vertical position control in the presence of power supply voltage saturation
2003. 30th EPS Conference on Controlled Fusion and Plasma Physics.Improving Tokamak vertical position control in the presence of power supply voltage saturation
2003. EPS Conference on Plasma Physics and Controlled Fusion, St Petersbourg, July 2003.Improving the Region of Attraction of ITER in the Presence of Actuator Saturation
2003. p. 4616 - 4621. DOI : 10.1109/CDC.2003.1272289.Enhancing tokamak control given power supply voltage saturation
2003. IX Int. Conference on Accelerator and Large Experimental Physics Control Systems.Improving the region of attraction of ITER in the presence of actuator saturation
2003Enhancing Tokamak Control given Power Supply Voltage Saturation
2003.Condition for Bifurcation of the Region of Attraction in Linear Planar Systems with Saturated Linear Feedback
2002. p. 3918 - 3923. DOI : 10.1109/CDC.2002.1184977.Analysis of Exclusively-kinetic Two-link Underactuated Mechanical Systems
Automatica. 2002. DOI : 10.1016/S0005-1098(02)00048-1.Predictive Control of Fast Unstable and Nonminimum-phase Nonlinear Systems
2002. p. 4764 - 4769. DOI : 10.1109/ACC.2002.1025412.Precise & Rapid Unsteady Pressure Transducer Signal Processing Using a Transfer Function Modeling Technique
2002. 16th Symposium on Measuring Techniques in Transonic and Supersonic Flow in Cascades and Turbomachines, Cambridge, UK, September 2002.Global Stability without Motion Planning May Be Worse than Local Tracking
2001. p. 1106 - 1110. DOI : 10.23919/ECC.2001.7076063.Control of a Reduced Size Model of US Navy Crane Using Only Motor Position Sensors
Nonlinear control in the year 2000 volume 2; Springer, 2001. p. 1 - 12.Modelling and Motion Planning for a Class of Weight Handling Equipments
2000.Modeling and motion planning for a class of weight handling equipment
Systems Science. 2000.A Simple Output Feedback PD Controller for Nonlinear Cranes
2000. p. 5097 - 5101. DOI : 10.1109/CDC.2001.914758.Analysis and control of underactuated mechanical nonminimum-phase systems
Lausanne, EPFL, 1999. DOI : 10.5075/epfl-thesis-2024.Cascade Control of the Toycopter
1999. p. 3226 - 3231. DOI : 10.23919/ECC.1999.7099824.Modelling, Flatness and Simulation of a Class of Cranes
Periodica Polytechnica, Electrical Engineering. 1999.On the Nonminimum-phase Characteristics of Two-link Underactuated Mechanical Systems
1998. p. 4579 - 4583. DOI : 10.1109/CDC.1998.762049.A Two-Time-Scale Controller for Decoupling a Differentially Cross-Coupled System
1997. p. 3839 - 3841. DOI : 10.1109/ACC.1997.609574.A Toy More Difficult to Control Than the Real Thing
1997. p. 1652 - 1657. DOI : 10.23919/ECC.1997.7082340.A Discrete-time Decoupling Scheme for a Differentially Cross-coupled System
1996. p. 301 - 306.Teaching & PhD
Courses
Elements of statistics for data science
Estimation theory: maximum likelihood estimation, Fisher information.
Cramer-Rao inequality. Confidence intervals.
Hypotheses testing: Neyman-Pearson framework. Maximum likelihood test. Parametric and non parametric tests.
Bayesian inference.
Linear Models.
Linear system theory
The course covers control theory and design for linear time-invariant systems : (i) Mathematical descriptions of systems (ii) Multivariables realizations; (iii) Stability ; (iv) Controllability and Observability; (v) Minimal realizations and coprime fractions; (vi) Pole placement and model matching.
Introduction to control of dynamical systems
Introductory course on control of dynamical systems. Four key systems serve as the backbone to a unified abstract formalism. This formalism is then used to solve fundamental control problems such as tracking and disturbance rejection, with particular emphasis on guaranteeing closed-loop stability
Microinformatique (pour GM)
Understand Microcontrollers and learn to use them, especially for mechanical systems.
Discrete-time control of dynamical systems
An introduction to linear discrete-time control systems is provided which consists in applying a control at equally spaced time intervals. The consequence of the associated sampling process on the stability and performance of the closed-loop system is analysed in detail.
General physics : mechanics
Give the student the basic notions that will allow him or her to have a better understanding of physical phenomena, such as the mechanic of point masses. Acquire the capacity to analyse quantitatively the consequences of these effects with appropriate theoretical tools.