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   <dim:field mdschema="dc" element="contributor" qualifier="advisor" lang="en_US">John R. Williams.</dim:field>
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   <dim:field mdschema="dc" element="description" lang="en_US">Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Civil and Environmental Engineering, 1998.</dim:field>
   <dim:field mdschema="dc" element="description" lang="en_US">Includes bibliographical references (leaves 82-84).</dim:field>
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   <dim:field mdschema="dc" element="title" lang="en_US">Kinematic modeling with constraints</dim:field>
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