%{search_type} search results

• Introduction
• Basic Concepts
• TP Model Transformation
• TPI Model Transformation for the class of non qLPV models
• TP? model transformation for systems including time delay
• TP model transformation is a gateway between identification and design
• General Stability Verification
• Relaxed control design via TP model transformation based framework
• qLPV model of the 3DoF prototypical aeroelastic wing section
• TP model based control design
• Convex hull manipulation based optimization
• Relaxed TP model based design framework
• Impedance model with feedback delay in TP model form
• TP? transformation based Control Design for Impedance Controlled Robot Gripper.

• Introduction
• Basic Concepts
• TP Model Transformation
• TPI Model Transformation for the class of non qLPV models
• TPτ model transformation for systems including time delay
• TP model transformation is a gateway between identification and design
• General Stability Verification
• Relaxed control design via TP model transformation based framework
• qLPV model of the 3DoF prototypical aeroelastic wing section
• TP model based control design
• Convex hull manipulation based optimization
• Relaxed TP model based design framework
• Impedance model with feedback delay in TP model form
• TPτ transformation based Control Design for Impedance Controlled Robot Gripper.

This book covers new aspects and frameworks of control, design, and optimization based on the TP model transformation and its various extensions. The author outlines the three main steps of polytopic and LMI based control design: 1) development of the qLPV state-space model, 2) generation of the polytopic model; and 3) application of LMI to derive controller and observer. He goes on to describe why literature has extensively studied LMI design, but has not focused much on the second step, in part because the generation and manipulation of the polytopic form was not tractable in many cases. The author then shows how the TP model transformation facilitates this second step and hence reveals new directions, leading to powerful design procedures and the formulation of new questions. The chapters of this book, and the complex dynamical control tasks which they cover, are organized so as to present and analyze the beneficial aspect of the family of approaches (control, design, and optimization). Additionally, the book aims to convey simple TP modeling; a new convex hull manipulation based possibilities for optimization; a general framework for stability analysis; standardized modeling and system description; relaxed and universal LMI based design framework; and a gateway to time-delayed systems.

• Visibility-Based Optimal Path and Motion Planning.- Mathematical Preliminaries.- Static Optimal Visibility Problems.- Visibility-based Optimal Path Planning.- Visibility-based Optimal Motion Planning.- Multiple Observer Cooperative & Non-Cooperative Optimal Motion Planning.
• (source: Nielsen Book Data)

This monograph deals with various visibility-based path and motion planning problems motivated by real-world applications such as exploration and mapping planetary surfaces, environmental surveillance using stationary or mobile robots, and imaging of global air/pollutant circulation. The formulation and solution of these problems call for concepts and methods from many areas of applied mathematics including computational geometry, set-covering, non-smooth optimization, combinatorial optimization and optimal control. Emphasis is placed on the formulation of new problems and methods of approach to these problems. Since geometry and visualization play important roles in the understanding of these problems, intuitive interpretations of the basic concepts are presented before detailed mathematical development. The development of a particular topic begins with simple cases illustrated by specific examples, and then progresses forward to more complex cases. The intended readers of this monograph are primarily students and researchers in engineering, computer science and applied mathematics. An understanding of the mathematical development of the main results requires only basic knowledge of mathematical analysis, control, and optimization theories. Some exercises with various degrees of difficulty are provided at the end of the main chapters. The material presented here may serve as a portion of an introductory course or seminar on visibility-based optimal path and motion planning problems with the objective of stimulating interest and further studies in this relatively new area.
(source: Nielsen Book Data)

• Preview of Predictor Feedback and Delay Compensation.- Part I: Linear Systems Under Predictor Feedback.- Linear Systems with State Measurement.- Linear Systems with Output Measurement.- Part II: Nonlinear Systems Under Predictor Feedback.- Nonlinear Systems with State Measurement.- Nonlinear Systems with Output Measurement.- Application to the Chemostat.- Part III: Extensions of Predictor Feedback.- Systems Described by Integral Delay Equations.- Discrete-Time Systems.
• (source: Nielsen Book Data)

This monograph bridges the gap between the nonlinear predictor as a concept and as a practical tool, presenting a complete theory of the application of predictor feedback to time-invariant, uncertain systems with constant input delays and/or measurement delays. It supplies several methods for generating the necessary real-time solutions to the systems' nonlinear differential equations, which the authors refer to as approximate predictors. Predictor feedback for linear time-invariant (LTI) systems is presented in Part I to provide a solid foundation on the necessary concepts, as LTI systems pose fewer technical difficulties than nonlinear systems. Part II extends all of the concepts to nonlinear time-invariant systems. Finally, Part III explores extensions of predictor feedback to systems described by integral delay equations and to discrete-time systems. The book's core is the design of control and observer algorithms with which global stabilization, guaranteed in the previous literature with idealized (but non-implementable) predictors, is preserved with approximate predictors developed in the book. An applications-driven engineer will find a large number of explicit formulae, which are given throughout the book to assist in the application of the theory to a variety of control problems. A mathematician will find sophisticated new proof techniques, which are developed for the purpose of providing global stability guarantees for the nonlinear infinite-dimensional delay system under feedback laws employing practically implementable approximate predictors. Researchers working on global stabilization problems for time-delay systems will find this monograph to be a helpful summary of the state of the art, while graduate students in the broad field of systems and control will advance their skills in nonlinear control design and the analysis of nonlinear delay systems.
(source: Nielsen Book Data)

• Intro; Table of Contents; List of Symbols; List of Illustrations; List of Tables; Preface; Acronyms and Abbreviations; Chapter One; 1.1 Introduction; 1.2 CubeSat systems; 1.3 Orbital Dynamics; 1.4 Earth's Magnetic Field; 1.5 Launching Facility; 1.6 Poly Picosatellite Orbital Deployer; 1.7 CubeSat Form Factor; 1.8 Attitude Determination and Control System (ADCS); References; Chapter Two; 2.1 Introduction; 2.2 Attitude Stabilization of Sp; 2.3 Passive Attitude Stabilization; 2.4 Active Attitude Stabilization; 2.5 Mode of Attitude Stabilization of a Spacecraft; References; Chapter Three

• 3.1 Introduction3.2 Reference Frames; 3.3 Dynamic Model; 3.4 Linearized Dynamic Model; 3.5 Disturbance Torques; 3.6 Complete Linearized Mathematical; 3.7 Test for Satellite's Motions; 3.8 State Space Modeling; References; Chapter Four; 4.1 Introduction; 4.2 Control Techniques; 4.3 The Proportional, Integral and Derivative; 4.4 Linear Quadratic Regulator; 4.5 Fuzzy Logic; 4.6 Fuzzy Logic Control; 4.7 Fuzzy Controller Design; 4.8 Fuzzy Logic Attitude Control; 4.9 Three-axis Fuzzy Controller Design; 4.10 Fuzzy Logic Controller Config; References; Chapter Five; 5.1 Introduction

• 5.2 PID Controller5.3 LQR controller; 5.4 Fuzzy Controller; 5.5 Comparison Between the Three Control Techniques; 5.6 Stability Problem Discussion; 5.7 Notes About Fuzzy Logic Controller; References; Appendix A; A.1 Introduction; A.2 Direction Cosine Matrix; Appendix B; B.1 Coil Design; B.2 American Wire Gauge; Appendix C; C.1 Initialization file for the CubeSat model; C.2 PID Controller Simulation Diagram; C.3 FLC Controller Simulation Diagram; Appendix D; D.1 The International Geomagnetic Reference Field; Index

This book explores CubeSat technology, and develops a nonlinear mathematical model of a spacecraft with the assumption that the satellite is a rigid body. It places emphasis on the CubeSat subsystem, orbit dynamics and perturbations, the satellite attitude dynamic and modeling, and components of attitude determination and the control subsystem. The book focuses on the attitude stabilization methods of spacecraft, and presents gravity gradient stabilization, aerodynamic stabilization, and permanent magnets stabilization as passive stabilization methods, and spin stabilization and three axis stab.

• Introduction
• Experimental platform configuration
• Experimental platform usage
• Experimental process
• Propulsion System Design Experiment
• Dynamic Modeling Experiment
• Sensor calibration experiment
• State estimation and filter design experiment
• Attitude controller design experiment
• Semi-autonomous control mode design experiment
• Failsafe logic design experiment
• Correction to: multicopter design and control practice.

As the sister book to "Introduction to Multicopter Design and Control, " published by Springer in 2017, this book focuses on using a practical process to help readers to deepen their understanding of multicopter design and control. Novel tools with tutorials on multicopters are presented, which can help readers move from theory to practice. Experiments presented in this book employ: (1) The most widely-used flight platform - multicopters - as a flight platform; (2) The most widely-used flight pilot hardware - Pixhawk - as a control platform; and (3) One of the most widely-used programming languages in the field of control engi-neering - MATLAB + Simulink - as a programming language. Based on the current advanced development concept Model-Based Design (MBD)process, the three aspects mentioned above are closely linked. Each experiment is implemented in MATLAB and Simulink, and the numerical simula-tion test is carried out on a built simulation platform. Readers can upload the controller to the Pixhawk autopilot using automatic code generation technology and form a closed loop with a given real-time simulator for Hardware-In-the-Loop (HIL) testing. After that, the actual flight with the Pixhawk autopilot can be performed. This is by far the most complete and clear guide to modern drone fundamentals I've seen.It covers every element of these advanced aerial robots and walks through examples and tutorials based on the industry's leading open-source software and tools. Read this book, and you'll be well prepared to work at the leading edge of this exciting new industry. Chris Anderson, CEO 3DR and Chairman, the Linux Foundation's Dronecode Project The development of a multicopter and its applications is very challenging in the robotics area due to the multidomain knowledge involved. This book systematically addresses the design, simulation and implementation of multicopters with the industrial leading workflow - Model-Based Design, commonly used in the automotive and aero-defense industries. With this book, researchers and engineers can seamlessly apply the concepts, workflows, and tools in other engineering areas, especially robot design and robotics ap-plication development. Dr. Yanliang Zhang, Founder of Weston Robot, EX-product Manager of Robotics System Toolbox at the MathWorks.
(source: Nielsen Book Data)

• Preface
• List of Contributors
• Integrability and Non-Integrability of N-Body Problems
• Relative Equilibria in the Full N-Body Problem with Applications to the Equal Mass Problem
• Station Keeping Strategies for a Solar Sail in the Solar System
• Minimum Fuel Trip from a L2 Earth-Moon Halo Orbit to Asteroid 2006 RH120
• Low-Thrust Transfers Between Libration Point Orbits Without Explicit Use of Manifolds
• Time-Minimum Control of the Elliptic Restricted Three-Body Problem Applied to Space Transfer
• On Local Optima in Minimum Time Control of the Restricted Three-Body Problem.

This book presents recent advances in space and celestial mechanics, with a focus on the N-body problem and astrodynamics, and explores the development and application of computational techniques in both areas. It highlights the design of space transfers with various modes of propulsion, like solar sailing and low-thrust transfers between libration point orbits, as well as a broad range of targets and applications, like rendezvous with near Earth objects. Additionally, it includes contributions on the non-integrability properties of the collinear three- and four-body problem, and on general conditions for the existence of stable, minimum energy configurations in the full N-body problem. A valuable resource for physicists and mathematicians with research interests in celestial mechanics, astrodynamics and optimal control as applied to space transfers, as well as for professionals and companies in the industry.

• Chapter 1: Introduction.-
• Chapter 2: Fuzzy sets.-
• Chapter 3: Fuzzy fractional operators.-
• Chapter 4: Fuzzy fractional differential equations.-
• Chapter 5: Numerical solution of fuzzy fractional differential equations.-
• Chapter 6: Applications of fuzzy fractional differential equations.
• (source: Nielsen Book Data)

This book contains new and useful materials concerning fuzzy fractional differential and integral operators and their relationship. As the title of the book suggests, the fuzzy subject matter is one of the most important tools discussed. Therefore, it begins by providing a brief but important and new description of fuzzy sets and the computational calculus they require. Fuzzy fractals and fractional operators have a broad range of applications in the engineering, medical and economic sciences. Although these operators have been addressed briefly in previous papers, this book represents the first comprehensive collection of all relevant explanations. Most of the real problems in the biological and engineering sciences involve dynamic models, which are defined by fuzzy fractional operators in the form of fuzzy fractional initial value problems. Another important goal of this book is to solve these systems and analyze their solutions both theoretically and numerically. Given the content covered, the book will benefit all researchers and students in the mathematical and computer sciences, but also the engineering sciences.
(source: Nielsen Book Data)

• Introduction
• Stabilizing Controllers, Tracking, and Disturbance Rejection
• H2 design of multivariable control systems
• H2 design of multivariable control systems with decoupling
• Numerical calculation of Weiner-Hopf controllers.

This book contains a derivation of the subset of stabilizing controllers for analog and digital linear time-invariant multivariable feedback control systems that insure stable system errors and stable controller outputs for persistent deterministic reference inputs that are trackable and for persistent deterministic disturbance inputs that are rejectable. For this subset of stabilizing controllers, the Wiener-Hopf methodology is then employed to obtain the optimal controller for which a quadratic performance measure is minimized. This is done for the completely general standard configuration and methods that enable the trading off of optimality for an improved stability margin and/or reduced sensitivity to plant model uncertainty are described. New and novel results on the optimal design of decoupled (non-interacting) systems are also presented. The results are applied in two examples: the one- and three-degree-of-freedom configurations. These demonstrate that the standard configuration is one encompassing all possible feedback configurations. Each chapter is completed by a group of worked examples, which reveal additional insights and extensions of the theory presented in the chapter. Three of the examples illustrate the application of the theory to two physical cases: the depth and pitch control of a submarine and the control of a Rosenbrock process. In the latter case, designs with and without decoupling are compared. This book provides researchers and graduate students working in feedback control with a valuable reference for Wiener-Hopf theory of multivariable design. Basic knowledge of linear systems and matrix theory is required.
(source: Nielsen Book Data)

• I ntroduction.- Robot State Estimation.- Visual Servo.- Task Control.- Closing remarks.
• (source: Nielsen Book Data)

This monograph covers theoretical and practical aspects of the problem of autonomous guiding of unmanned aerial manipulators using visual information. For the estimation of the vehicle state (position, orientation, velocity, and acceleration), the authors propose a method that relies exclusively on the use of low-cost and highrate sensors together with low-complexity algorithms. This is particularly interesting for applications in which on board computation with low computation power is needed. Another relevant topic covered in this monograph is visual servoing. The authors present an uncalibrated visual servo scheme, capable of estimating at run time, the camera focal length from the observation of a tracked target. The monograph also covers several control techniques, which achieve a number of tasks, such as robot and arm positioning, improve stability and enhance robot arm motions. All methods discussed in this monograph are demonstrated in simulation and through real robot experimentation. The text is appropriate for readers interested in state estimation and control of aerial manipulators, and is a reference book for people who work in mobile robotics research in general.
(source: Nielsen Book Data)

• Toward a Restriction-Centered Theory of Truth and Meaning (RCT)
• Solution of The Knowledge Level Control Problem: The Principles of Fuzzy Logic Rules and Linguistic Variables
• Learning Systems with FUZZY
• Fuzzy Modifiers at the Core of Interpretable Fuzzy Systems.- Human and Machine Intelligence? between Fuzzy Logic and Daoist Thought
• Developing Fuzzy State Models as Markov Chain Models with Fuzzy Encoding.- Incremental Granular Fuzzy Modeling using Imprecise Data Streams
• Fuzzy Measures and Integrals: Recent Developments
• Important New Terms and Classifications in Uncertainty And Fuzzy Logic
• Formalization and Visualization of Kansei Information Based on Fuzzy Set Approach
• Cognitive Informatics: A Proper Framework for the Use of Fuzzy Dynamic Programming for the Modeling of Regional Development?
• On Discord Between Expected and Actual Developments in Applications of Fuzzy Logic During its First Fifty Years
• Meta-Heuristic Optimization of a Fuzzy Character Recognizer
• Additive Fuzzy Systems as Generalized Probability Mixture Models
• Fuzzy Information Retrieval Systems: A Historical Perspective
• Fuzzy Information Retrieval Systems: A Historical Perspective Zadeh's Vision
• Handling Noise and Outliers in Fuzzy Clustering.- A Fuzzy-Based Approach to Survival Data Mining
• Knowledge Extraction from Support Vector Machines: A Fuzzy Logic Approach
• On Type-Reduction versus Direct Defuzzification for Type-2 Fuzzy Logic Systems
• On Fuzzy Theory for Econometrics.-m On Z-numbers and the Machine-mind for Natural Language Comprehension
• Evolutionary Reduction of Fuzzy Rule-Based Models
• Geospatial Uncertainty Representation: Fuzzy and Rough Set Approaches
• How to Efficiently Diagnose and Repair Fuzzy Database Queries that Fail
• Reformat, the Web, Similarity and Fuzziness
• The Genesis of Fuzzy Sets and Systems? Aspects in Science and Philosophy
• Fuzzy Logic in Speech Technology? Introductory and Overviewing Glimpses
• Towards the Scientific Domestication of Imprecision
• Type 1 and Full Type 2 Fuzzy System Models.- Complex Fuzzy Sets and Complex Fuzzy Logic an Overview of Theory and Applications.

This book presents a comprehensive report on the evolution of Fuzzy Logic since its formulation in Lotfi Zadehs seminal paper on fuzzy sets, published in 1965. In addition, it features a stimulating sampling from the broad field of research and development inspired by Zadehs paper. The chapters, written by pioneers and prominent scholars in the field, show how fuzzy sets have been successfully applied to artificial intelligence, control theory, inference, and reasoning. The book also reports on theoretical issues; features recent applications of Fuzzy Logic in the fields of neural networks, clustering, data mining, and software testing; and highlights an important paradigm shift caused by Fuzzy Logic in the area of uncertainty management. Conceived by the editors as an academic celebration of the fifty years anniversary of the 1965 paper, this work is a must-have for students and researchers willing to get an inspiring picture of the potentialities, limitations, achievements and accomplishments of Fuzzy Logic-based systems.

• Overview and Context for Spacecraft Momentum Control.- Agile Spacecraft Dynamics and Control.- Requirements Development for Momentum-Control Systems.- Dynamics of Momentum-Control Devices.- Inner-Loop Control of Momentum-Control Devices.- CMG Arrays.- CMG Singularities.- Steering Algorithms.- Motors in Space.- Bearings and Lubrication in Space.- Integration and Test.- Commercial and Academic Flight Heritage of CMG.- Current State of the Art.
• (source: Nielsen Book Data)

The goal of this book is to serve both as a practical technical reference and a resource for gaining a fuller understanding of the state of the art of spacecraft momentum control systems, specifically looking at control moment gyroscopes (CMGs). As a result, the subject matter includes theory, technology, and systems engineering. The authors combine material on system-level architecture of spacecraft that feature momentum-control systems with material about the momentum-control hardware and software. This also encompasses material on the theoretical and algorithmic approaches to the control of space vehicles with CMGs. In essence, CMGs are the attitude-control actuators that make contemporary highly agile spacecraft possible. The rise of commercial Earth imaging, the advances in privately built spacecraft (including small satellites), and the growing popularity of the subject matter in academic circles over the past decade argues that now is the time for an in-depth treatment of the topic. CMGs are augmented by reaction wheels and related algorithms for steering all such actuators, which together comprise the field of spacecraft momentum control systems. The material is presented at a level suitable for practicing engineers and those with an undergraduate degree in mechanical, electrical, and/or aerospace engineering.
(source: Nielsen Book Data)

• Methods and means for the control of the fuel combustion process.- Research of the process of fuel combustion in boilers.- Hardware and software implementation of modules of the system of the fuel combustion control process.- Experimental research of a computer system for the control of the fuel combustion process.
• (source: Nielsen Book Data)

This book examines key issues in improving the efficiency of small and medium power boiler units by adding control systems for the fuel combustion process. The original models, algorithms, software and hardware of the system developed for controlling the fuel combustion process are presented. In turn, the book presents a methodology for assessing the influence of climatic factors on the combustion process, and proposes new methods for measuring the thermophysical characteristics, which require taking into account the concentration of oxygen in the air. The system developed here was implemented on a boiler of the NIISTU-5 type, which is widely used for heat power engineering in Ukraine and other Eastern European countries. Given its scope, the book offers a valuable asset for researchers and engineers, as well as lecturers and graduate students at higher education institutions dealing with heat engineering equipment. .
(source: Nielsen Book Data)

• Development of an Industry 4.0 demonstrator using Sequence Planner and ROS2.- ROS2 for ROS1 users.- Multi-Robot SLAM framework for ROS with Efficient Information Sharing.- Agile experimentation of robot swarms in large scale.- Lessons learned building a self-driving car on top of ROS.- Landing a UAV on a moving platform using a front facing camera.- Integrating the Functional Mock-up Interface with ROS and Gazebo.- An ARVA sensor simulator.- ROS Implementation for Untethered Microrobot Manipulation.- ClegS: A package to develop C-legged robots.- Video frames selection method for 3D Reconstruction depending on ROS-based monocular SLAM.- ROS Rescue: Fault Tolerance System for ROS.
• (source: Nielsen Book Data)

This book is the fifth volume in the successful book series Robot Operating System: The Complete Reference. The objective of the book is to provide the reader with comprehensive coverage on the Robot Operating System (ROS), which is currently considered to be the primary development framework for robotics applications, and the latest trends and contributing systems. The content is divided into six parts. Pat I presents for the first time the emerging ROS 2.0 framework, while Part II focuses on multi-robot systems, namely on SLAM and Swarm coordination. Part III provides two chapters on autonomous systems, namely self-driving cars and unmanned aerial systems. In turn, Part IV addresses the contributions of simulation frameworks for ROS. In Part V, two chapters explore robotic manipulators and legged robots. Finally, Part VI presents emerging topics in monocular SLAM and a chapter on fault tolerance systems for ROS. Given its scope, the book will offer a valuable companion for ROS users and developers, helping them deepen their knowledge of ROS capabilities and features. .
(source: Nielsen Book Data)

• Review of Recent Advances on Reactionless Mechanisms and Parallel Robots.- Design of Reactionless Mechanisms without Counter-Rotations.- Design of Reactionless Linkages and Robots Equipped with Balancing Assur Groups.
• Design of Reactionless Planar Parallel Manipulators with Inertia Flywheel or With Base-Mounted Counter-Rotations.- Design of Reactionless Mechanisms with Counter-Rotary Counter-Masses.- Shaking Force and Shaking Moment Balancing of Six- and Eight-Bar Planar Mechanisms.- Synthesizing of Parallel Robots using Adjusting Kinematic Parameters Method.-Balancing of a 3 DOFs Parallel Manipulator.- Dynamic Balancing with Respect to a Given Trajectory.-Dynamic Balancing and Flexible Task Execution for Dynamic Bipedal Walking Machines.- Design of Reactionless Mechanisms Based on Constrained Optimization Procedure.- Optimization of Dynamically Balanced 4-Bar Linkages.- Balancing of Planar Mechanisms Having Imperfect Joints Using Neural Network-Genetic Algorithm (NN-GA) Approach.- Minimization of Shaking Force and Moment on a Four-Bar Mechanism Using Genetic Algorithm.- Optimal Balancing of the Robotic Manipulators.- Dynamics and Control of Planar, Translation and Spherical Parallel Manipulators.- Dynamic Modelling and Control of Balanced Parallel Mechanisms.-Controlled Biped Balanced Locomotion and Climbing.- D ynamic Balancing of Mobile Robots in Simulation and Real Environments.- Balancing Conditions of Planar and Spatial Mechanisms in the Algebraic Form.- Static Balancing of Articulated Wheeled Vehicles by Parallelogram- and Spring-based Compensation.
• (source: Nielsen Book Data)

This book covers the state-of-the-art technologies in dynamic balancing of mechanisms with minimum increase of mass and inertia. The synthesis of parallel robots based on the Decomposition and Integration concept is also covered in detail. The latest advances are described, including different balancing principles, design of reactionless mechanisms with minimum increase of mass and inertia, and synthesizing parallel robots. This is an ideal book for mechanical engineering students and researchers who are interested in the dynamic balancing of mechanisms and synthesizing of parallel robots. This book also: * Broadens reader understanding of the synthesis of parallel robots based on the Decomposition and Integration concept * Reinforces basic principles with detailed coverage of different balancing principles, including input torque balancing mechanisms * Reviews exhaustively the key recent research into the design of reactionless mechanisms with minimum increase of mass and inertia, such as the design of reactionless mechanisms with auxiliary parallelograms, the design of reactionless mechanisms with flywheels, and the design of reactionless mechanisms by symmetrical structure design.
(source: Nielsen Book Data)

• Non-Sinusoidal Orthogonal Functions in Systems and Control
• Hybrid Function (HF) and Its Properties
• Function Approximation via Hybrid Functions
• Integration and Differentiation Using HF Domain Operational Matrices
• One-Shot Operational Matrices for Integration
• Solution of Linear Differential Equations
• Convolution of Time Functions
• Time Invariant System Analysis: State Space Approach
• Time Varying System Analysis: State Space Approach
• Multi-Delay System Analysis: State Space Approach
• Time Invariant System Analysis: Method of Convolution
• System Identification using State Space Approach: Time Invariant Systems
• System Identification using State Space Approach:Time Varying Systems
• Time Invariant System Identification: via 'Deconvolution'
• System Identification: Parameter Estimation of Transfer Function.

This book introduces a new set of orthogonal hybrid functions (HF) which approximates time functions in a piecewise linear manner which is very suitable for practical applications. The book presents an analysis of different systems namely, time-invariant system, time-varying system, multi-delay systems--both homogeneous and non-homogeneous type- and the solutions are obtained in the form of discrete samples. The book also investigates system identification problems for many of the above systems. The book is spread over 15 chapters and contains 180 black and white figures, 18 colour figures, 85 tables and 56 illustrative examples. MATLAB codes for many such examples are included at the end of the book.

• From the Contents: Part I Learning Control in Unknown Environments
• Robot Learning for Persistent Autonomy
• The Explore-Exploit Dilemma in Nonstationary Decision Making under Uncertainty.- Part II Dealing with Sensing Uncertainty
• Observer Design for Robot Manipulators via Takagi-Sugeno Models and Linear Matrix Inequalities.- Part III Control of Networked and Interconnected Robots
• Vision-based quadcopter navigation in structured environments.

This book focuses on two challenges posed in robot control by the increasing adoption of robots in the everyday human environment: uncertainty and networked communication. Part I of the book describes learning control to address environmental uncertainty. Part II discusses state estimation, active sensing, and complex scenario perception to tackle sensing uncertainty. Part III completes the book with control of networked robots and multi-robot teams. Each chapter features in-depth technical coverage and case studies highlighting the applicability of the techniques, with real robots or in simulation. Platforms include mobile ground, aerial, and underwater robots, as well as humanoid robots and robot arms. Source code and experimental data are available at http://extras.springer.com. The text gathers contributions from academic and industry experts, and offers a valuable resource for researchers or graduate students in robot control and perception. It also benefits researchers in related areas, such as computer vision, nonlinear and learning control, and multi-agent systems.

• Part A
• Robotics Foundations
• Part B
• Design
• Part C
• Sensing and Perception
• Part D
• Manipulation and Interfaces
• Part E
• Moving in the Environment
• Part F
• Robots at Work
• Part G
• Robots and Humans
• Acknowledgements
• About the Authors
• Subject Index.

The second edition of this handbook provides a state-of-the-art cover view on the various aspects in the rapidly developing field of robotics. Reaching for the human frontier, robotics is vigorously engaged in the growing challenges of new emerging domains. Interacting, exploring, and working with humans, the new generation of robots will increasingly touch people and their lives. The credible prospect of practical robots among humans is the result of the scientific endeavour of a half a century of robotic developments that established robotics as a modern scientific discipline. The ongoing vibrant expansion and strong growth of the field during the last decade has fueled this second edition of the Springer Handbook of Robotics. The first edition of the handbook soon became a landmark in robotics publishing and won the American Association of Publishers PROSE Award for Excellence in Physical Sciences & Mathematics as well as the organization's Award for Engineering & Technology. The second edition of the handbook, edited by two internationally renowned scientists with the support of an outstanding team of seven part editors and more than 200 authors, continues to be an authoritative reference for robotics researchers, newcomers to the field, and scholars from related disciplines. The contents have been restructured to achieve four main objectives: the enlargement of foundational topics for robotics, the enlightenment of design of various types of robotic systems, the extension of the treatment on robots moving in the environment, and the enrichment of advanced robotics applications. Further to an extensive update, fifteen new chapters have been introduced on emerging topics, and a new generation of authors have joined the handbook's team. A novel addition to the second edition is a comprehensive collection of multimedia references to more than 700 videos, which bring valuable insight into the contents. The videos can be viewed directly augmented into the text with a smartphone or tablet using a unique and specially designed app.

• Toward a Restriction-Centered Theory of Truth and Meaning
• A Note on Logical Connectives with Weak Duality
• Residual Implications from Discrete Uninorms. A Characterization
• A Classiffication Theorem for Continuous Quasi-Uninorms
• Globally Monotone Extended Aggregation Functions
• A Survey of Contributions To Fuzzy Logic and its Applications to Artificial Intelligence at the IIIA
• Gradual Structures of Oppositions
• Generation of Interval-Valued Fuzzy Negations from Trillas' Theorem. The Case of Interval Type-2 Fuzzy Sets
• On Conjectures in T-Norm Based Fuzzy Logics
• Many-Valued Preorders I: The Basis of Many-Valued Mathematics
• Many-Valued Preorders II: The Symmetry Axiom and Probabilistic Geometry
• A Metasemantic Interpretation of Mamdani Systems
• Experimental Modeling for a Natural Landing of Fuzzy Sets in New Domains
• On Linguistic Variables and Sparse Representations
• Activating Generalized Fuzzy Implications from Galois Connections
• Randomness and Fuzziness: Combined Better than Unified
• Interpretability, a Silver Lining to a Fuzzy Cloud
• Prototype based Fuzzy Clustering Algorithms in High-Dimensional Feature Spaces
• Computing with Words for Decision Making versus Linguistic Decision Making: A Reflection on Both Scenarios
• Classification Validity Index
• On Fuzzy Modus Ponens to Assess Fuzzy Association Rules.-Applying Random Linear Oracles with Fuzzy Classifier Ensembles on WiFi Indoor Localization Problem
• Fuzzy Waves. Interference and Holography
• Fuzziness in CAR: Fuzzy Procedures for Robots and Cars
• Fuzzy Deformable Prototypes and Forest Fires Prediction and Prevention
• Hardware Implementation of Fuzzy Logic in Early Days of "Fuzzy" Era. Applying Random Linear Oracles with Fuzzy Classifier Ensembles on WiFi Indoor Localization Problem
• Fuzzy Waves. Interference and Holography
• Fuzziness in CAR: Fuzzy Procedures for Robots and Cars
• Fuzzy Deformable Prototypes and Forest Fires Prediction and Prevention
• Hardware Implementation of Fuzzy Logic in Early Days of "Fuzzy" Era. Generation of Interval-Valued Fuzzy Negations from Trillas' Theorem. The Case of Interval Type-2 Fuzzy Sets
• On Conjectures in T-Norm Based Fuzzy Logics
• Many-Valued Preorders I: The Basis of Many-Valued Mathematics
• Many-Valued Preorders II: The Symmetry Axiom and Probabilistic Geometry
• A Metasemantic Interpretation of Mamdani Systems
• Experimental Modeling for a Natural Landing of Fuzzy Sets in New Domains
• On Linguistic Variables and Sparse Representations
• Activating Generalized Fuzzy Implications from Galois Connections
• Randomness and Fuzziness: Combined Better than Unified
• Interpretability, a Silver Lining to a Fuzzy Cloud
• Prototype based Fuzzy Clustering Algorithms in High-Dimensional Feature Spaces
• Computing with Words for Decision Making versus Linguistic Decision Making: A Reflection on Both Scenarios
• Classification Validity Index
• On Fuzzy Modus Ponens to Assess Fuzzy Association Rules.-Applying Random Linear Oracles with Fuzzy Classifier Ensembles on WiFi Indoor Localization Problem
• Fuzzy Waves. Interference and Holography
• Fuzziness in CAR: Fuzzy Procedures for Robots and Cars
• Fuzzy Deformable Prototypes and Forest Fires Prediction and Prevention
• Hardware Implementation of Fuzzy Logic in Early Days of "Fuzzy" Era. On Fuzzy Modus Ponens to Assess Fuzzy Association Rules.-Applying Random Linear Oracles with Fuzzy Classifier Ensembles on WiFi Indoor Localization Problem
• Fuzzy Waves. Interference and Holography
• Fuzziness in CAR: Fuzzy Procedures for Robots and Cars
• Fuzzy Deformable Prototypes and Forest Fires Prediction and Prevention
• Hardware Implementation of Fuzzy Logic in Early Days of "Fuzzy" Era.

This book presents a comprehensive collection of the latest and most significant research advances and applications in the field of fuzzy logic. It covers fuzzy structures, rules, operations and mathematical formalisms, as well as important applications of fuzzy logic in a number of fields, like decision-making, environmental prediction and prevention, communication, controls and many others. Dedicated to Enric Trillas in recognition of his pioneering research in the field, the book also includes a foreword by Lotfi A. Zadeh and an outlook on the future of fuzzy logic.

• Preface; Acknowledgments; Notations and Acronyms; Contents; 1 Introduction ; 1.1 State of the Art; 1.1.1 Overview; 1.1.2 Tools for Generation of Self-Oscillations Used in this Book; 1.1.3 Generation Methods Self-Oscillations; 1.2 Generation of Self-Excited Oscillations: A Describing Function Approach; 1.2.1 Analysis of Van der Pol Equation; 1.2.2 The Problem of Self-Oscillations in Systems Containing Double Integrator; 1.2.3 Why Not Tracking?; 1.3 Organization of the Book; 1.3.1 Contents of the Book; 1.3.2 How to Read the Book?; Part I Design of Self-Oscillations Using Two-Relay Controller.

• 2 Describing Function-Based Design of TRC for Generation of Self-Oscillation 2.1 Introduction; 2.2 The Two-Relay Controller; 2.3 Describing Function of the Two-Relay Control; 2.4 Describing Function as Design Method; 2.5 Orbital Asymptotic Stability; 2.6 The Inertia Wheel Pendulum: An Example; 2.6.1 Linearization of IWP dynamics; 2.6.2 Gains Adjustment; 2.6.3 Bounded Input Problem; 2.6.4 Simulation Results; 2.7 Concluding Remarks; 3 Poincaré Map-Based Design ; 3.1 Introduction; 3.2 Poincaré Map-Based Design of the Gains of the TRC for Linearized Model.

• 3.3 General Poincaré Map Approach Generated by TRC3.4 The Inertia Wheel Pendulum-TRC Gains Tuning for Generating SO; 3.5 Comments; 4 Self-Oscillation via Locus of a Perturbed Relay System Design (LPRS) ; 4.1 Introduction; 4.2 LPRS-Based Analysis of a System with TRC; 4.3 Computation of LPRS for the Two-Relay Controller Based on Infinite Series; 4.4 LPRS as Design Method; 4.5 The Inertia Wheel Pendulum: Gain Tuning Based on LPRS Design; 4.6 Linearized Poincaré Map-Based Analysis of Orbital Stability; 4.7 Comments; Part II Robustification of Self-Oscillations Generated by Two-Relay Controller.

• 5 Robustification of the Self-Oscillation via Sliding Modes Tracking Controllers 5.1 Introduction; 5.2 Idea for Robustification; 5.3 Inertia Wheel Pendulum Under Disturbances and Friction; 5.4 Generation of Nominal Trajectories; 5.5 Tracking of the SO Generated by the TRC; 5.5.1 Twisting Tracking Control; 5.5.2 HOSM Tracking Controller; 5.6 Experimental Study; 5.6.1 Experimental Setup; 5.6.2 Experimental Results; 5.7 Comments and Remarks; 6 Output-Based Robust Generation of Self-Oscillations via High-Order Sliding Modes Observer; 6.1 Introduction.

• 6.2 HOSM Observation and Uncertainties Compensation6.2.1 Generation of SO in a Nominal System; 6.2.2 Uncertainties Compensation; 6.3 Application to the Inertia Wheel Pendulum; 6.4 Simulation Results; 6.5 Comments; Part III Applications; 7 Generating Self-Oscillations in Furuta Pendulum ; 7.1 Introduction; 7.2 Description of the Plant and Problem Formulation; 7.3 Linearization; 7.4 Experimental Study; 7.4.1 Experimental Setup; 7.4.2 Experimental Results; 7.5 Conclusion and Remarks; 8 Three Link Serial Structure Underactuated Robot ; 8.1 Introduction.

This monograph presents a simple and efficient two-relay control algorithm for generation of self-excited oscillations of a desired amplitude and frequency in dynamic systems. Developed by the authors, the two-relay controller consists of two relays switched by the feedback received from a linear or nonlinear system, and represents a new approach to the self-generation of periodic motions in underactuated mechanical systems. The first part of the book explains the design procedures for two-relay control using three different methodologies - the describing-function method, Poincaré maps, and the locus-of-a perturbed-relay-system method - and concludes with stability analysis of designed periodic oscillations. Two methods to ensure the robustness of two-relay control algorithms are explored in the second part, one based on the combination of the high-order sliding mode controller and backstepping, and the other on higher-order sliding-modes-based reconstruction of uncertainties and their compensation where Lyapunov-based stability analysis of tracking error is used. Finally, the third part illustrates applications of self-oscillation generation by a two-relay control with a Furuta pendulum, wheel pendulum, 3-DOF underactuated robot, 3-DOF laboratory helicopter, and fixed-phase electronic circuits. Self-Oscillations in Dynamic Systems will appeal to engineers, researchers, and graduate students working on the tracking and self-generation of periodic motion of electromechanical systems, including non-minimum-phase systems. It will also be of interest to mathematicians working on analysis of periodic solutions.

• ContentPrefaceList of figuresList of tablesList of symbols and abbreviations1 Example 1: Reference example1.1 Mathematical foundation for the integration of Markov minimalcuts (MMC)1.2 Precise modeling of the MMC and the system up and downstate1.3 Precise calculation of the Markov models1.4 Approximate modeling of the MMC1.5 Approximate calculation of the MMC models with the pMpapproach1.6 Equivalent DBD based on MC1.7 Results1.8 Extension1.9 Remark to deviations - Model accuracy1.10 Preliminary research and related terms and methods2 Example 2.1 and 2.2: Parallel-to-series structure2.1 Example 2.1: Multiple common cause failures (CCF)2.1.1 Precise modeling of the MMC and the system up anddown state2.1.2 Approximate modeling of the MMC2.1.3 Approximate calculation of the MMC models with thepMp approach2.1.4 Equivalent DBD based on MC2.1.5 Results2.2 Example 2.2: Mix of s-dependencies2.2.1 Precise modeling of the MMC and the system up anddown state2.2.2 Approximate modeling of the MMC2.2.3 Approximate calculation of the MMC models with thepMp approach2.2.4 Equivalent DBD based on MC2.2.5 Results
• Chapter x 617.10.20193 Example 3.1 and 3.2: Series-to-parallel structure3.1 Example 3.1: Multiple common cause failures (CCF)3.1.1 Precise modeling of the MMC and the system up anddown state3.1.2 Approximate modeling of the MMC3.1.3 Approximate calculation of the MMC models with thepMp approach3.1.4 Equivalent DBD based on MC3.1.5 Results3.2 Example 3.2: Mix of s-dependencies3.2.1 Precise modeling of the MMC and the system up anddown state3.2.2 Approximate modeling of the MMC3.2.3 Approximate calculation of the MMC models with thepMp approach3.2.4 Equivalent DBD based on MC3.2.5 Results4 Example 4: 4-out-of-4 (4oo4)4.1 Precise modeling of the MMC and the system up and downstate4.2 Approximate modeling of the MMC4.3 Approximate calculation of the MMC models with the pMpapproach4.4 Equivalent DBD based on MC4.5 Results5 Example 5: 3-out-of-4 (3oo4)5.1 Precise modeling of the MMC and the system up and downstate5.2 Approximate modeling of the MMC5.3 Approximate calculation of the MMC models with the pMpapproach5.4 Equivalent DBD based on MC5.5 Results6 Example 6.1 and 6.2: 2-out-of-4 (2oo4)6.1 Example 6.1: Multiple common cause failures (CCF)6.1.1 Precise modeling of the MMC and the system up anddown state6.1.2 Approximate modeling of the MMC
• Chapter x 717.10.20196.1.3 Approximate calculation of the MMC models with thepMp approach6.1.4 Equivalent DBD based on MC6.1.5 Results6.2 Example 6.2: Mix of s-dependencies6.2.1 Precise modeling of the MMC and the system up anddown state6.2.2 Approximate modeling of the MMC6.2.3 Approximate calculation of the MMC models with thepMp approach6.2.4 Equivalent DBD based on MC6.2.5 Results7 Example 7: 1-out-of-4 (1oo4)7.1 Precise modeling of the MMC and the system up and downstate7.2 Approximate calculation of the MMC models with the pMpapproach7.3 Equivalent DBD based on MC7.4 Results8 Conclusion and overall assessment9 AppendixAppendix 9.1Appendix 9.2Appendix 9.3Appendix 9.4Appendix 9.5Appendix 9.6Appendix 9.710 Reference.
• (source: Nielsen Book Data)

This book provides an in-depth understanding of precise and approximate MMC modeling and calculation techniques of engineering systems. The in-depth analysis demonstrates that it is only possible to precisely model and calculate the dependability of systems including s-dependent components with the knowledge of their (total) universe spaces, represented here by Markov spaces. They provide the basis for developing and verifying approximate MMC models. With the mathematical steps described and applied to several examples throughout this text, interested system developers and users can perform dependability analyses themselves. All examples are structured in precisely the same way.
(source: Nielsen Book Data)