This monograph is a comprehensive introduction to the field of soccer robotics. Soccer robotics has become an important research area integrating mechatronics, computer science and artificial intelligence techniques to create real-world autonomous systems. It also serves as a popular test arena in which to compare the different approaches, in diverse types of competition and with varying levels of distributed perception and collaboration. The focus of this monograph is the FIRA framework of Soccer Robotics, in particular MiroSot, which uses a central overhead camera to overview the whole soccer field and a central control of the robots. "Soccer Robotics" completely describes the different requirements to create a soccer team and details the hardware aspects, the computer vision needed, navigation, action selection, basic skills and game strategy. These aspects are described at an undergraduate level, resulting in a book not only useful as a text for courses but also indispensable for everyone who wants to participate in MiroSot robotics.

This book moves toward the realization of domestic robots by presenting an integrated view of computer vision and robotics, covering fundamental topics including optimal sensor design, visual servo-ing, 3D object modelling and recognition, and multi-cue tracking, emphasizing robustness throughout. Covering theory and implementation, experimental results and comprehensive multimedia support including video clips, VRML data, C++ code and lecture slides, this book is a practical reference for roboticists and a valuable teaching resource.

"Proceedings of the First Symposium on Aviation Maintenance and Management "collects selected papers from the conference of ISAMM 2013 in China held in Xi'an on November 25-28, 2013. The book presents state-of-the-art studies on the aviation maintenance, test, fault diagnosis, and prognosis for the aircraft electronic and electrical systems. The selected works can help promote the development of the maintenance and test technology for the aircraft complex systems. Researchers and engineers in the fields of electrical engineering and aerospace engineering can benefit from the book.

Jinsong Wang is a professor at School of Mechanical and Electronic Engineering of Northwestern Polytechnical University, China.

The microelectronics market, with special emphasis to the production of complex mixed-signal systems-on-chip (SoC), is driven by three main dynamics, time-- market, productivity and managing complexity. Pushed by the progress in na- meter technology, the design teams are facing a curve of complexity that grows exponentially, thereby slowing down the productivity design rate. Analog design automation tools are not developing at the same pace of technology, once custom design, characterized by decisions taken at each step of the analog design flow, - lies most of the time on designer knowledge and expertise. Actually, the use of - sign management platforms, like the Cadences Virtuoso platform, with a set of - tegrated CAD tools and database facilities to deal with the design transformations from the system level to the physical implementation, can significantly speed-up the design process and enhance the productivity of analog/mixed-signal integrated circuit (IC) design teams. These design management platforms are a valuable help in analog IC design but they are still far behind the development stage of design automation tools already available for digital design. Therefore, the development of new CAD tools and design methodologies for analog and mixed-signal ICs is ess- tial to increase the designer's productivity and reduce design productivitygap. The work presented in this book describes a new design automation approach to the problem of sizing analog ICs.

The extended and revised second edition of this successful monograph presents advanced modeling, analysis and control techniques of Flexible AC Transmission Systems (FACTS). The book covers comprehensively a range of power-system control problems: from steady-state voltage and power flow control, to voltage and reactive power control, to voltage stability control, to small signal stability control using FACTS controllers.

In the six years since the first edition of the book has been published research on the FACTS has continued to flourish while renewable energy has developed into a mature and booming global green business. The second edition reflects the new developments in converter configuration, smart grid technologies, super power grid developments worldwide, new approaches for FACTS control design, new controllers for distribution system control, and power electronic controllers in wind generation operation and control. The latest trends of VSC-HVDC with multilevel architecture have been included and four completely new chapters have been added devoted to Multi-Agent Systems for Coordinated Control of FACTS-devices, Power System Stability Control using FACTS with Multiple Operating Points, Control of a Looping Device in a Distribution System, and Power Electronic Control for Wind Generation.

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This book reports on findings at the intersection between two related fields, namely coastal hydrography and marine robotics. On one side, it shows how the exploration of the ocean can be performed by autonomous underwater vehicles; on the other side, it shows how some methods from hydrography can be implemented in the localization and navigation of such vehicles, e.g. for target identification or path finding. Partially based on contributions presented at the conference Quantitative Monitoring of Underwater Environment, MOQESM, held on October 11-12, 2016, Brest, France, this book includes carefully revised and extended chapters presented at the conference, together with original papers not related to the event. All in all, it provides readers with a snapshot of current methods for sonar track registration, multi-vehicles control, collective exploration of underwater environments, optimization of propulsion systems, among others. More than that, the book is aimed as source of inspiration and tool to promote further discussions and collaboration between hydrographers, robotic specialists and other related communities.

Dexterous and autonomous manipulation is a key technology for the personal and service robots of the future. Advances in Bimanual Manipulation edited by Bruno Siciliano provides the robotics community with the most noticeable results of the four-year European project DEXMART (DEXterous and autonomous dual-arm hand robotic manipulation with sMART sensory-motor skills: A bridge from natural to artificial cognition). The volume covers a host of highly important topics in the field, concerned with modelling and learning of human manipulation skills, algorithms for task planning, human-robot interaction, and grasping, as well as hardware design of dexterous anthropomorphic hands. The results described in this five-chapter collection are believed to pave the way towards the development of robotic systems endowed with dexterous and human-aware dual-arm/hand manipulation skills for objects, operating with a high degree of autonomy in unstructured real-world environments.

Very often, practical design of embedded systems lacks consistency resulting in computer control systems that do not provide the performance they should. Most notably they lack dependability, a key property now that programmed electronic devices are so pervasive, even in extremely safety-critical applications. Distributed Embedded Control Systems handles the domains encountered when designing a distributed embedded computer control system as an integrated whole. First to be discussed are some basic issues about real-time systems and their properties, specifically safety. Then, system and hardware architectures are dealt with: areas like scheduling, asymmetrical distributed multiprocessor architectures, time-triggered communications, middleware, fault-tolerant peripherals, etc. Next, programming issues, embodying desired properties, basic language subsets, object orientation and language support for hardware and software specifications and co-design are elaborated and finally, the prototype implementation of a distributed embedded control system is given as a detailed example. Different audiences will find much of interest in this work: industrial professionals are given guidelines for the design of embedded hardware and software with fault tolerance that will help them to decide which methods, tools and solutions they should employ and to which features they should pay attention. Academics have a new source of solutions and further questions to stimulate research and it will also be informative for graduate students in electrical, control and computer engineering.

The increasing demands for internal combustion engines with regard to fuel consumption, emissions and driveability lead to more actuators, sensors and complex control functions. A systematic implementation of the electronic control systems requires mathematical models from basic design through simulation to calibration. The book treats physically-based as well as models based experimentally on test benches for gasoline (spark ignition) and diesel (compression ignition) engines and uses them for the design of the different control functions. The main topics are: - Development steps for engine control - Stationary and dynamic experimental modeling - Physical models of intake, combustion, mechanical system, turbocharger, exhaust, cooling, lubrication, drive train - Engine control structures, hardware, software, actuators, sensors, fuel supply, injection system, camshaft - Engine control methods, static and dynamic feedforward and feedback control, calibration and optimization, HiL, RCP, control software development - Control of gasoline engines, control of air/fuel, ignition, knock, idle, coolant, adaptive control functions - Control of diesel engines, combustion models, air flow and exhaust recirculation control, combustion-pressure-based control (HCCI), optimization of feedforward and feedback control, smoke limitation and emission control This book is an introduction to electronic engine management with many practical examples, measurements and research results. It is aimed at advanced students of electrical, mechanical, mechatronic and control engineering and at practicing engineers in the field of combustion engine and automotive engineering.

This monograph provides readers with tools for the analysis, and control of systems with fewer control inputs than degrees of freedom to be controlled, i.e., underactuated systems. The text deals with the consequences of a lack of a general theory that would allow methodical treatment of such systems and the ad hoc approach to control design that often results, imposing a level of organization whenever the latter is lacking.

The authors take as their starting point the construction of a graphical characterization or control flow diagram reflecting the transmission of generalized forces through the degrees of freedom. Underactuated systems are classified according to the three main structures by which this is found to happen chain, tree, and isolated vertex and control design procedures proposed. The procedure is applied to several well-known examples of underactuated systems: acrobot; pendubot; Tora system; ball and beam; inertia wheel; and robotic arm with elastic joint.

The text is illustrated with MATLAB(r)/Simulink(r) simulations that demonstrate the effectiveness of the methods detailed.

Readers interested in aircraft, vehicle control or various forms of walking robot will be able to learn from "Underactuated Mechanical Systems" how to estimate the degree of complexity required in the control design of several classes of underactuated systems and proceed on to further generate more systematic control laws according to its methods of analysis."

The extraordinary development of microprocessors and their extensive use in control systems in all fields of application has brought about important changes in the design of control systems. Their performance and low cost make them much more capable, in many circumstances, than analog controllers.

In order to take full advantage of this potential, Digital Control Systems demonstrates in detail how to design and implement high-performance model-based controllers combining system identification and control design techniques extensively tested in industrial milieux. The effective use of these techniques is illustrated in the context of various systems including: d.c. motors, flexible transmissions, air heaters, distillation columns and hot-dip galvanizing. Topics covered include:

a [ essentials of computer-based control systems;

a [ controller design methods (robust pole placement, long-range-predictive control, state space, digital PID, etc.);

a [ system identification techniques;

a [ practical aspects of system identification and digital control.

A number of recent methodological developments in control design and system identification, driven by applications, are presented, including:

a [ robust digital control design using sensitivity function shaping;

a [ plant identification in closed loop operation;

a [ reduction of controller complexity.

The text of Digital Control Systems is enhanced, for practical and tutorial purposes, by the use of software which illustrates the various concepts and algorithms and gives a feeling for the phenomena, discussed. The MATLABA(R)/Scilab routines used for this purpose can be downloaded from thetextbooka (TM)s website where additional material for teaching is available (slide presentations of the chapter material, data files for additional laboratory sessions and example files).

Graduate students in courses on digital control will find this text to be most helpful in learning the essential techniques of computer-based control while the wealth of additional material will make the tutora (TM)s tasks of teaching and preparation quicker and easier. The book also provides practising engineers wishing to enhance their skills in this area with efficient and co-ordinated methods for the design and implementation of computer-based controllers.

In this book, the state-of-the-art fuzzy-model-based (FMB) based control approaches are covered. A comprehensive review about the stability analysis of type-1 and type-2 FMB control systems using the Lyapunov-based approach is given, presenting a clear picture to researchers who would like to work on this field. A wide variety of continuous-time nonlinear control systems such as state-feedback, switching, time-delay and sampled-data FMB control systems, are covered. In short, this book summarizes the recent contributions of the authors on the stability analysis of the FMB control systems. It discusses advanced stability analysis techniques for various FMB control systems, and founds a concrete theoretical basis to support the investigation of FMB control systems at the research level. The analysis results of this book offer various mathematical approaches to designing stable and well-performed FMB control systems. Furthermore, the results widen the applicability of the FMB control approach and help put the fuzzy controller in practice. A wide range of advanced analytical and mathematical analysis techniques will be employed to investigate the system stability and performance of FMB-based control systems in a rigorous manner. Detailed analysis and derivation steps are given to enhance the readability, enabling the readers who are unfamiliar with the FMB control systems to follow the materials easily. Simulation examples, with figures and plots of system responses, are given to demonstrate the effectiveness of the proposed FMB control approaches.

Computational intelligence techniques are gaining momentum in the medical prognosis and diagnosis. This volume presents advanced applications of machine intelligence in medicine and bio-medical engineering. Applied methods include knowledge bases, expert systems, neural networks, neuro-fuzzy systems, evolvable systems, wavelet transforms, and specific internet applications. The volume is written in view of explaining to the practitioner the fundamental issues related to computational intelligence paradigms and to offer a fast and friendly-managed introduction to the most recent methods based on computer intelligence in medicine.

As a stand-alone volume, Transistor Circuits For Spacecraft Power System presents numerous transistor circuits and building blocks associated with power electronics in general, and examines the major subsystem components for solar-based spacecraft power systems. The technique and concept, of "continuity of states" for nonlinear circuits handling power transfer under cyclic excitation is introduced in Part I and further developed throughout the book. This powerful technique employing matrix formulation bypasses eigen-transients and yields steady-state responses rapidly. Closed-loop treatments are also given for large-scale linear circuits, many closed-form solutions for control loop-gain, conducted susceptibility, output impedance, etc. are covered. Extensive mathematical procedures are retained to highlight the importance of analytical flows.

The author also reviews the evolution of solar-based spacecraft power systems; introduces modes of operations: discharge (boost), shunt, and charge; and covers pulse-width-modulated (PWM) boost power converter for both DC and AC conditions. A configuration tree for shunt mode operation is conceived. Based on the configuration tree, the best topologies, sequential PWM shunt and ripple-regulated free-running shunt, are intensively examined and formulated.

Transistor Circuits For Spacecraft Power System provides important information for understanding the relationship between earthbound semiconductor circuits and space borne vehicles.

The Computational Biomechanics for Medicine titles provide an opportunity for specialists in computational biomechanics to present their latest methodologies and advancements. This volume comprises eighteen of the newest approaches and applications of computational biomechanics, from researchers in Australia, New Zealand, USA, UK, Switzerland, Scotland, France and Russia. Some of the interesting topics discussed are: tailored computational models; traumatic brain injury; soft-tissue mechanics; medical image analysis; and clinically-relevant simulations. One of the greatest challenges facing the computational engineering community is to extend the success of computational mechanics to fields outside traditional engineering, in particular to biology, the biomedical sciences, and medicine. We hope the research presented within this book series will contribute to overcoming this grand challenge.

Surge Control of Active-magnetic-bearing-suspended Centrifugal Compressors sets out the fundamentals of integrating active magnetic bearing (AMB) rotor suspension technology in compressor systems, and describes how this relatively new bearing technology can be employed in active control of compressor surge initiation. The authors provide a self-contained and comprehensive review of rotordynamics and the fundamentals of AMB technology. The active stabilization of compressor surge employing AMBs in a machine is fully explored, from modeling of instability and controller design, to the implementation and experimental testing of the control algorithm in a specially-constructed, industrial-size centrifugal compression system. The results of these tests demonstrate the great potential of the new surge control method suggested in this text.
This book will be useful for engineers in industries that involve turbocompressors and magnetic bearings, as well as for researchers and graduate students in the field of applied control. Whatever their level of experience, engineers working in the fields of turbomachinery, magnetic bearings, rotordynamics and controls will find the material in this book absorbing as all these important aspects of engineering are integrated to create a multi-disciplinary solution to a real-life industrial problem and the book is a suitable introduction to the area for newcomers."

This book provides current R&D trends and novel approaches in design and analysis of broadband, multiband, and smart antennas for 5G and B5G mobile and wireless applications, as well as the identification of integration techniques of these antennas in a diverse range of devices. The book presents theoretical and experimental approaches to help the reader in understanding the unique design issues and more advanced research. Moreover, the book includes chapters on the fundamentals of antenna theory. The book is pertinent to professionals and researchers working in the field of antenna engineering; it is written for graduate students, researchers, academics, and industry practitioners who want to improve their understanding in the current research trends in design analysis of broadband, multiband, and smart antennas for wireless applications.

This volume gathers the peer reviewed papers which were presented at the third edition of the International Workshop Service Orientation in Holonic and Multi-agent Manufacturing and Robotics SOHOMA 13 organized on June 20-22, 2013 by the Centre of Research in Computer Integrated Manufacturing and Robotics CIMR Bucharest, and hosted by the University of Valenciennes, France.

The book is structured in five parts, each one covering a specific research domain which represents a trend for modern manufacturing control: Distributed Intelligence for Sustainable Manufacturing, Holonic and Multi-Agent Technologies for Manufacturing Planning and Control; Service Orientation in Manufacturing Management and Control, Intelligent Products and Product-driven Automation and Robotics for Manufacturing and Services. These five evolution lines have in common concepts related to service orientation in a distributed planning and control agent-based industrial environment; today it is generally recognized that the Service Oriented Enterprise Architecture paradigm has been looked upon as a suitable and effective approach for industrial automation and management of manufacturing enterprises."

This volume collects contributions related to selected presentations from the 12th IFAC Workshop on Time Delay Systems, Ann Arbor, June 28-30, 2015. The included papers present novel techniques and new results of delayed dynamical systems. The topical spectrum covers control theory, numerical analysis, engineering and biological applications as well as experiments and case studies. The target audience primarily comprises research experts in the field of time delay systems, but the book may also be beneficial for graduate students alike.

This volume consists of selected essays by participants of the workshop Control at Large Scales: Energy Markets and Responsive Grids held at the Institute for Mathematics and its Applications, Minneapolis, Minnesota, U.S.A. from May 9-13, 2016. The workshop brought together a diverse group of experts to discuss current and future challenges in energy markets and controls, along with potential solutions. The volume includes chapters on significant challenges in the design of markets and incentives, integration of renewable energy and energy storage, risk management and resilience, and distributed and multi-scale optimization and control. Contributors include leading experts from academia and industry in power systems and markets as well as control science and engineering. This volume will be of use to experts and newcomers interested in all aspects of the challenges facing the creation of a more sustainable electricity infrastructure, in areas such as distributed and stochastic optimization and control, stability theory, economics, policy, and financial mathematics, as well as in all aspects of power system operation.

Stabilization of Navier Stokes Flows presents recent notable progress in the mathematical theory of stabilization of Newtonian fluid flows. Finite-dimensional feedback controllers are used to stabilize exponentially the equilibrium solutions of Navier Stokes equations, reducing or eliminating turbulence. Stochastic stabilization and robustness of stabilizable feedback are also discussed. The analysis developed here provides a rigorous pattern for the design of efficient stabilizable feedback controllers to meet the needs of practical problems and the conceptual controllers actually detailed will render the reader 's task of application easier still.Stabilization of Navier Stokes Flows avoids the tedious and technical details often present in mathematical treatments of control and Navier Stokes equations and will appeal to a sizeable audience of researchers and graduate students interested in the mathematics of flow and turbulence control and in Navier-Stokes equations in particular.

The International Symposium of Robotics Research (ISRR) continues to be the premiere meeting of the International Foundation of Robotics Research (IFRR). The 13th International Symposium of Robotics Research took place Novemb3r 26-29, 2007, in Hiroshima, Japan, and was organized by the two editors of this book. This volume brings a collection of a broad range of topics in robotics. The content of these contributions provides a wide coverage of the current state of robotics research: the advances and challenges in its theoretical foundation and technology basis, and the developments in its traditional and novel areas of applications. Historically, the proceedings of the ISRR have featured ground-breaking work of the highest caliber, which influenced generations to come. The present volume promises to be no exception. The collection of scientific articles in this volume provides new insights to important problems in robotics, written by some of the leaders in the field.

Intelligent Mobile Robot Navigation builds upon the application of fuzzy logic to the area of intelligent control of mobile robots. Reactive, planned, and teleoperated techniques are considered, leading to the development of novel fuzzy control systems for perception and navigation of nonholonomic autonomous vehicles. The unique feature of this monograph lies in its comprehensive treatment of the problem, from the theoretical development of the various schemes down to the real-time implementation of algorithms on mobile robot prototypes. As such, the book spans different domains ranging from mobile robots to intelligent transportation systems, from automatic control to artificial intelligence.

Applied Cyber-Physical Systems presents the latest methods and technologies in the area of cyber-physical systems including medical and biological applications. Cyber-physical systems (CPS) integrate computing and communication capabilities by monitoring, and controlling the physical systems via embedded hardware and computers. This book brings together unique contributions from renowned experts on cyber-physical systems research and education with applications. It also addresses the major challenges in CPS, and then provides a resolution with various diverse applications as examples. Advanced-level students and researchers focused on computer science, engineering and biomedicine will find this to be a useful secondary text book or reference, as will professionals working in this field.