Robotic systems are characterized by the intersection of computer intelligence with the physical world. This blend of physical reasoning and computational intelligence is well illustrated by the Tetrobot study described in this book. Tetrobot: A Modular Approach to Reconfigurable Parallel Robotics describes a new approach to the design of robotic systems. The Tetrobot approach utilizes modular components which may be reconfigured into many different mechanisms which are suited to different applications. The Tetrobot system includes two unique contributions: a new mechanism (a multilink spherical joint design), and a new control architecture based on propagation of kinematic solutions through the structure. The resulting Tetrobot system consists of fundamental components which may be mechanically reassembled into any modular configuration, and the control architecture will provide position control of the resulting structure. A prototype Tetrobot system has been built and evaluated experimentally. Tetrobot arms, platforms, and walking machines have been built and controlled in a variety of motion and loading conditions. The Tetrobot system has applications in a variety of domains where reconfiguration, flexibility, load capacity, and failure recovery are important aspects of the task. A number of key research directions have been opened by the Tetrobot research activities. Continuing topics of interest include: development of a more distributed implementation of the computer control architecture, analysis of the dynamics of the Tetrobot system motion for improved control of high-speed motions, integration of sensor systems to control the motion and shape of the high-dimensionality systems, and exploration of self-reconfiguration of the system. Tetrobot: A Modular Approach to Reconfigurable Parallel Robotics will be of interest to research workers, specialists and professionals in the areas of robotics, mechanical systems and computer engineering.

By the dawn of the new millennium, robotics has undergone a major tra- formation in scope and dimensions. This expansion has been brought about bythematurityofthe?eldandtheadvancesinitsrelatedtechnologies.From a largely dominant industrial focus, robotics has been rapidly expanding into the challenges of the human world. The new generation of robots is expected to safely and dependably co-habitat with humans in homes, workplaces, and communities, providingsupportinservices, entertainment, education, heal- care, manufacturing, and assistance. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider range of applications reaching across - verse researchareas and scienti?c disciplines, such as: biomechanics, haptics, neurosciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are pr- ing an abundant source of stimulation and insights for the ?eld of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The goal of the series of Springer Tracts in Advanced Robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on the basis of their signi?cance and quality. It is our hope that the wider dissemination of research developments will stimulate more exchanges and collaborations among the research community and contribute to further advancement of this rapidly growing ?

For some time, all branches of the military have used a wide range of sensors to provide data for many purposes, including surveillance, reconnoitring, target detection and battle damage assessment. Many nations have also attempted to utilise these sensors for civilian applications, such as crop monitoring, agricultural disease tracking, environmental diagnostics, cartography, ocean temperature profiling, urban planning, and the characterisation of the Ozone Hole above Antarctica. The recent convergence of several important technologies has made possible new, advanced, high performance, sensor based applications relying on the near-simultaneous fusion of data from an ensemble of different types of sensors. The book examines the underlying principles of sensor operation and data fusion, the techniques and technologies that enable the process, including the operation of 'fusion engines'. Fundamental theory and the enabling technologies of data fusion are presented in a systematic and accessible manner. Applications are discussed in the areas of medicine, meteorology, BDA and targeting, transportation, cartography, the environment, agriculture, and manufacturing and process control.

The volume contains peer-reviewed proceedings of EPREC 2021 with a focus on control applications in the modern power system. The book includes original research and case studies that present recent developments in the control system, especially load frequency control, wide-area monitoring, control & instrumentation, optimization, intelligent control, energy management system, SCADA systems, etc. The book will be a valuable reference guide for beginners, researchers, and professionals interested in advancements in the control system.

This book focuses on the nonlinear dynamics based on the vector fields with univariate quadratic functions. This book is a unique monograph for two-dimensional quadratic nonlinear systems. It provides different points of view about nonlinear dynamics and bifurcations of the quadratic dynamical systems. Such a two-dimensional dynamical system is one of simplest dynamical systems in nonlinear dynamics, but the local and global structures of equilibriums and flows in such two-dimensional quadratic systems help us understand other nonlinear dynamical systems, which is also a crucial step toward solving the Hilbert's sixteenth problem. Possible singular dynamics of the two-dimensional quadratic systems are discussed in detail. The dynamics of equilibriums and one-dimensional flows in two-dimensional systems are presented. Saddle-sink and saddle-source bifurcations are discussed, and saddle-center bifurcations are presented. The infinite-equilibrium states are switching bifurcations for nonlinear systems. From the first integral manifolds, the saddle-center networks are developed, and the networks of saddles, source, and sink are also presented. This book serves as a reference book on dynamical systems and control for researchers, students, and engineering in mathematics, mechanical, and electrical engineering.

This book focuses on the stabilization and model predictive control of interconnected systems with mixed connection configurations. It introduces the concept of dissipation-based quadratic constraint for developing attractivity assurance methods for interconnected systems. In order to develop these methods, distributed and decentralized architectures are employed, whereby the communication between subsystems is fully connected, partially connected, or completely disconnected. Given that the control inputs are entirely or partially decoupled between subsystems and no additional constraints are imposed on the interactive variables beyond the coupling constraint itself, the proposed approaches can be used with various types of systems and applications. Further, the book describes how the effects of coupling delays and data losses in device networks are resolved. From a practical perspective, the innovations presented are of benefit in applications in a broad range of fields, including the process and manufacturing industries, networked robotics, and network-centric systems such as chemical process systems, power systems, telecommunication networks, transportation networks, and, no less importantly, supply chain automation.

This book presents lectures given at the 8th International Workshop on Spoken Dialog Systems. As agents evolve in terms of their ability to carry on a dialog with users, several qualities are emerging as essential components of a successful system. Users do not carry on long conversations on only one topic-they tend to switch between several topics. Thus the authors are observing the emergence of multi-domain systems that enable users to seamlessly hop from one domain to another. The systems have become active social partners. Accordingly, work on social dialog has become crucial to active and engaging human-robot/agent interaction. These new systems call for a coherent framework that guides their actions as chatbots and conversational agents. Human-Robot/Agent assessment mechanisms naturally lend themselves to this task. As these systems increasingly assist humans in a multitude of tasks, the ethics of their existence, their design and their interaction with users are becoming crucial issues. This book discusses the essential players and features involved, such as chat-based agents, multi-domain dialog systems, human-robot interaction, social dialog policy, and advanced dialog system architectures.

Fault Diagnosis and Fault-Tolerant Control and Guidance for Aerospace demonstrates the attractive potential of recent developments in control for resolving such issues as flight performance, self protection and extended-life structures. Importantly, the text deals with a number of practically significant considerations: tuning, complexity of design, real-time capability, evaluation of worst-case performance, robustness in harsh environments, and extensibility when development or adaptation is required. Coverage of such issues helps to draw the advanced concepts arising from academic research back towards the technological concerns of industry. Initial coverage of basic definitions and ideas and a literature review gives way to a treatment of electrical flight control system failures: oscillatory failure, runaway, and jamming. Advanced fault detection and diagnosis for linear and linear-parameter-varying systems are described. Lastly recovery strategies appropriate to remaining actuator/sensor/communications resources are developed. The authors exploit experience gained in research collaboration with academic and major industrial partners to validate advanced fault diagnosis and fault-tolerant control techniques with realistic benchmarks or real-world aeronautical and space systems. Consequently, the results presented in Fault Diagnosis and Fault-Tolerant Control and Guidance for Aerospace, will be of interest in both academic and aerospatial-industrial milieux.

This book helps readers evaluate and specificy the best Warehouse Management System (WMS) for their need. The advice is based on practical knowledge, describing in detail fundamental processes and technologies needed for a basic understanding. New approaches in the structure and design of WMS are presented, along with discussion of the limitations of current systems. The book shows how to operate a simple WMS based on the open-source initiative myWMS.

Artificial Intelligence for Capital Market throws light on application of AI/ML techniques in the financial capital markets. This book discusses the challenges posed by the AI/ML techniques as these are prone to "black box" syndrome. The complexity of understanding the underlying dynamics for results generated by these methods is one of the major concerns which is highlighted in this book: Features: Showcases artificial intelligence in finance service industry Explains Credit and Risk Analysis Elaborates on cryptocurrencies and blockchain technology Focuses on optimal choice of asset pricing model Introduces Testing of market efficiency and Forecasting in Indian Stock Market This book serves as a reference book for Academicians, Industry Professional, Traders, Finance Mangers and Stock Brokers. It may also be used as textbook for graduate level courses in financial services and financial Analytics.

Cooperative Control Design: A Systematic, Passivity-Based Approach discusses multi-agent coordination problems, including formation control, attitude coordination, and synchronization. The goal of the book is to introduce passivity as a design tool for multi-agent systems, to provide exemplary work using this tool, and to illustrate its advantages in designing robust cooperative control algorithms. The discussion begins with an introduction to passivity and demonstrates how passivity can be used as a design tool for motion coordination. Followed by the case of adaptive redesigns for reference velocity recovery while describing a basic design, a modified design and the parameter convergence problem. Formation control is presented as it relates to relative distance control and relative position control. The coverage is concluded with a comprehensive discussion of agreement and the synchronization problem with an example using attitude coordination.

The time evol11tion of many physical phenomena in nat11re can be de scribed by partial differential eq11ations. To analyze and control the dynamic behavior of s11ch systems. infinite dimensional system theory was developed and has been refined over the past several decades. In recent years. stim11lated by the applications arising from space exploration. a11tomated manufact11ring, and other areas of technological advancement, major progress has been made in both theory and control technology associated with infinite dimensional systems. For example, new conditions in the time domain and frequency domain have been derived which guarantee that a Co-semigroup is exponen tially stable; new feedback control laws helVe been proposed to exponentially;;tabilize beam. wave, and thermoelastic equations; and new methods have been developed which allow us to show that the spectrum-determined growth condition holds for a wide class of systems. Therefore, there is a need for a reference book which presents these restllts in an integrated fashion. Complementing the existing books, e. g . . 1]. 41]. and 128]. this book reports some recent achievements in stability and feedback stabilization of infinite dimensional systems. In particular, emphasis will be placed on the second order partial differential equations. such as Euler-Bernoulli beam equations. which arise from control of numerous mechanical systems stich as flexible robot arms and large space structures. We will be focusing on new results. most of which are our own recently obtained research results."

This book gathers contributions on analytical, numerical, and application aspects of time-delay systems, under the paradigm of control theory, and discusses recent advances in these different contexts, also highlighting the interdisciplinary connections. The book will serve as a useful tool for graduate students and researchers in the fields of dynamical systems, automatic control, numerical methods, and functional analysis.

This book provides an in-depth overview of artificial intelligence and deep learning approaches with case studies to solve problems associated with biometric security such as authentication, indexing, template protection, spoofing attack detection, ROI detection, gender classification etc. This text highlights a showcase of cutting-edge research on the use of convolution neural networks, autoencoders, recurrent convolutional neural networks in face, hand, iris, gait, fingerprint, vein, and medical biometric traits. It also provides a step-by-step guide to understanding deep learning concepts for biometrics authentication approaches and presents an analysis of biometric images under various environmental conditions. This book is sure to catch the attention of scholars, researchers, practitioners, and technology aspirants who are willing to research in the field of AI and biometric security.

The book features original papers from the 2nd International Conference on Smart IoT Systems: Innovations and Computing (SSIC 2019), presenting scientific work related to smart solution concepts. It discusses computational collective intelligence, which includes interactions between smart devices, smart environments and smart interactions, as well as information technology support for such areas. It also describes how to successfully approach various government organizations for funding for business and the humanitarian technology development projects. Thanks to the high-quality content and the broad range of the topics covered, the book appeals to researchers pursuing advanced studies.

This monograph is focused on control law design methods for asymptotic tracking and disturbance rejection in the presence of uncertainties. The methods are based on adaptive implementation of the Internal Model Principle (IMP). The monograph shows how this principle can be applied to the problems of asymptotic rejection/tracking of a priori uncertain exogenous signals for linear and nonlinear plants with known and unknown parameters. The book begins by introducing the problems of adaptive control, the challenges that are faced, modern methods and an overview of the IMP. It then introduces special observers for uncertain exogeneous signals affecting linear and nonlinear systems with known and unknown parameters. The basic algorithms of adaptation applied to the canonical closed-loop error models are presented. The authors then address the systematic design of adaptive systems for asymptotic rejection/tracking of a priori uncertain exosignals. The monograph also discusses the adaptive rejection/tracking of a priori uncertain exogenous signals in systems with input delay, the problems of performance improvement in disturbance rejection and reference tracking and the issue of robustness of closed-loop systems. Adaptive Regulation provides a systematic discussion of the IMP applied to a variety of control problems, making it of interest to researchers and industrial practitioners.

This book addresses the problem of multi-agent systems, considering that it can be interpreted as a generalized multi-synchronization problem. From manufacturing tasks, through encryption and communication algorithms, to high-precision experiments, the simultaneous cooperation between multiple systems or agents is essential to successfully carrying out different modern activities, both in academy and industry. For example, the coordination of multiple assembler robots in manufacturing lines. These agents need to synchronize. The first two chapters of the book describe the synchronization of dynamical systems, paying special attention to the synchronization of non-identical systems. Following, the third chapter presents an interesting application of the synchronization phenomenon for state estimation. Subsequently, the authors fully address the multi-agent problem interpreted as multi-synchronization. The final chapters introduce the reader to a more complex problem, the synchronization of systems governed by partial differential equations, both of integer and fractional order. The book aimed at graduates, postgraduate students and researchers closely related to the area of automatic control. Previous knowledge of linear algebra, classical and fractional calculus is requested, as well as some fundamental notions of graph theory.

This book provides practical guidance and awareness for a growing body of knowledge developing across a variety of disciplines and many countries. This book is a celebration of the Gavriel Salvendy International Symposium (GSIS) and provides a survey of topics and emerging areas of interest in human-automation interaction. This book for the GSIS emphasizes main thematic areas: manufacturing, services and user experience. Main areas of coverage include Section A: Advanced Production Management and Production Control; Section B: Healthcare Automation; Section C: Measuring and Modeling Human Performance; Section D: Usability and User Experience; Section E: Safety Management and Occupational Ergonomics; Section F: Manufacturing and Services; Section G: Data and Probabilistic Information; Section H: Training and Collaboration Technologies. Contributions from especially early career researchers were featured as part of this (virtual) symposium and celebration. Gavriel Salvendy initiated the conferences that run annually as Human-Computer Interaction International and Applied Human Factors and Ergonomics International (AHFE), both within the Lecture Notes in Springer. The book is inclusive of human-computer interaction and human factors and ergonomics principles, yet it is intended to serve a much wider audience that has interest in automation and human modeling. The emerging need for human-automation interaction expertise has developed from an ever-growing availability and presence of automation in our everyday lives.

This book reviews the advances in data gathering and processing in the biotech laboratory environment, and it sheds new lights on the various aspects that are necessary for the implementation of intelligent laboratory architecture and infrastructure. Smart technologies are increasingly dominating our everyday lives and have become an indispensable part of the industrial environment. The laboratory environment, which has long been rather conservative, has also set out to adapt smart technologies with regards to Industry 4.0 and the Internet of Things (IoT) for the laboratory. Due to the heterogeneity of the existing infrastructure and the often complex work processes, standardization is slow, e.g. to implement device interfaces or standardized driver protocols, which are urgently needed to generate standardized data streams that would be immanent for post-processing of data. Divided into 9 chapters, this book offers an authoritative overview of the diverse aspects in the generation and recording of uniform data sets in the laboratory, and in the processing of the data and enabling seamless processing towards machine learning and artificial intelligence. In the first part of the book, readers will find more about high throughout systems, automation, robotics, and the evolution of technology in the laboratory. The second part of the book is devoted to standardization in lab automation, in which readers will learn more about some regulatory aspects, the SiLA2 standards, the OPC LADS (Laboratory and Analytical Device Standard), and FAIR Data infrastructure

This book is concerned with Intelligent Control methods and applications. The field of intelligent control has been expanded very much during the recent years and a solid body of theoretical and practical results are now available. These results have been obtained through the synergetic fusion of concepts and techniques from a variety of fields such as automatic control, systems science, computer science, neurophysiology and operational research. Intelligent control systems have to perform anthropomorphic tasks fully autonomously or interactively with the human under known or unknown and uncertain environmental conditions. Therefore the basic components of any intelligent control system include cognition, perception, learning, sensing, planning, numeric and symbolic processing, fault detection/repair, reaction, and control action. These components must be linked in a systematic, synergetic and efficient way. Predecessors of intelligent control are adaptive control, self-organizing control, and learning control which are well documented in the literature. Typical application examples of intelligent controls are intelligent robotic systems, intelligent manufacturing systems, intelligent medical systems, and intelligent space teleoperators. Intelligent controllers must employ both quantitative and qualitative information and must be able to cope with severe temporal and spatial variations, in addition to the fundamental task of achieving the desired transient and steady-state performance. Of course the level of intelligence required in each particular application is a matter of discussion between the designers and users. The current literature on intelligent control is increasing, but the information is still available in a sparse and disorganized way.

Given their key position in the process control industry, process monitoring techniques have been extensively investigated by industrial practitioners and academic control researchers. Multivariate statistical process control (MSPC) is one of the most popular data-based methods for process monitoring and is widely used in various industrial areas. Effective routines for process monitoring can help operators run industrial processes efficiently at the same time as maintaining high product quality.

"Multivariate Statistical Process Control"" "reviews the developments and improvements that have been made to MSPC over the last decade, and goes on to propose a series of new MSPC-based approaches for complex process monitoring. These new methods are demonstrated in several case studies from the chemical, biological, and semiconductor industrial areas.

Control and process engineers, and academic researchers in the process monitoring, process control and fault detection and isolation (FDI) disciplines will be interested in this book. It can also be used to provide supplementary material and industrial insight for graduate and advanced undergraduate students, and graduate engineers.

Advances in Industrial Control aims to report and encourage the transfer of technology in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. The series offers an opportunity for researchers to present an extended exposition of new work in all aspects of industrial control."

Technology is rapidly advancing in all areas of society, including agriculture. In both conventional and organic systems, there is a need to apply technology beyond our current approach to improve the efficiency and economics of management. Weeds, in particular, have been part of cropping systems for centuries often being ranked as the number one production cost. Now, public demand for a sustainably grown product has created economic incentives for producers to improve their practices, yet the development of advanced weed control tools beyond biotech has lagged behind. An opportunity has been created for engineers and weed scientists to pool their knowledge and work together to 'fill the gap' in managing weeds in crops. Never before has there been such pressure to produce more with less in order to sustain our economies and environments. This book is the first to provide a radically new approach to weed management that could change cropping systems both now and in the future.

The rapid advances in performance and miniaturisation in microtechnology are constantly opening up new markets for the programmable logic controller (PLC). Specially designed controller hardware or PC-based controllers, extended by hardware and software with real-time capability, now control highly complex automation processes. This has been extended by the new subject of "safe- related controllers," aimed at preventing injury by machines during the production process. The different types of PLC cover a wide task spectrum - ranging from small network node computers and distributed compact units right up to modular, fau- tolerant, high-performance PLCs. They differ in performance characteristics such as processing speed, networking ability or the selection of I/O modules they support. Throughout this book, the term PLC is used to refer to the technology as a whole, both hardware and software, and not merely to the hardware architecture. The IEC61131 programming languages can be used for programming classical PLCs, embedded controllers, industrial PCs and even standard PCs, if suitable hardware (e.g. fieldbus board) for connecting sensors and actors is available.