This book illustrates the main characteristics, challenges and optimisation requirements of robotic disassembly. It provides a comprehensive insight on two crucial optimisation problems in the areas of robotic disassembly through a group of unified mathematical models. The online and offline optimisation of the operational sequence to dismantle a product, for example, is represented with a list of conflicting objectives and constraints. It allows the decision maker and the robots to match the situation automatically and efficiently. To identify a generic solution under different circumstances, classical metaheuristics that can be used for the optimisation of robotic disassembly are introduced in detail. A flexible framework is then presented to implement existing metaheuristics for sequence planning and line balancing in the circumstance of robotic disassembly. Optimisation of Robotic Disassembly for Remanufacturing provides practical case studies on typical product instances to help practitioners design efficient robotic disassembly with minimal manual operation, and offers comparisons of the state-of-the-art metaheuristics on solving the key optimisation problems. Therefore, it will be of interest to engineers, researchers, and postgraduate students in the area of remanufacturing.

This book highlights various evolutionary algorithm techniques for various medical conditions and introduces medical applications of evolutionary computation for real-time diagnosis. Evolutionary Intelligence for Healthcare Applications presents how evolutionary intelligence can be used in smart healthcare systems involving big data analytics, mobile health, personalized medicine, and clinical trial data management. It focuses on emerging concepts and approaches and highlights various evolutionary algorithm techniques used for early disease diagnosis, prediction, and prognosis for medical conditions. The book also presents ethical issues and challenges that can occur within the healthcare system. Researchers, healthcare professionals, data scientists, systems engineers, students, programmers, clinicians, and policymakers will find this book of interest.

"Compensating for Quasi-periodic Motion in Robotic Radiosurgery" outlines the techniques needed to accurately track and compensate for respiratory and pulsatory motion during robotic radiosurgery. The algorithms presented within the book aid in the treatment of tumors that move during respiration.
In Chapters 1 and 2, the book introduces the concept of stereotactic body radiation therapy, motion compensation strategies and the clinical state-of-the-art. In Chapters 3 through 5, the author describes and evaluates new methods for motion prediction, for correlating external motion to internal organ motion, and for the evaluation of these algorithms' output based on an unprecedented amount of real clinical data. Finally, Chapter 6 provides a brief introduction into currently investigated, open questions and further fields of research.
"Compensating for Quasi-periodic Motion in Robotic Radiosurgery" targets researchers working in the related fields of surgical oncology, artificial intelligence, robotics and more. Advanced-level students will also find this book valuable."

Autonomous underwater vehicles (AUVs) are emerging as a promising solution to help us explore and understand the ocean. The global market for AUVs is predicted to grow from 638 million dollars in 2020 to 1,638 million dollars by 2025 - a compound annual growth rate of 20.8 percent. To make AUVs suitable for a wider range of application-specific missions, it is necessary to deploy multiple AUVs to cooperatively perform the localization, tracking and formation tasks. However, weak underwater acoustic communication and the model uncertainty of AUVs make achieving this challenging. This book presents cutting-edge results regarding localization, tracking and formation for AUVs, highlighting the latest research on commonly encountered AUV systems. It also showcases several joint localization and tracking solutions for AUVs. Lastly, it discusses future research directions and provides guidance on the design of future localization, tracking and formation schemes for AUVs. Representing a substantial contribution to nonlinear system theory, robotic control theory, and underwater acoustic communication system, this book will appeal to university researchers, scientists, engineers, and graduate students in control theory and control engineering who wish to learn about the core principles, methods, algorithms, and applications of AUVs. Moreover, the practical localization, tracking and formation schemes presented provide guidance on exploring the ocean. The book is intended for those with an understanding of nonlinear system theory, robotic control theory, and underwater acoustic communication systems.

The main focus of this book is a pair of cooperative control problems: consensus and cooperative output regulation. Its emphasis is on complex multi-agent systems characterized by strong nonlinearity, large uncertainty, heterogeneity, external disturbances and jointly connected switching communication topologies. The cooperative output regulation problem is a generalization of the classical output regulation problem to multi-agent systems and it offers a general framework for handling a variety of cooperative control problems such as consensus, formation, tracking and disturbance rejection. The book strikes a balance between rigorous mathematical proof and engineering practicality. Every design method is systematically presented together with illustrative examples and all the designs are validated by computer simulation. The methods presented are applied to several practical problems, among them the leader-following consensus problem of multiple Euler-Lagrange systems, attitude synchronization of multiple rigid-body systems, and power regulation of microgrids. The book gives a detailed exposition of two approaches to the design of distributed control laws for complex multi-agent systems-the distributed-observer and distributed-internal-model approaches. Mastering both will enhance a reader's ability to deal with a variety of complex real-world problems. Cooperative Control of Multi-agent Systems can be used as a textbook for graduate students in engineering, sciences, and mathematics, and can also serve as a reference book for practitioners and theorists in both industry and academia. Some knowledge of the fundamentals of linear algebra, calculus, and linear systems are needed to gain maximum benefit from this book. Advances in Industrial Control reports and encourages 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.

Fully Tuned Radial Basis Function Neural Networks for Flight Control presents the use of the Radial Basis Function (RBF) neural networks for adaptive control of nonlinear systems with emphasis on flight control applications. A Lyapunov synthesis approach is used to derive the tuning rules for the RBF controller parameters in order to guarantee the stability of the closed loop system. Unlike previous methods that tune only the weights of the RBF network, this book presents the derivation of the tuning law for tuning the centers, widths, and weights of the RBF network, and compares the results with existing algorithms. It also includes a detailed review of system identification, including indirect and direct adaptive control of nonlinear systems using neural networks. Fully Tuned Radial Basis Function Neural Networks for Flight Control is an excellent resource for professionals using neural adaptive controllers for flight control applications.

Over the past century, mechanization has been an important means for optimizing resource utilization, improving worker health and safety and reducing labor requirements in farming while increasing productivity and quality of 4F (Food, Fuel, Fiber, Feed). Recognizing this contribution, agricultural mechanization was considered as one of the top ten engineering achievements of 20th century by the National Academy of Engineering. Accordingly farming communities have adopted increasing level of automation and robotics to further improve the precision management of crops (including input resources), increase productivity and reduce farm labor beyond what has been possible with conventional mechanization technologies. It is more important than ever to continue to develop and adopt novel automation and robotic solutions into farming so that some of the most complex agricultural tasks, which require huge amount of seasonal labor such as fruit and vegetable harvesting, could be automated while meeting the rapidly increasing need for 4F. In addition, continual innovation in and adoption of agricultural automation and robotic technologies is essential to minimize the use of depleting resources including water, minerals and other chemicals so that sufficient amount of safe and healthy food can be produced for current generation while not compromising the potential for the future generation. This book aims at presenting the fundamental principles of various aspects of automation and robotics as they relate to production agriculture (the branch of agriculture dealing with farming operations from field preparation to seeding, to harvesting and field logistics). The building blocks of agricultural automation and robotics that are discussed in the book include sensing and machine vision, control, guidance, manipulation and end-effector technologies. The fundamentals and operating principles of these technologies are explained with examples from cutting-edge research and development currently going on around the word. This book brings together scientists, engineers, students and professionals working in these and related technologies to present their latest examples of agricultural automation and robotics research, innovation and development while explaining the fundamentals of the technology. The book, therefore, benefits those who wish to develop novel agricultural engineering solutions and/or to adopt them in the future.

This book is concerned with the development of the understanding of the relational structures of information, knowledge, decision-choice processes of problems and solutions in the theory and practice regarding diversity and unity principles of knowing, science, non-science, and information-knowledge systems through dualistic-polar conditions of variety existence and nonexistence. It is a continuation of the sequence of my epistemic works on the theories on fuzzy rationality, info-statics, info-dynamics, entropy, and their relational connectivity to information, language, knowing, knowledge, cognitive practices relative to variety identification-problem-solution dualities, variety transformation-problem-solution dualities, and variety certainty-uncertainty principle in all areas of knowing and human actions regarding general social transformations. It is also an economic-theoretic approach in understanding the diversity and unity of knowing and science through neuro-decision-choice actions over the space of problem-solution dualities and polarities. The problem-solution dualities are argued to connect all areas of knowing including science and non-science, social science, and non-social-science into unity with diversities under neuro-decision-choice actions to support human existence and nonexistence over the space of static-dynamic dualities. The concepts of diversity and unity are defined and explicated to connect to the tactics and strategies of decision-choice actions over the space of problem-solution dualities. The concepts of problem and solution are defined and explicated not in the space of absoluteness but rather in the space of relativity based on real cost-benefit conditions which are shown to be connected to the general parent-offspring infinite process, where every solution generates new problem(s) which then generates a search for new solutions within the space of minimum-maximum dualities in the decision-choice space under the principle of non-satiation over the space of preference-non-preference dualities with analytical tools drawn from the fuzzy paradigm of thought which connects the conditions of the principle of opposites to the conditions of neuro-decision-choice actions in the zone of variety identifications and transformations. The Monograph would be useful to all areas of Research, Learning and Teaching at Advanced Stages of Knowing and Knowledge Production.

This book presents the fundamentals of arc phenomena, various arc welding power sources, their control strategies, welding data acquisition, and welding optimization. In addition, it discusses a broad range of electrical concepts in welding, including power source characteristics, associated parameters, arc welding power source classification, control strategies, data acquisitions techniques, as well as optimization methods. It also offers advice on how to minimize the flaws and improve the efficacy and performance of welds, as well as insights into the mechanical behavior expressed in terms of electromagnetic phenomena, which is rarely addressed. The book provides a comprehensive review of interdisciplinary concepts, offering researchers a wide selection of strategies, parameters, and sequences of operations to choose from.

The efforts in nonlinear control over the last few years have led to the level of generality in which conceptual solutions exist for all systems affine in control and the disturbance, and constructive designs exist for a specific class of nonlinear systems - although broad in terms of physical relevance. This monograph presents the fundamentals of global stabilization and optimal control of nonlinear systems with uncertain models. It offers a unified view of deterministic disturbance attenuation, stochastic control, and adaptive control for nonlinear systems. The book addresses a large audience of researchers, students, engineers and mathematicians in the areas of robust and adaptive nonlinear control, nonlinear H... stochastic nonlinear control (including risk-sensitive), and other related areas of control an d dynamical systems theory.

This book presents research related to smart devices and Internet of Things (IoT) that are intended to advance environmental sustainability. With sustainability as the focus, the topics covered include designing and controlling of smart systems, networking and machine learning, monitoring and controlling the environment, smart metering, authentication and authorization, and software and systems solution. The authors discuss how IoT can aid in sustainability through its implementation of systems interconnecting several objects, whether in the physical or in the virtual worlds. The chapters also present several applications including in smart homes, transportation, and healthcare. The book pertains to researchers, academics, and professionals.

Cooperative Control of Multi-Agent Systems: An Optimal and Robust Perspective reports and encourages technology transfer in the field of cooperative control of multi-agent systems. The book deals with UGVs, UAVs, UUVs and spacecraft, and more. It presents an extended exposition of the authors' recent work on all aspects of multi-agent technology. Modelling and cooperative control of multi-agent systems are topics of great interest, across both academia (research and education) and industry (for real applications and end-users). Graduate students and researchers from a wide spectrum of specialties in electrical, mechanical or aerospace engineering fields will use this book as a key resource.

This book focuses on vibration suppression of flexible three-dimensional Euler-Bernoulli beams modeled by PDEs. Boundary control strategy and several control methods are proposed to stabilize the closed-loop system. Besides, some common engineering problems such as input constraint and output constraint are also considered in the control scheme design. This book offers a comprehensive introduction of the modeling process, controller design, stability analysis and numerical simulation. The detailed MATLAB codes in each chapter are also provided, which can make readers better understand the control flow of the system. This book is mainly targeted for researchers, senior undergraduate students and postgraduate students in the field of control theory and control engineering.

This book focuses on artifi cial intelligence in the field of digital signal processing and wireless communication. The implementation of machine learning and deep learning in audio, image, and video processing is presented, while adaptive signal processing and biomedical signal processing are also explored through DL algorithms, as well as 5G and green communication. Finally, metaheuristic algorithms of related mathematical problems are explored.

This book presents the proceedings of the 4th International Conference of IFToMM ITALY (IFIT), held in Naples, Italy on September 7-9, 2022. It includes peer-reviewed papers on the latest advances in mechanism and machine science, discussing topics such as biomechanical engineering, computational kinematics, the history of mechanism and machine science, gearing and transmissions, multi-body dynamics, robotics and mechatronics, the dynamics of machinery, tribology, vibrations, rotor dynamics and vehicle dynamics. A valuable, up-to-date resource, it offers an essential overview of the subject for scientists and practitioners alike, and will inspire further investigations and research.

"Symmetries and Semi-invariants in the Analysis of Nonlinear Systems" details the analysis of continuous- and discrete-time dynamical systems described by differential and difference equations respectively. Differential geometry provides the essential tools for the analysis, tools such as first-integrals or orbital symmetries, together with normal forms of vector fields and of maps. The use of such tools allows the solution of some important problems, studied in detail in the text, which includelinearization by state immersionand the computation of nonlinear superposition formulae for nonlinear systems described by solvable Lie algebras.

The theory is developed for general nonlinear systems and, in view of their importance for modeling physical systems, specialized for the class of Hamiltonian systems. By using the strong geometric structure of Hamiltonian systems, the results proposed are stated in a quite different, less complex and more easily comprehensible manner. Throughout the text the results are illustrated by many examples, some of them being physically motivated systems, so that the reader can appreciate how much insight is gained by means of these techniques. Various control systems applications of the techniques are characterized including:

. computation of the flow of nonlinear systems;

. computation of semi-invariants;

. computation of Lyapunov functions for stability analysis.

"Symmetries and Semi-invariants in the Analysis of Nonlinear Systems" will be of interest to researchers and graduate students studying control theory, particularly with respect to nonlinear systems. All the necessary background and mathematical derivations are related in detail but in a simple writing style that makes the book accessible in depth to readers having a standard knowledge of real analysis, linear algebra and systems theory. "

Data-driven Design of Fault Diagnosis and Fault-tolerant Control Systems presents basic statistical process monitoring, fault diagnosis, and control methods, and introduces advanced data-driven schemes for the design of fault diagnosis and fault-tolerant control systems catering to the needs of dynamic industrial processes. With ever increasing demands for reliability, availability and safety in technical processes and assets, process monitoring and fault-tolerance have become important issues surrounding the design of automatic control systems. This text shows the reader how, thanks to the rapid development of information technology, key techniques of data-driven and statistical process monitoring and control can now become widely used in industrial practice to address these issues. To allow for self-contained study and facilitate implementation in real applications, important mathematical and control theoretical knowledge and tools are included in this book. Major schemes are presented in algorithm form and demonstrated on industrial case systems.Data-driven Design of Fault Diagnosis and Fault-tolerant Control Systems will be of interest to process and control engineers, engineering students and researchers with a control engineering background.

The topics covered in this book range from modeling and programming languages and environments, via approaches for design and verification, to issues of ethics and regulation. In terms of techniques, there are results on model-based engineering, product lines, mission specification, component-based development, simulation, testing, and proof. Applications range from manufacturing to service robots, to autonomous vehicles, and even robots than evolve in the real world. A final chapter summarizes issues on ethics and regulation based on discussions from a panel of experts. The origin of this book is a two-day event, entitled RoboSoft, that took place in November 2019, in London. Organized with the generous support of the Royal Academy of Engineering and the University of York, UK, RoboSoft brought together more than 100 scientists, engineers and practitioners from all over the world, representing 70 international institutions. The intended readership includes researchers and practitioners with all levels of experience interested in working in the area of robotics, and software engineering more generally. The chapters are all self-contained, include explanations of the core concepts, and finish with a discussion of directions for further work. Chapters 'Towards Autonomous Robot Evolution', 'Composition, Separation of Roles and Model-Driven Approaches as Enabler of a Robotics Software Ecosystem' and 'Verifiable Autonomy and Responsible Robotics' are available open access under a Creative Commons Attribution 4.0 International License via link.springer.com.

This book deals with the stabilization issue of infinite dimensional dynamical systems both at the theoretical and applications levels. Systems theory is a branch of applied mathematics, which is interdisciplinary and develops activities in fundamental research which are at the frontier of mathematics, automation and engineering sciences. It is everywhere, innumerable and daily, and moreover is there something which is not system: it is present in medicine, commerce, economy, psychology, biological sciences, finance, architecture (construction of towers, bridges, etc.), weather forecast, robotics, automobile, aeronautics, localization systems and so on. These are the few fields of application that are useful and even essential to our society. It is a question of studying the behavior of systems and acting on their evolution. Among the most important notions in system theory, which has attracted the most attention, is stability. The existing literature on systems stability is quite important, but disparate, and the purpose of this book is to bring together in one document the essential results on the stability of infinite dimensional dynamical systems. In addition, as such systems evolve in time and space, explorations and research on their stability have been mainly focused on the whole domain in which the system evolved. The authors have strongly felt that, in this sense, important considerations are missing: those which consist in considering that the system of interest may be unstable on the whole domain, but stable in a certain region of the whole domain. This is the case in many applications ranging from engineering sciences to living science. For this reason, the authors have dedicated this book to extension of classical results on stability to the regional case. This book considers a very important issue, which is that it should be accessible to mathematicians and to graduate engineering with a minimal background in functional analysis. Moreover, for the majority of the students, this would be their only acquaintance with infinite dimensional system. Accordingly, it is organized by following increasing difficulty order. The two first chapters deal with stability and stabilization of infinite dimensional linear systems described by partial differential equations. The following chapters concern original and innovative aspects of stability and stabilization of certain classes of systems motivated by real applications, that is to say bilinear and semi-linear systems. The stability of these systems has been considered from a global and regional point of view. A particular aspect concerning the stability of the gradient has also been considered for various classes of systems. This book is aimed at students of doctoral and master's degrees, engineering students and researchers interested in the stability of infinite dimensional dynamical systems, in various aspects.

The mathematical theory of control became a ?eld of study half a century ago in attempts to clarify and organize some challenging practical problems and the methods used to solve them. It is known for the breadth of the mathematics it uses and its cross-disciplinary vigor. Its literature, which can befoundinSection93ofMathematicalReviews, wasatonetimedominatedby the theory of linear control systems, which mathematically are described by linear di?erential equations forced by additive control inputs. That theory led to well-regarded numerical and symbolic computational packages for control analysis and design. Nonlinear control problems are also important; in these either the - derlying dynamical system is nonlinear or the controls are applied in a n- additiveway.Thelastfourdecadeshaveseenthedevelopmentoftheoretical work on nonlinear control problems based on di?erential manifold theory, nonlinear analysis, and several other mathematical disciplines. Many of the problems that had been solved in linear control theory, plus others that are new and distinctly nonlinear, have been addressed; some resulting general de?nitions and theorems are adapted in this book to the bilinear case

This book provides an overview of how efficient building energy management can be done, considering the increasing importance of renewable energy integration. It also includes the grid-interactive building, their control, energy management, and optimization techniques to promote better understanding among researchers and business professionals in the utility sector and across industries. This book is written and edited by leading specialists active in concurrent developments in smart building management, renewable energy research, and application-driven R&D. The experiences and research work shared help the readers in enhancing their knowledge in the field of renewable energy, power engineering, building energy management, demand, and supply management and learn the technical analysis of the same in an insightful manner. Additionally, established and emerging applications related to applied areas like smart cities, the Internet of things, machine learning, artificial intelligence, etc., are developed and utilized to demonstrate recent innovations in smart building energy management.

This volume aims to provide a state-of-the-art and the latest advancements in the field of intelligent control and smart energy management. Techniques, combined with technological advances, have enabled the deployment of new operating systems in many engineering applications, especially in the domain of transport and renewable resources. The control and energy management of transportation and renewable resources are shifting towards autonomous reasoning, learning, planning and operating. As a result, these techniques, also referred to as autonomous control and energy management, will become practically ubiquitous soon. The discussions include methods, based on neural control (and others) as well as distributed and intelligent optimization. While the theoretical concepts are detailed and explained, the techniques presented are tailored to transport and renewable resources applications, such as smart grids and automated vehicles. The reader will grasp the most important theoretical concepts as well as to fathom the challenges and needs related to timely practical applications. Additional content includes research perspectives and future direction as well as insight into the devising of techniques that will meet tomorrow's scientific needs. This contributed volume is for researchers, graduate students, engineers and practitioners in the domains of control, energy, and transportation.

The use of small unoccupied aerial systems (sUAS) for acquiring close-range remotely sensed data has substantially increased in the past 5 years. A primary focus of early research was on physical systems and photogrammetric techniques. However, as sUAS technology continues to improve and more sophisticated payloads are utilized, such as lidar and multispectral cameras, applications have expanded to nearly all subdisciplines within Geography. This edited volume is intended to showcase the various ways in which sUAS are used in geographic research, including geomorphology, environmental and hazard monitoring, biogeography, and urban and sociocultural geography.

This book examines the fundamentals of vehicle dynamics, as well as the recent trends in the field, such as torque vectoring control, vehicle state estimation, and autonomous vehicles. It investigates the most pressing problems that vehicle dynamics engineers have been facing nowadays, and the challenges of autonomous vehicles in terms of perception, path planning, and analysis of the road environment. The book will serve as a useful tool for graduate students and researchers in vehicle dynamics and control.

The past decade has seen tremendous interest in the production and refinement of unmanned aerial vehicles, both fixed-wing, such as airplanes and rotary-wing, such as helicopters and vertical takeoff and landing vehicles. This book provides a diversified survey of research and development on small and miniature unmanned aerial vehicles of both fixed and rotary wing designs. From historical background to proposed new applications, this is the most comprehensive reference yet.