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.

This book is devoted to the problem of sampled-data control of finite-dimensional linear continuous periodic (FDLCP) objects. It fills a deficit in coverage of this important subject. The methods presented here are based on the parametric transfer matrix, which has proven successful in the study of sampled-data systems with linear time-invariant objects. The book shows that this concept can be successfully transferred to sampled-data systems with FDLCP objects. It is set out in five parts: * * an introduction to the frequency approach for the mathematical description of FDLCP objects including the determination of their structure and their representation as a serial connection of periodic modulators and a linear time-invariant object; * construction of parametric transfer matrix for different types of open and closed sampled-data systems with FDLCP objects; * the solution of problems of causal modal control of FDLCP objects based on the mathematical apparatus of determinant polynomial equations; * consideration of the problem of constructing a quadratic quality functional for the H2-optimization problem of a single-loop synchronous sampled-data system with control delay; * description of the general H2-optimization procedure. Necessary mathematical reference material is included at relevant points in the book. Sampled-Data Control for Periodic Objects is of use to: scientists and engineers involved in research and design of systems of systems with FDLCP objects; graduate students wishing to broaden their scope of competence; their instructors; and mathematicians working in the field of control theory.

This book is dedicated for engineers and researchers who would like to increase the knowledge in area of mobile mapping systems. Therefore, the flow of the derived information is divided into subproblems corresponding to certain mobile mapping data and related observations' equations. The proposed methodology is not fulfilling all SLAM aspects evident in the literature, but it is based on the experience within the context of the pragmatic and realistic applications. Thus, it can be supportive information for those who are familiar with SLAM and would like to have broader overview in the subject. The novelty is a complete and interdisciplinary methodology for large-scale mobile mapping applications. The contribution is a set of programming examples available as supportive complementary material for this book. All observation equations are implemented, and for each, the programming example is provided. The programming examples are simple C++ implementations that can be elaborated by students or engineers; therefore, the experience in coding is not mandatory. Moreover, since the implementation does not require many additional external programming libraries, it can be easily integrated with any mobile mapping framework. Finally, the purpose of this book is to collect all necessary observation equations and solvers to build computational system capable providing large-scale maps.

This monograph presents the development of novel model-based methodologies for engineering self-organized and self-assembled systems. The work bridges the gap between statistical mechanics and control theory by tackling a number of challenges for a class of distributed systems involving a specific type of constitutive components, namely referred to as Smart Minimal Particles. The results described in the volume are expected to lead to more robust, dependable, and inexpensive distributed systems such as those endowed with complex and advanced sensing, actuation, computation, and communication capabilities.

The manufacturing industry is a cornerstone of national economy and people's livelihood. It is the way of transforming resources into products or goods which are required to cater to the needs of the society. Traditional manufacturing companies currently face several challenges such as rapid technological changes, inventory problem, shortened innovation, short product life cycles, volatile demand, low prices, highly customized products, and ability to compete in the global markets. Modern manufacturing is highly competitive due to globalization and fast changes in the global market. This book reviews emerging technologies in manufacturing. These technologies include artificial intelligence, smart manufacturing, lean manufacturing, robotics, automation, 3D printing, nanotechnology, industrial Internet of things, and augmented reality. The use of these technologies will have a profound impact on the manufacturing industry. The book consists of 19 chapters. Each chapter addresses a single emerging technology in depth and describes how manufacturing organizations are adopting the technology. The book fills an important niche for manufacturing. It is a comprehensive, jargon-free introductory text on the issues, ideas, theories, and problems on emerging technologies in manufacturing. It is a must-read book for beginners or anyone who wants to be updated about emerging technologies.

This book draws inspiration from natural shepherding, whereby a farmer utilizes sheepdogs to herd sheep, to inspire a scalable and inherently human friendly approach to swarm control. The book discusses advanced artificial intelligence (AI) approaches needed to design smart robotic shepherding agents capable of controlling biological swarms or robotic swarms of unmanned vehicles. These smart shepherding agents are described with the techniques applicable to the control of Unmanned X Vehicles (UxVs) including air (unmanned aerial vehicles or UAVs), ground (unmanned ground vehicles or UGVs), underwater (unmanned underwater vehicles or UUVs), and on the surface of water (unmanned surface vehicles or USVs). This book proposes how smart 'shepherds' could be designed and used to guide a swarm of UxVs to achieve a goal while ameliorating typical communication bandwidth issues that arise in the control of multi agent systems. The book covers a wide range of topics ranging from the design of deep reinforcement learning models for shepherding a swarm, transparency in swarm guidance, and ontology-guided learning, to the design of smart swarm guidance methods for shepherding with UGVs and UAVs. The book extends the discussion to human-swarm teaming by looking into the real-time analysis of human data during human-swarm interaction, the concept of trust for human-swarm teaming, and the design of activity recognition systems for shepherding. Presents a comprehensive look at human-swarm teaming; Tackles artificial intelligence techniques for swarm guidance; Provides artificial intelligence techniques for real-time human performance analysis.

This book is a collection of scienti c papers presented at the German Workshop on Robotics-a convention of researchers from academia and industry working on mathematical and algorithmic foundations of robotics, on the design and ana- sis of robotic systems as well as on robotic applications. As a new event of the Deutsche Gesellschaft fur .. Robotik (DGR, German Robotics Society), the workshop took place at the Technische Universitat .. Carolo-Wilhelmina zu Braunschweig on June 9-10, 2009. Covering some of the most important ongoing robotics research topics, this v- ume contains 31 carefully selected and discussed contributions. All of them were presented at the workshop that was attended by 80 researchers representing a wide range of research areas within robotics. The papers are organized in ten scienti c tracks: Kinematic and Dynamic Modeling, Motion Generation, Sensor Integration, Robot Vision, Robot Programming, Humanoid Robots, Grasping, Medical Rob- ics, AutonomousHelicopters,andRobotApplications.Two invitedtalksbyAntonio Bicchi and Atsuo Takanishi presented surveys of research activities in the elds of human-robotinteraction and humanoid robotics. The Program Committee was comprised of Karsten Berns, Oliver Brock, W- fram Burgard, Martin Buss, Thomas Christaller, Ru ..diger Dillmann, Bernd Fin- meyer, Martin Hagel .. e, Bodo Heimann, Dominik Henrich, Gerd Hirzinger, Alois Knoll, Helge-Bjorn .. Kuntze, Gisbert Lawitzky, Jur .. gen Rossmann, Roland Siegwart, Markus Vincze, and Heinz Worn...After an extensive review and discussion process, the committee met at February 17, 2009, and composed the scienti c program from a pool of 49 submissions.

The proceedings of the 2022 edition of the International Symposium of Robotics Research (ISRR) offer a series of peer-reviewed chapters that report on the most recent research results in robotics, in a variety of domains of robotics including robot design, control, robot vision, robot learning, planning, and integrated robot systems. The proceedings entail also invited contributions that offer provocative new ideas, open-ended themes, and new directions for robotics, written by some of the most renown international researchers in robotics. As one of the pioneering symposia in robotics, ISRR has established some of the most fundamental and lasting contributions in the field since 1983. ISRR promotes the development and dissemination of ground-breaking research and technological innovation in robotics useful to society by providing a lively, intimate, forward-looking forum for discussion and debate about the status and future trends of robotics, with emphasis on its potential role to benefit humans.

This book systematically presents the most recent progress in stability and control of impulsive systems with delays. Impulsive systems have recently attracted continued high research interests because they provide a natural framework for mathematical modeling of many real-world processes. It focuses not only on impulsive delayed systems, but also impulsive systems with delayed impulses and impulsive systems with event-triggered mechanism, including their Lyapunov stability, finite-time stability and input-to-state stability synthesis. Special attention is paid to the bilateral effects of the delayed impulses, where comprehensive stability properties are discussed in the framework of time-dependent and state-dependent delays. New original work with event-triggered impulsive control and its applications in multi-agent systems and collective dynamics are also provided. This book will be of use to specialists who are interested in the theory of impulsive differential equations and impulsive control theory, as well as high technology specialists who work in the fields of complex networks and applied mathematics. Also, instructors teaching graduate courses and graduate students will find this book a valuable source of nonlinear system theory.

21st Century Kinematics focuses on algebraic problems in the analysis and synthesis of mechanisms and robots, compliant mechanisms, cable-driven systems and protein kinematics. The specialist contributors provide the background for a series of presentations at the 2012 NSF Workshop. The text shows how the analysis and design of innovative mechanical systems yield increasingly complex systems of polynomials, characteristic of those systems. In doing so, it takes advantage of increasingly sophisticated computational tools developed for numerical algebraic geometry and demonstrates the now routine derivation of polynomial systems dwarfing the landmark problems of even the recent past. The 21st Century Kinematics workshop echoes the NSF-supported 1963 Yale Mechanisms Teachers Conference that taught a generation of university educators the fundamental principles of kinematic theory. As such these proceedings will provide admirable supporting theory for a graduate course in modern kinematics and should be of considerable interest to researchers in mechanical design, robotics or protein kinematics or who have a broader interest in algebraic geometry and its applications.

The Pumps and Pipes collaboration and conference brings together energy, medicine, and higher education in a unique shared effort, exploring ideas and research common to these important fields and stimulating discussion and sharing technologies that can further the reach and goals of each individual area. The Proceedings explores the common attributes of oil and gas technology, computational sciences and cardiovascular medicine and probe the areas where there is room to cross-fertilize and develop research and commercial programs.

In this book, the author deals with the mathematical modelling, nonlinear control and performance evaluation of a conceptual anti-aircraft gun based mobile air defence system engaging an attacking three-dimensional aerial target. This book is of interest to academic faculty, graduate students and industry professionals working in the fields of mathematical modelling and control, ground vehicles, mobile air defence systems and other related topics.

This open access book is a compilation of selected papers from 2020 DigitalFUTURES-The 2nd International Conference on Computational Design and Robotic Fabrication (CDRF 2020). The book focuses on novel techniques for computational design and robotic fabrication. The contents make valuable contributions to academic researchers, designers, and engineers in the industry. As well, readers will encounter new ideas about understanding intelligence in architecture.

This book discusses the principles, approaches, concepts and development programs for integrated aircraft avionics. The functional tasks of integrated on-board radio electronic equipment (avionics) of navigation, landing, data exchange and air traffic control are formulated that meet the modern requirements of civil and military aviation, and the principles of avionics integration are proposed. The modern approaches to the joint processing of information in navigation and landing complexes are analyzed. Algorithms of multichannel information processing in integrated avionics are considered, and examples of its implementation are presented. This book is intended for scientists and professionals in the field of aviation equipment, students and graduate students of relevant specialties.

By the dawn of the new millennium,robotics has undergonea major transformation in scope and dimensions. This expansion has been broughtabout by the maturity of the ?eld and the advances in its related technologies. From a largely dominant - dustrial focus, roboticshas been rapidly expandinginto the challengesof the human world.The new generationofrobotsis expectedto safely anddependablyco-habitat withhumansinhomes,workplaces,andcommunities,providingsupportinservices, entertainment, education, healthcare, manufacturing, and assistance. Beyond its impact on physical robots, the body of knowledge robotics has p- duced is revealing a much wider range of applications reaching across diverse research areas and scienti?c disciplines, such as: biomechanics, haptics, neu- sciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are proving 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 developmentswill stimulate more exchangesand collaborationsamongthe research community and contribute to further advancement of this rapidly growing ?eld. This volume is the outcome of the eight edition of the biennial Workshop Al- rithmic Foundations of Robotics (WAFR). Edited by G. Chirikjian, H. Choset, M.