This book shows in a comprehensive presentation how Bond Graph methodology can support model-based control, model-based fault diagnosis, fault accommodation, and failure prognosis by reviewing the state-of-the-art, presenting a hybrid integrated approach to Bond Graph model-based fault diagnosis and failure prognosis, and by providing a review of software that can be used for these tasks. The structured text illustrates on numerous small examples how the computational structure superimposed on an acausal bond graph can be exploited to check for control properties such as structural observability and control lability, perform parameter estimation and fault detection and isolation, provide discrete values of an unknown degradation trend at sample points, and develop an inverse model for fault accommodation. The comprehensive presentation also covers failure prognosis based on continuous state estimation by means of filters or time series forecasting. This book has been written for students specializing in the overlap of engineering and computer science as well as for researchers, and for engineers in industry working with modelling, simulation, control, fault diagnosis, and failure prognosis in various application fields and who might be interested to see how bond graph modelling can support their work. Presents a hybrid model-based, data-driven approach to failure prognosis Highlights synergies and relations between fault diagnosis and failure prognostic Discusses the importance of fault diagnosis and failure prognostic in various fields

This book discusses novel methods for planning and coordinating converters when an existing point-to-point (PtP) HVDC link is expanded into a multi-terminal HVDC (MTDC) system. It demonstrates that expanding an existing PtP HVDC link is the best way to build an MTDC system, and is especially a better option than the build-from-scratch approach in cases where several voltage-sourced converter (VSC) HVDC links are already in operation. The book reports in detail on the approaches used to estimate the new steady-state operation limits of the expanded system and examines the factors influencing them, revealing new operation limits in the process. Further, the book explains how to coordinate the converters to stay within the limits after there has been a disturbance in the system. In closing, it describes the current DC grid control concept, including how to implement it in an MTDC system, and introduces a new DC grid control layer, the primary control interface (IFC).

This book presents a variety of perspectives on vision-based applications. These contributions are focused on optoelectronic sensors, 3D & 2D machine vision technologies, robot navigation, control schemes, motion controllers, intelligent algorithms and vision systems. The authors focus on applications of unmanned aerial vehicles, autonomous and mobile robots, industrial inspection applications and structural health monitoring. Recent advanced research in measurement and others areas where 3D & 2D machine vision and machine control play an important role, as well as surveys and reviews about vision-based applications. These topics are of interest to readers from diverse areas, including electrical, electronics and computer engineering, technologists, students and non-specialist readers. * Presents current research in image and signal sensors, methods, and 3D & 2D technologies in vision-based theories and applications; * Discusses applications such as daily use devices including robotics, detection, tracking and stereoscopic vision systems, pose estimation, avoidance of objects, control and data exchange for navigation, and aerial imagery processing; * Includes research contributions in scientific, industrial, and civil applications.

This is the fourth volume of the successful series Robot Operating Systems: The Complete Reference, providing a comprehensive overview of robot operating systems (ROS), which is currently the main development framework for robotics applications, as well as the latest trends and contributed systems. The book is divided into four parts: Part 1 features two papers on navigation, discussing SLAM and path planning. Part 2 focuses on the integration of ROS into quadcopters and their control. Part 3 then discusses two emerging applications for robotics: cloud robotics, and video stabilization. Part 4 presents tools developed for ROS; the first is a practical alternative to the roslaunch system, and the second is related to penetration testing. This book is a valuable resource for ROS users and wanting to learn more about ROS capabilities and features.

This book shows how a conventional multi-layered approach can be used to control a snake robot on a desired path while moving on a flat surface. To achieve robustness to unknown variations in surface conditions, it explores various adaptive robust control methods. The authors propose a sliding-mode control approach designed to achieve robust maneuvering for bounded uncertainty with a known upper bound. The control is modified by addition of an adaptation law to alleviate the overestimation problem of the switching gain as well as to circumvent the requirement for knowledge regarding the bounds of uncertainty. The book works toward non-conservativeness, achieving efficient tracking in the presence of slowly varying uncertainties with a specially designed framework for time-delayed control. It shows readers how to extract superior performance from their snake robots with an approach that allows robustness toward bounded time-delayed estimation errors. The book also demonstrates how the multi-layered control framework can be simplified by employing differential flatness for such a system. Finally, the mathematical model of a snake robot moving inside a uniform channel using only side-wall contact is discussed. The model has further been employed to demonstrate adaptive robust control design for such a motion. Using numerous illustrations and tables, Adaptive Robust Control for Planar Snake Robots will interest researchers, practicing engineers and postgraduate students working in the field of robotics and control systems.

This book discusses methods and algorithms for the near-optimal adaptive control of nonlinear systems, including the corresponding theoretical analysis and simulative examples, and presents two innovative methods for the redundancy resolution of redundant manipulators with consideration of parameter uncertainty and periodic disturbances. It also reports on a series of systematic investigations on a near-optimal adaptive control method based on the Taylor expansion, neural networks, estimator design approaches, and the idea of sliding mode control, focusing on the tracking control problem of nonlinear systems under different scenarios. The book culminates with a presentation of two new redundancy resolution methods; one addresses adaptive kinematic control of redundant manipulators, and the other centers on the effect of periodic input disturbance on redundancy resolution. Each self-contained chapter is clearly written, making the book accessible to graduate students as well as academic and industrial researchers in the fields of adaptive and optimal control, robotics, and dynamic neural networks.

Approximation Methods in Engineering and Science covers fundamental and advanced topics in three areas: Dimensional Analysis, Continued Fractions, and Stability Analysis of the Mathieu Differential Equation. Throughout the book, a strong emphasis is given to concepts and methods used in everyday calculations. Dimensional analysis is a crucial need for every engineer and scientist to be able to do experiments on scaled models and use the results in real world applications. Knowing that most nonlinear equations have no analytic solution, the power series solution is assumed to be the first approach to derive an approximate solution. However, this book will show the advantages of continued fractions and provides a systematic method to develop better approximate solutions in continued fractions. It also shows the importance of determining stability chart of the Mathieu equation and reviews and compares several approximate methods for that. The book provides the energy-rate method to study the stability of parametric differential equations that generates much better approximate solutions.

This book presents advanced studies on the conversion efficiency, mechanical reliability, and the quality of power related to wind energy systems. The main concern regarding such systems is reconciling the highly intermittent nature of the primary source (wind speed) with the demand for high-quality electrical energy and system stability. This means that wind energy conversion within the standard parameters imposed by the energy market and power industry is unachievable without optimization and control. The book discusses the rapid growth of control and optimization paradigms and applies them to wind energy systems: new controllers, new computational approaches, new applications, new algorithms, and new obstacles.

Risk detection and cyber security play a vital role in the use and success of contemporary computing. By utilizing the latest technological advances, more effective prevention techniques can be developed to protect against cyber threats. Detecting and Mitigating Robotic Cyber Security Risks is an essential reference publication for the latest research on new methodologies and applications in the areas of robotic and digital security. Featuring extensive coverage on a broad range of topics, such as authentication techniques, cloud security, and mobile robotics, this book is ideally designed for students, researchers, scientists, and engineers seeking current research on methods, models, and implementations of optimized security in digital contexts.

The book focuses the latest endeavours relating researches and developments conducted in fields of Control, Robotics and Automation. Through more than twenty revised and extended articles, the present book aims to provide the most up-to-date state-of-art of the aforementioned fields allowing researcher, PhD students and engineers not only updating their knowledge but also benefiting from the source of inspiration that represents the set of selected articles of the book. The deliberate intention of editors to cover as well theoretical facets of those fields as their practical accomplishments and implementations offers the benefit of gathering in a same volume a factual and well-balanced prospect of nowadays research in those topics. A special attention toward "Intelligent Robots and Control" may characterize another benefit of this book.

This book provides exclusive insight into the development of a new generation of robotic underwater technologies. Deploying and using even the most simple and robust mechanical tools is presenting a challenge, and is often associated with an enormous amount of preparation, continuous monitoring, and maintenance. Therefore, all disciplinary aspects (e.g. system design, communication, machine learning, mapping and coordination, adaptive mission planning) are examined in detail and together this gives an extensive overview on research areas influencing next generation underwater robots. These robotic underwater systems will operate autonomously with the help of the most modern artificial intelligence procedures and perform environmental monitoring as well as inspection and maintenance of underwater structures. The systems are designed as modular and reconfigurable systems for long term autonomy to remain at the site for longer periods of time. New communication methods using AI enable missions of hybrid teams of humans and heterogeneous robots. Thus this volume will be an important reference for scientists on every qualification level in the field of underwater technologies, industrial maritime applications, and maritime science.

This book presents the proceedings of the 30th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2021, held in Poitiers, France, 21-23 June 2021. It gathers contributions by researchers from several countries on all major areas of robotic research, development and innovation, as well as new applications and current trends. The topics covered include: novel designs and applications of robotic systems, intelligent cooperating and service robots, advanced robot control, human-robot interfaces, robot vision systems, mobile robots, humanoid and walking robots, bio-inspired and swarm robotic systems, aerial, underwater and spatial robots, robots for ambient assisted living, medical robots and bionic prostheses, cognitive robots, cloud robotics, ethical and social issues in robotics, etc. Given its scope, the book offers a source of information and inspiration for researchers seeking to improve their work and gather new ideas for future developments.

This book gathers contributions from a multidisciplinary research team comprised of control engineering and economics researchers and formed to address a central interdisciplinary social issue, namely economically enabled energy management. The book's primary focus is on achieving optimal energy management that is viable from both an engineering and economic standpoint. In addition to the theoretical results and techniques presented, several chapters highlight experimental case studies, which will benefit academic researchers and practitioners alike. The first three chapters present comprehensive overviews of respective social contexts, underscore the pressing need for economically efficient energy management systems and academic work on this emerging research topic, and identify fundamental differences between approaches in control engineering and economics. In turn, the next three chapters (Chapters 4-6) provide economics-oriented approaches to the subject. The following five chapters (Chapters 7-11) address optimal energy market design, integrating both physical and economic models. The book's last three chapters (Chapters 12-14) mainly focus on the engineering aspects of next-generation energy management, though economic factors are also shown to play important roles.

This book focuses on the calculus of variations, including fundamental theories and applications. This textbook is intended for graduate and higher-level college and university students, introducing them to the basic concepts and calculation methods used in the calculus of variations. It covers the preliminaries, variational problems with fixed boundaries, sufficient conditions of extrema of functionals, problems with undetermined boundaries, variational problems of conditional extrema, variational problems in parametric forms, variational principles, direct methods for variational problems, variational principles in mechanics and their applications, and variational problems of functionals with vector, tensor and Hamiltonian operators. Many of the contributions are based on the authors' research, addressing topics such as the extension of the connotation of the Hilbert adjoint operator, definitions of the other three kinds of adjoint operators, the extremum function theorem of the complete functional, unified Euler equations in variational methods, variational theories of functionals with vectors, modulus of vectors, arbitrary order tensors, Hamiltonian operators and Hamiltonian operator strings, reconciling the Euler equations and the natural boundary conditions, and the application range of variational methods. The book is also a valuable reference resource for teachers as well as science and technology professionals.

This book discusses the parametric modeling, performance evaluation, design optimization and comparative study of the high-speed, parallel pick-and-place robots. It collects the modeling methodology, evaluation criteria and design guidelines for parallel PnP robots to provide a systematic analysis method for robotic developers. Furthermore, it gathers the research results previously scattered in many prestigious international journals and conference proceedings and methodically edits them and presents them in a unified form. The book is of interest to researchers, R&D engineers and graduate students in industrial parallel robotics who wish to learn the core principles, methods, algorithms, and applications.

This book highlights the prevention of possible accidents and crashes of aircrafts by analyzing the many factors that affect such events. It includes the theoretical study of known ideas and concepts, as well as a set of new methods and mathematical models. It contains factual information to investigate famous disasters and aviation accidents with aircrafts. The book proposes methods and models that can be the basis in developing guidance material for decision-making by the flight crew and experts in air traffic control. Some of the contents presented in this book are also useful in the design and operation of data transmission systems of aircraft. The book is intended for engineering and technical specialists engaged in the development, manufacturing and operations of onboard radio electronic systems of aircraft and ground-based radio engineering support for flights, as well as graduate students and senior students of radio engineering specialties. It is useful to researchers and managers whose activities are related to air traffic control.

This book presents selected papers from The 1st International Conference on Computational Design and Robotic Fabrication (CDRF 2019). Focusing on novel architecture theories, tools, methods, and procedures for digital design and construction in architecture, it promotes dialogs between architecture, engineer, computer science, robotics, and other relevant disciplines to establish a new way of production in the building industry in the digital age. The contents make valuable contributions to academic researchers and engineers in the industry. At the same time, it offers readers new ideas for the application of digital technology.

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

This book is based on the authors' research on the stabilization and fault-tolerant control of batch processes, which are flourishing topics in the field of control system engineering. It introduces iterative learning control for linear/nonlinear single/multi-phase batch processes; iterative learning optimal guaranteed cost control; delay-dependent iterative learning control; and iterative learning fault-tolerant control for linear/nonlinear single/multi-phase batch processes. Providing important insights and useful methods and practical algorithms that can potentially be applied in batch process control and optimization, it is a valuable resource for researchers, scientists, and engineers in the field of process system engineering and control engineering.

This book contains a collection of 13 carefully selected papers contributed by researches in technical and partial medical diagnostics as well as fault-tolerant control and constitutes a comprehensive study of the field. Nowadays technical diagnostics and fault-tolerant control are a field of intensive scientific research that covers well-established topics along with emerging developments in control engineering, artificial intelligence, applied mathematics and statistics. At the same time, a growing number of applications of different fault diagnosis methods, especially in the electrical, mechanical, chemical and medical areas, are being observed. The aim of the book is to show the bridge between technical and medical diagnosis based on analytical and artificial intelligence methods and techniques. The book is divided into three parts: I. Fault-Tolerant Control and Reconfiguration, II. Fault Diagnosis of Processes and Systems, III. Medical Applications. The book is of interest to scientists, engineers and academics dealing with the problems of designing technical diagnosis and fault-tolerant control systems. Its target readers are also junior researchers and students of control, artificial intelligence and computer engineering.

This book contains selected papers from SEB-18, the Tenth International Conference on Sustainability in Energy and Buildings, which was organised by KES International and Griffith University and held in Gold Coast, Australia in June 2018. SEB-18 invited contributions on a range of topics related to sustainable buildings and renewable energy, and explored innovative topics regarding intelligent buildings and cities. Applicable areas included the sustainable design and of buildings, neighbourhoods and cities (built and natural environment); optimisation and modelling techniques; smart energy systems for smart cities; green information communications technology; and a broad range of solar, wind, wave and other renewable energy topics. The aim of the conference was to bring together researchers and government and industry professionals to discuss the future of energy in buildings, neighbourhoods and cities from a theoretical, practical, implementation and simulation perspective. In addition, SEB-18 offered an exciting opportunity to present, interact, and learn about the latest research in Sustainability in Energy and Buildings.

This book highlights operation principles for Air Traffic Control Automated Systems (ATCAS), new scientific directions in design and application of dispatching training simulators and parameters of ATCAS radio equipment items for aircraft positioning. This book is designed for specialists in air traffic control and navigation at a professional and scientific level. The following topics are also included in this book: personnel actions in emergency, including such unforeseen circumstances as communication failure, airplane wandering off course, unrecognized aircraft appearance in the air traffic service zone, aerial target interception, fuel draining, airborne collision avoidance system (ACAS) alarm, emergency stacking and volcanic ash cloud straight ahead.

This book discusses systematic designs of stable adaptive fuzzy logic controllers employing hybridizations of Lyapunov strategy-based approaches/H theory-based approaches and contemporary stochastic optimization techniques. The text demonstrates how candidate stochastic optimization techniques like Particle swarm optimization (PSO), harmony search (HS) algorithms, covariance matrix adaptation (CMA) etc. can be utilized in conjunction with the Lyapunov theory/H theory to develop such hybrid control strategies. The goal of developing a series of such hybridization processes is to combine the strengths of both Lyapunov theory/H theory-based local search methods and stochastic optimization-based global search methods, so as to attain superior control algorithms that can simultaneously achieve desired asymptotic performance and provide improved transient responses. The book also demonstrates how these intelligent adaptive control algorithms can be effectively utilized in real-life applications such as in temperature control for air heater systems with transportation delay, vision-based navigation of mobile robots, intelligent control of robot manipulators etc.

This multi-volume handbook is the most up-to-date and comprehensive reference work in the field of fractional calculus and its numerous applications. This sixth volume collects authoritative chapters covering several applications of fractional calculus in control theory, including fractional controllers, design methods and toolboxes, and a large number of engineering applications of control.

This book describes an original improvement in power quality of photovoltaic generation systems obtained by the use of a multilevel inverter implemented with level doubling network (LDN). Modulation principles and harmonic analysis of output voltages are proposed and introduced in detail for both single and three-phase LDN configurations. The analysis is then extended to dc-link current and voltage, with emphasis to low-frequency harmonics and switching frequency ripple. This work represents the first comprehensive implementation of maximum power point tracking (MPPT) schemes using the ripple correlation control (RCC) algorithm in the presence of multiple ripple harmonics, such as in the case of multi level inverters. Numerical simulations and experimental tests are carefully reported here, together with practical insights into the design of dc-link capacitors.