In recent years, there has been growing interest in industrial systems, especially in robotic manipulators and mobile robot systems. As the cost of robots goes down and become more compact, the number of industrial applications of robotic systems increases. Moreover, there is need to design industrial systems with intelligence, autonomous decision making capabilities, and self-diagnosing properties. Intelligent Industrial Systems: Modeling, Automation and Adaptive Behavior analyzes current trends in industrial systems design, such as intelligent, industrial, and mobile robotics, complex electromechanical systems, fault diagnosis and avoidance of critical conditions, optimization, and adaptive behavior. This book discusses examples from major areas of research for engineers and researchers, providing an extensive background on robotics and industrial systems with intelligence, autonomy, and adaptive behavior giving emphasis to industrial systems design.

This book presents an Intelligent Control Architecture (ICA) to enable multiple collaborating marine vehicles to autonomously carry out underwater intervention missions. The presented ICA is generic in nature but aimed at a case study where a marine surface craft and an underwater vehicle are required to work cooperatively. It is shown that they are capable of cooperating autonomously towards the execution of complex activities since they have different but complementary capabilities. The ICA implementation is verified in simulation, and validated in trials by means of a team of autonomous marine robots. This book also presents architectural details and evaluation scenarios of the ICA, results of simulations and trials from different maritime operations, and future research directions.

This thesis provides a systematic and integral answer to an open problem concerning the universality of dynamic fuzzy controllers. It presents a number of novel ideas and approaches to various issues including universal function approximation, universal fuzzy models, universal fuzzy stabilization controllers, and universal fuzzy integral sliding mode controllers. The proposed control design criteria can be conveniently verified using the MATLAB toolbox. Moreover, the thesis provides a new, easy-to-use form of fuzzy variable structure control. Emphasis is given to the point that, in the context of deterministic/stochastic systems in general, the authors are in fact discussing non-affine nonlinear systems using a class of generalized T-S fuzzy models, which offer considerable potential in a wide range of applications.

The International Symposium on Experimental Robotics (ISER) is a series of bi-annual meetings which are organized in a rotating fashion around North America, Europe and Asia/Oceania. The goal of ISER is to provide a forum for research in robotics that focuses on novelty of theoretical contributions validated by experimental results. The meetings are conceived to bring together, in a small group setting, researchers from around the world who are in the forefront of experimental robotics research. This unique reference presents the latest advances across the various fields of robotics, with ideas that are not only conceived conceptually but also explored experimentally. It collects robotics contributions on the current developments and new directions in the field of experimental robotics, which are based on the papers presented at the 14th ISER held on June 15-18, 2014 in Marrakech and Essaouira, Morocco. This present fourteenth edition of Experimental Robotics edited by M. Ani Hsieh, Oussama Khatib, and Vijay Kumar offers a collection of a broad range of topics in field and human-ce ntered robotics.

This book contains mainly the selected papers of the First International Workshop on Medical and Service Robots, held in Cluj-Napoca, Romania, in 2012. The high quality of the scientific contributions is the result of a rigorous selection and improvement based on the participants exchange of opinions and extensive peer-review. This process has led to the publishing of the present collection of 16 independent valuable contributions and points of view and not as standard symposium or conference proceedings.

The addressed issues are: Computational Kinematics, Mechanism Design, Linkages and Manipulators, Mechanisms for Biomechanics, Mechanics of Robots, Control Issues for Mechanical Systems, Novel Designs, Teaching Methods, all of these being concentrated around robotic systems for medical and service applications.

The results are of interest to researchers and professional practitioners as well as to Ph.D. students in the field of mechanical and electrical engineering.

This volume marks the start of a subseries entitled New Trends in Medical and Service Robots within the "Machine and Mechanism Science Series," presenting recent trends, research results and new challenges in the field of medical and service robotics.

"

A critical part of ensuring that systems are advancing alongside technology without complications is problem solving. Practical applications of problem-solving theories can model conflict and cooperation and aid in creating solutions to real-world problems. Soft-Computing-Based Nonlinear Control Systems Design is a critical scholarly publication that examines the practical applications of control theory and its applications in problem solving to fields including economics, environmental management, and financial modelling. Featuring a wide range of topics, such as fuzzy logic, nature-inspired algorithms, and cloud computing, this book is geared toward academicians, researchers, and students seeking relevant research on control theory and its practical applications.

This book introduces and illustrates modeling, sensing, and control methods for analyzing, designing, and developing spherical motors. It systematically presents models for establishing the relationships among the magnetic fields, position/orientation and force/torque, while also providing time-efficient solutions to assist researchers and engineers in studying and developing these motors. In order to take full advantage of spherical motors' compact structure in practical applications, sensing and control methods that utilize their magnetic fields and eliminate the need to install external sensors for feedback are proposed. Further, the book investigates for the first time spherical motors' force/torque manipulation capability, and proposes algorithms enabling the ball-joint-like end-effector for haptic use based on these motors' hybrid position/force actuation modes. While systematically presenting approaches to their design, sensing and control, the book also provides many examples illustrating the implementation issues readers may encounter.

Much work on fuzzy control, covering research, development and applications, has been developed in Europe since the 90's. Nevertheless, the existing books in the field are compilations of articles without interconnection or logical structure or they express the personal point of view of the author. This book compiles the developments of researchers with demonstrated experience in the field of fuzzy control following a logic structure and a unified the style. The first chapters of the book are dedicated to the introduction of the main fuzzy logic techniques, where the following chapters focus on concrete applications. This book is supported by the EUSFLAT and CEA-IFAC societies, which include a large number of researchers in the field of fuzzy logic and control. The central topic of the book, Fuzzy Control, is one of the main research and development lines covered by these associations.

Theory of Electroelasticity analyzes the stress, strain, electric field and electric displacement in electroelastic structures such as sensors, actuators and other smart materials and structures. This book also describes new theories such as the physical variational principle and the inertial entropy theory. It differs from the traditional method by using the physical variational principle to derive the governing equations of the piezoelectric material, whereas the Maxwell stress is obtained automatically. By using the inertial entropy theory, the temperature wave equation is obtained very easily. The book is intended for scientists, researchers and engineers in the areas of mechanics, physics, smart material and control engineering as well as mechanical, aeronautical and civil engineering, etc. Zhen-Bang Kuang is a professor at Shanghai Jiao Tong University.

This book contains fifty-eight revised and extended research articles written by prominent researchers participating in the Advances in Engineering Technologies and Physical Science conference, held in London, U.K., 4-6 July, 2012. Topics covered include Applied and Engineering Mathematics, Computational Statistics, Mechanical Engineering, Bioengineering, Internet Engineering, Wireless Networks, Knowledge Engineering, Computational Intelligence, High Performance Computing, Manufacturing Engineering, and industrial applications. The book offers the state of art of tremendous advances in engineering technologies and physical science and applications, and also serves as an excellent reference work for researchers and graduate students working on engineering technologies and physical science and applications.

The book offers a snapshot of the theories and applications of soft computing in the area of complex systems modeling and control. It presents the most important findings discussed during the 5th International Conference on Modelling, Identification and Control, held in Cairo, from August 31-September 2, 2013. The book consists of twenty-nine selected contributions, which have been thoroughly reviewed and extended before their inclusion in the volume. The different chapters, written by active researchers in the field, report on both current theories and important applications of soft-computing. Besides providing the readers with soft-computing fundamentals, and soft-computing based inductive methodologies/algorithms, the book also discusses key industrial soft-computing applications, as well as multidisciplinary solutions developed for a variety of purposes, like windup control, waste management, security issues, biomedical applications and many others. It is a perfect reference guide for graduate students, researchers and practitioners in the area of soft computing, systems modeling and control.

This edited monograph contains research contributions on a wide range of topics such as stochastic control systems, adaptive control, sliding mode control and parameter identification methods. The book also covers applications of robust and adaptice control to chemical and biotechnological systems. This collection of papers commemorates the 70th birthday of Dr. Alexander S. Poznyak.

FSR, the International Conference on Field and Service Robotics, is the leading single track conference of robotics for field and service applications. This book presents the results of FSR2012, the eighth conference of Field and Service Robotics, which was originally planned for 2011 with the venue of Matsushima in Tohoku region of Japan. However, on March 11, 2011, a magnitude M9.0 earthquake occurred off the Pacific coast of Tohoku, and a large-scale disaster was caused by the Tsunami which resulted, therefore the conference was postponed by one year to July, 2012. In fact, this earthquake raised issues concerning the contribution of field and service robotics technology to emergency scenarios. A number of precious lessons were learned from operation of robots in the resulting, very real and challenging, disaster environments. Up-to-date study on disaster response, relief and recovery was then featured in the conference. This book offers 43 papers on a broad range of topics including: Disaster Response, Service/Entertainment Robots, Inspection/Maintenance Robots, Mobile Robot Navigation, Agricultural Robots, Robots for Excavation, Planetary Exploration, Large Area Mapping, SLAM for Outdoor Robots, and Elemental Technology for Mobile Robots.

Data-Based Controller Design presents a comprehensive analysis of data-based control design. It brings together the different data-based design methods that have been presented in the literature since the late 1990's. To the best knowledge of the author, these data-based design methods have never been collected in a single text, analyzed in depth or compared to each other, and this severely limits their widespread application. In this book these methods will be presented under a common theoretical framework, which fits also a large family of adaptive control methods: the MRAC (Model Reference Adaptive Control) methods. This common theoretical framework has been developed and presented very recently.

The book is primarily intended for PhD students and researchers - senior or junior - in control systems. It should serve as teaching material for data-based and adaptive control courses at the graduate level, as well as for reference material for PhD theses. It should also be useful for advanced engineers willing to apply data-based design. As a matter of fact, the concepts in this book are being used, under the author's supervision, for developing new software products in a automation company. The book will present simulation examples along the text. Practical applications of the concepts and methodologies will be presented in a specific chapter.

Snake Robots is a novel treatment of theoretical and practical topics related to snake robots: robotic mechanisms designed to move like biological snakes and able to operate in challenging environments in which human presence is either undesirable or impossible. Future applications of such robots include search and rescue, inspection and maintenance, and subsea operations. Locomotion in unstructured environments is a focus for this book. The text targets the disparate muddle of approaches to modelling, development and control of snake robots in current literature, giving a unified presentation of recent research results on snake robot locomotion to increase the reader's basic understanding of these mechanisms and their motion dynamics and clarify the state of the art in the field. The book is a complete treatment of snake robotics, with topics ranging from mathematical modelling techniques, through mechatronic design and implementation, to control design strategies. The development of two snake robots is described and both are used to provide experimental validation of many of the theoretical results. Snake Robots is written in a clear and easily understandable manner which makes the material accessible by specialists in the field and non-experts alike. Numerous illustrative figures and images help readers to visualize the material. The book is particularly useful to new researchers taking on a topic related to snake robots because it provides an extensive overview of the snake robot literature and also represents a suitable starting point for research in this area.

This book focuses on advanced optical finishing techniques and design for high-performance manufacturing systems. It provides numerous detailed examples of how advanced automation techniques have been applied to optical fabrication processes. The simulations, removal rate and accurate experimental results offer useful resources for engineering practice. Researchers, engineers and graduate students working in optical engineering and precision manufacture engineering will benefit from this book.

Mismatch or best match? This book demonstrates that best matching of individual entities to each other is essential to ensure smooth conduct and successful competitiveness in any distributed system, natural and artificial. Interactions must be optimized through best matching in planning and scheduling, enterprise network design, transportation and construction planning, recruitment, problem solving, selective assembly, team formation, sensor network design, and more. Fundamentals of best matching in distributed and collaborative systems are explained by providing: Methodical analysis of various multidimensional best matching processes Comprehensive taxonomy, comparing different best matching problems and processes Systematic identification of systems' hierarchy, nature of interactions, and distribution of decision-making and control functions Practical formulation of solutions based on a library of best matching algorithms and protocols, ready for direct applications and apps development. Designed for both academics and practitioners, oriented to systems engineers and applied operations researchers, diverse types of best matching processes are explained in production, manufacturing, business and service, based on a new reference model developed at Purdue University PRISM Center: "The PRISM Taxonomy of Best Matching". The book concludes with major challenges and guidelines for future basic and applied research in the area of best matching.

Micro/Nano Robotics and Automation technologies have rapidly grown associated with the growth of Micro and Nanotechnologies. This book presents a summary of fundamentals in micro-nano scale engineering and the current state of the art of these technologies. "Micro-Nanorobotic Manipulation Systems and their Applications" introduces these advanced technologies from the basics and applications aspects of Micro/Nano-Robotics and Automation from the prospective micro/nano-scale manipulation. The book is organized in 9 chapters including an overview chapter of Micro/Nanorobotics and Automation technology from the historical view and important related research works. Further chapters are devoted to the physics of micro-nano fields as well as to material and science, microscopes, fabrication technology, importance of biological cell, and control techniques. Furthermore important examples, applications and a concise summary of Micro-Nanorobotics and Automation technologies are given.

This book focuses on the design of decentralized optimization methods applied to charging strategies for large-scale PEVs in electrical power systems. It studies several classes of charging coordination problems in large-scale PEVs by considering the distinct characteristics of PEV populations and electrical power systems, and subsequently designs decentralized methods based on distinct optimization schemes - such as non-cooperative games, mean-field games, and auction games - to achieve optimal/nearly optimal charging strategies. In closing, several performance aspects of the proposed algorithms, such as their convergence, computational complexity and optimality etc., are rigorously verified and demonstrated in numerical simulations. Given its scope, the book will benefit researchers, engineers, and graduate students in the fields of optimization, game theory, auction games, electrical power systems, etc., and help them design decentralized methods to implement optimal charging strategies in large-scale PEVs.

Advances in research have led to the use of robotics in a range of surgical applications. Medical robotics: Minimally invasive surgery provides authoritative coverage of the core principles, applications and future potential of this enabling technology.
Beginning with an introduction to robot-assisted minimally invasive surgery (MIS), the core technologies of the field are discussed, including localization and tracking technologies for medical robotics. Key applications of robotics in laparoscopy, neurology, cardiovascular interventions, urology and orthopaedics are considered, as well as applications for ear, nose and throat (ENT) surgery, vitreoretinal surgery and natural orifice transluminal endoscopic surgery (NOTES). Microscale mobile robots for the circulatory system and mesoscale robots for the gastrointestinal tract are investigated, as is MRI-based navigation for in vivo magnetic microrobots. Finally, the book concludes with a discussion of ethical issues related to the use of robotics in surgery.
With its distinguished editor and international team of expert contributors, Medical robotics: Minimally invasive surgery is a comprehensive guide for all those working in the research, design, development and application of medical robotics for surgery. It also provides an authoritative introduction for academics and medical practitioners working in this field.
Provides authoritative coverage of the core principles, applications and future potential of medical roboticsIntroduces robot-assisted minimally invasive surgery (MIS), including the core technologies of the field and localization and tracking technologies for medical roboticsConsiders key applications of robotics in laparoscopy, neurology, cardiovascular interventions, urology and orthopaedics

This book presents a novel framework, known as Active Robust Optimization, which provides the tools for evaluating, comparing and optimizing changeable products. Since any product that can change its configuration during normal operation may be considered a "changeable product," the framework is widely applicable. Further, the methodology enables designers to use adaptability to deal with uncertainties and so avoid over-conservative designs. Offering a comprehensive overview of the framework, including its unique features, such as its ability to optimally respond to uncertain situations, the book also defines a new class of optimization problem and examines the effects of changes in various parameters on their solution. Lastly, it discusses innovative approaches for solving the problem and demonstrates these with two examples from different fields in engineering design: optimization of an optical table and optimization of a gearbox.

This volume gathers the latest advances, innovations and applications in the field of cable robots, as presented by leading international researchers and engineers at the 4th International Conference on Cable-Driven Parallel Robots (CableCon 2019), held in Krakow, Poland on June 30-July 4, 2019, as part of the 5th IFToMM World Congress. It covers the theory and applications of cable-driven parallel robots, including their classification, kinematics and singularity analysis, workspace, statics and dynamics, cable modeling and technologies, control and calibration, design methodologies, hardware development, experimental evaluation and prototypes, as well as application reports and new application concepts. The contributions, which were selected through a rigorous international peer-review process, share exciting ideas that will spur novel research directions and foster new multidisciplinary collaborations.

This book highlights the latest research advances in the planning and management of electric distribution networks. It addresses various aspects of distribution network management including planning, operation, customer engagement, and technology accommodation. Given the importance of electric distribution networks in power delivery systems, effectively planning and managing them are vital to satisfying technical, economic, and customer requirements. A new planning and management philosophy, techniques, and methods are essential to handling uncertainties associated with the integration of renewable-based distributed generation, demand forecast, and customer needs. This book covers topics on managing the capacity of distribution networks, while also addressing the future needs of electric systems. The efficient and economical operation of distribution networks is an essential aspect of ensuring the effective use of resources. Accordingly, this book addresses operation and control approaches and techniques suitable for future distribution networks.

The book conclusively solves problems associated with the control and estimation of nonlinear and chaotic dynamics in financial systems when these are described in the form of nonlinear ordinary differential equations. It then addresses problems associated with the control and estimation of financial systems governed by partial differential equations (e.g. the Black-Scholes partial differential equation (PDE) and its variants). Lastly it an offers optimal solution to the problem of statistical validation of computational models and tools used to support financial engineers in decision making. The application of state-space models in financial engineering means that the heuristics and empirical methods currently in use in decision-making procedures for finance can be eliminated. It also allows methods of fault-free performance and optimality in the management of assets and capitals and methods assuring stability in the functioning of financial systems to be established. Covering the following key areas of financial engineering: (i) control and stabilization of financial systems dynamics, (ii) state estimation and forecasting, and (iii) statistical validation of decision-making tools, the book can be used for teaching undergraduate or postgraduate courses in financial engineering. It is also a useful resource for the engineering and computer science community