This book presents a class of novel, self-learning, optimal control schemes based on adaptive dynamic programming techniques, which quantitatively obtain the optimal control schemes of the systems. It analyzes the properties identified by the programming methods, including the convergence of the iterative value functions and the stability of the system under iterative control laws, helping to guarantee the effectiveness of the methods developed. When the system model is known, self-learning optimal control is designed on the basis of the system model; when the system model is not known, adaptive dynamic programming is implemented according to the system data, effectively making the performance of the system converge to the optimum. With various real-world examples to complement and substantiate the mathematical analysis, the book is a valuable guide for engineers, researchers, and students in control science and engineering.

This book highlights selected papers presented at the 2nd International Symposium on Artificial Intelligence and Robotics 2017 (ISAIR2017), held in Nakamura Centenary Memorial Hall, Kitakyushu, Japan on November 25-26, 2017. Today, the integration of artificial intelligence and robotic technologies has become a topic of growing interest for both researchers and developers from academic fields and industries worldwide, and artificial intelligence is poised to become the main approach pursued in next-generation robotics research. The rapidly growing number of artificial intelligence algorithms and big data solutions has significantly extended the number of potential applications for robotic technologies. However, it also poses new challenges for the artificial intelligence community. The aim of this symposium is to provide a platform for young researchers to share the latest scientific achievements in this field, which are discussed in these proceedings.

This book describes a unified framework for networked teleoperation systems involving multiple research fields: networked control systems for linear and nonlinear forms, bilateral teleoperation, trilateral teleoperation, multilateral teleoperation and cooperative teleoperation. It closely examines networked control as a field at the intersection of systems & control and robotics and presents a number of experimental case studies on testbeds for robotic systems, including networked haptic devices, robotic network systems and sensor network systems. The concepts and results outlined are easy to understand, even for readers fairly new to the subject. As such, the book offers a valuable reference work for researchers and engineers in the fields of systems & control and robotics.

This volume comprises the latest developments in both fundamental science and patient-specific applications, discussing topics such as: cellular mechanics; injury biomechanics; biomechanics of heart and vascular system; medical image analysis; and both patient-specific fluid dynamics and solid mechanics simulations. With contributions from researchers world-wide, the Computational Biomechanics for Medicine series of titles provides an opportunity for specialists in computational biomechanics to present their latest methodologies and advancements.

This book develops a set of reference methods capable of modeling uncertainties existing in membership functions, and analyzing and synthesizing the interval type-2 fuzzy systems with desired performances. It also provides numerous simulation results for various examples, which fill certain gaps in this area of research and may serve as benchmark solutions for the readers. Interval type-2 T-S fuzzy models provide a convenient and flexible method for analysis and synthesis of complex nonlinear systems with uncertainties.

This monograph introduces novel responses to the different problems that arise when multiple robots need to execute a task in cooperation, each robot in the team having a monocular camera as its primary input sensor. Its central proposition is that a consistent perception of the world is crucial for the good development of any multi-robot application. The text focuses on the high-level problem of cooperative perception by a multi-robot system: the idea that, depending on what each robot sees and its current situation, it will need to communicate these things to its fellows whenever possible to share what it has found and keep updated by them in its turn. However, in any realistic scenario, distributed solutions to this problem are not trivial and need to be addressed from as many angles as possible. Distributed Consensus with Visual Perception in Multi-Robot Systems covers a variety of related topics such as: * distributed consensus algorithms; * data association and robustness problems; * convergence speed; and * cooperative mapping. The book first puts forward algorithmic solutions to these problems and then supports them with empirical validations working with real images. It provides the reader with a deeper understanding of the problems associated to the perception of the world by a team of cooperating robots with onboard cameras. Academic researchers and graduate students working with multi-robot systems, or investigating problems of distributed control or computer vision and cooperative perception will find this book of material assistance with their studies.

This book presents an Introduction and 11 independent chapters, which are devoted to various new approaches of intelligent image processing and analysis. The book also presents new methods, algorithms and applied systems for intelligent image processing, on the following basic topics: Methods for Hierarchical Image Decomposition; Intelligent Digital Signal Processing and Feature Extraction; Data Clustering and Visualization via Echo State Networks; Clustering of Natural Images in Automatic Image Annotation Systems; Control System for Remote Sensing Image Processing; Tissue Segmentation of MR Brain Images Sequence; Kidney Cysts Segmentation in CT Images; Audio Visual Attention Models in Mobile Robots Navigation; Local Adaptive Image Processing; Learning Techniques for Intelligent Access Control; Resolution Improvement in Acoustic Maps. Each chapter is self-contained with its own references. Some of the chapters are devoted to the theoretical aspects while the others are presenting the practical aspects and the analysis of the modeling of the developed algorithms in different application areas.

This book presents the most recent advances in the research of machines and mechanisms. It collects 54 reviewed papers presented at the XII International Conference on the Theory of Machines and mechanisms (TMM 2016) held in Liberec, Czech Republic, September 6-8, 2016. This volume offers an international selection of the most important new results and developments, grouped in six different parts, representing a well-balanced overview, and spanning the general theory of machines and mechanisms, through analysis and synthesis of planar and spatial mechanisms, linkages and cams, robots and manipulators, dynamics of machines and mechanisms, rotor dynamics, computational mechanics, vibration and noise in machines, optimization of mechanisms and machines, mechanisms of textile machines, mechatronics to the control and monitoring systems of machines. This conference is traditionally organised every four year under the auspices of the international organisation IFToMM and the Czech Society for Mechanics.

This book contributes to making urban rail transport fast, punctual and energy-efficient -significant factors in the importance of public transportation systems to economic, environmental and social requirements at both municipal and national levels. It proposes new methods for shortening passenger travel times and for reducing energy consumption, addressing two major topics: (1) train trajectory planning: the authors derive a nonlinear model for the operation of trains and present several approaches for calculating optimal and energy-efficient trajectories within a given schedule; and (2) train scheduling: the authors develop a train scheduling model for urban rail systems and optimization approaches with which to balance total passenger travel time with energy efficiency and other costs to the operator. Mixed-integer linear programming and pseudospectral methods are among the new methods proposed for single- and multi-train systems for the solution of the nonlinear trajectory planning problem which involves constraints such as varying speed restrictions and maximum traction/braking force. Signaling systems and their effects are also accounted for in the trajectory planning model.Origin-destination passenger demand is included in the model formulation for train scheduling. Iterative convex programming and efficient bi-level approaches are utilized in the solution of the train-scheduling problem. In addition, the splitting rates and route choices of passengers are also optimized from the system point of view. The problems and solutions described in Optimal Trajectory Planning and Train Scheduling for Urban Rail Transit Systems will interest researchers studying public transport systems and logistics whether from an academic or practitioner background as well as providing a real application for anybody studying optimization theory and predictive control.

An increasing complexity of models used to predict real-world systems leads to the need for algorithms to replace complex models with far simpler ones, while preserving the accuracy of the predictions. This three-volume handbook covers methods as well as applications. This third volume focuses on applications in engineering, biomedical engineering, computational physics and computer science.

This book at hand is an appropriate addition to the field of fractional calculus applied to control systems. If an engineer or a researcher wishes to delve into fractional-order systems, then this book has many collections of such systems to work upon, and this book also tells the reader about how one can convert an integer-order system into an appropriate fractional-order one through an efficient and simple algorithm. If the reader further wants to explore the controller design for the fractional-order systems, then for them, this book provides a variety of controller design strategies. The use of fractional-order derivatives and integrals in control theory leads to better results than integer-order approaches and hence provides solid motivation for further development of control theory. Fractional-order models are more useful than the integer-order models when accuracy is of paramount importance. Real-time experimental validation of controller design strategies for the fractional-order plants is available. This book is beneficial to the academic institutes for postgraduate and advanced research-level that need a specific textbook on fractional control and its applications in srobotic manipulators. The book is also a valuable teaching and learning resource for undergraduate and postgraduate students.

This book introduces state-of-the-art models and methods based on the matrix in the field of product design and change management. It develops several types of matrix models for a broad range of applications, with the goal of efficiently finding product design solutions and proactively analyzing design change propagation. The book offers readers an extensive introduction to design automation, highlighting fundamental and innovative concepts, as well as cutting-edge technologies. Further, it familiarizes them with the latest advances in design change propagation and prediction. Lastly, the book puts forward design change-oriented matrix models and includes a proactive analysis of change propagation. The book offers a valuable resource for graduate students, researchers and engineers in the fields of product design and methodology, design automation and related areas.

This book describes the development of an integrated approach for generating the path and gait of realistic hexapod robotic systems. It discusses in detail locomation with straight-ahead, crab and turning motion capabilities in varying terrains, like sloping surfaces, staircases, and various user-defined rough terrains. It also presents computer simulations and validation using Virtual Prototyping (VP) tools and real-world experiments. The book also explores improving solutions by applying the developed nonlinear, constrained inverse dynamics model of the system formulated as a coupled dynamical problem based on the Newton-Euler (NE) approach and taking into account realistic environmental conditions. The approach is developed on the basis of rigid multi-body modelling and the concept that there is no change in the configuration of the system in the short time span of collisions.

This thesis develops several systematic and unified approaches for analyzing dynamic systems with positive characteristics or a more general cone invariance property. Based on these analysis results, it uses linear programming tools to address static output feedback synthesis problems with a focus on optimal gain performances. Owing to their low computational complexity, the established controller design algorithms are applicable for large-scale systems. The theory and control strategies developed will not only be useful in handling large-scale positive delay systems with improved solvability and at lower cost, but also further our understanding of the system characteristics in other related areas, such as distributed coordination of networked multi-agent systems, formation control of multiple robots.

This research monograph brings together, for the first time, the varied literature on Yosida approximations of stochastic differential equations (SDEs) in infinite dimensions and their applications into a single cohesive work. The author provides a clear and systematic introduction to the Yosida approximation method and justifies its power by presenting its applications in some practical topics such as stochastic stability and stochastic optimal control. The theory assimilated spans more than 35 years of mathematics, but is developed slowly and methodically in digestible pieces. The book begins with a motivational chapter that introduces the reader to several different models that play recurring roles throughout the book as the theory is unfolded, and invites readers from different disciplines to see immediately that the effort required to work through the theory that follows is worthwhile. From there, the author presents the necessary prerequisite material, and then launches the reader into the main discussion of the monograph, namely, Yosida approximations of SDEs, Yosida approximations of SDEs with Poisson jumps, and their applications. Most of the results considered in the main chapters appear for the first time in a book form, and contain illustrative examples on stochastic partial differential equations. The key steps are included in all proofs, especially the various estimates, which help the reader to get a true feel for the theory of Yosida approximations and their use. This work is intended for researchers and graduate students in mathematics specializing in probability theory and will appeal to numerical analysts, engineers, physicists and practitioners in finance who want to apply the theory of stochastic evolution equations. Since the approach is based mainly in semigroup theory, it is amenable to a wide audience including non-specialists in stochastic processes.

The field of mechatronics (which is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes) is gaining much attention in industries and academics. It was detected that the topics of computer vision, control and robotics are imperative for the successful of mechatronics systems. This book includes several chapters which report successful study cases about computer vision, control and robotics. The readers will have the latest information related to mechatronics, that contains the details of implementation, and the description of the test scenarios.

This book focuses on filtering, control and model-reduction problems for two-dimensional (2-D) systems with imperfect information. The time-delayed 2-D systems covered have system parameters subject to uncertain, stochastic and parameter-varying changes. After an initial introduction of 2-D systems and the ideas of linear repetitive processes, the text is divided into two parts detailing: * General theory and methods of analysis and optimal synthesis for 2-D systems; and * Application of the general theory to the particular case of differential/discrete linear repetitive processes. The methods developed provide a framework for stability and performance analysis, optimal and robust controller and filter design and model approximation for the systems considered. Solutions to the design problems are couched in terms of linear matrix inequalities. For readers interested in the state of the art in linear filtering, control and model reduction, Filtering and Control for Classes of Two-Dimensional Systems will be a useful reference for exploring the field of 2-D systems either from a purely theoretical research perspective or from the point of view of a multitude of potential applications including image processing, and the study of seismographic data or thermal processes.

This is a textbook and reference for readers interested in quasilinear control (QLC). QLC is a set of methods for performance analysis and design of linear plant or nonlinear instrumentation (LPNI) systems. The approach of QLC is based on the method of stochastic linearization, which reduces the nonlinearities of actuators and sensors to quasilinear gains. Unlike the usual - Jacobian linearization - stochastic linearization is global. Using this approximation, QLC extends most of the linear control theory techniques to LPNI systems. A bisection algorithm for solving these equations is provided. In addition, QLC includes new problems, specific for the LPNI scenario. Examples include Instrumented LQR/LQG, in which the controller is designed simultaneously with the actuator and sensor, and partial and complete performance recovery, in which the degradation of linear performance is either contained by selecting the right instrumentation or completely eliminated by the controller boosting.

This book focuses on the characteristics of cooperative control problems for general linear multi-agent systems, including formation control, air traffic control, rendezvous, foraging, role assignment, and cooperative search. On this basis and combined with linear system theory, it introduces readers to the cooperative tracking problem for identical continuous-time multi-agent systems under state-coupled dynamics; the cooperative output regulation for heterogeneous multi-agent systems; and the optimal output regulation for model-free multi-agent systems. In closing, the results are extended to multiple leaders, and cooperative containment control for uncertain multi-agent systems is addressed. Given its scope, the book offers an essential reference guide for researchers and designers of multi-agent systems, as well as a valuable resource for upper-level undergraduate and graduate students.

This book offers a timely overview of fuzzy and rough set theories and methods. Based on selected contributions presented at the International Symposium on Fuzzy and Rough Sets, ISFUROS 2017, held in Varadero, Cuba, on October 24-26, 2017, the book also covers related approaches, such as hybrid rough-fuzzy sets and hybrid fuzzy-rough sets and granular computing, as well as a number of applications, from big data analytics, to business intelligence, security, robotics, logistics, wireless sensor networks and many more. It is intended as a source of inspiration for PhD students and researchers in the field, fostering not only new ideas but also collaboration between young researchers and institutions and established ones.

This book gathers the outcomes of the thirteenth Workshop on the Algorithmic Foundations of Robotics (WAFR), the premier event for showcasing cutting-edge research on algorithmic robotics. The latest WAFR, held at Universidad Politecnica de Yucatan in Merida, Mexico on December 9-11, 2018, continued this tradition. This book contains fifty-four papers presented at WAFR, which highlight the latest research on fundamental algorithmic robotics (e.g., planning, learning, navigation, control, manipulation, optimality, completeness, and complexity) demonstrated through several applications involving multi-robot systems, perception, and contact manipulation. Addressing a diverse range of topics in papers prepared by expert contributors, the book reflects the state of the art and outlines future directions in the field of algorithmic robotics.

This carefully edited volume is the outcome of the eleventh edition of the Workshop on Algorithmic Foundations of Robotics (WAFR), which is the premier venue showcasing cutting edge research in algorithmic robotics. The eleventh WAFR, which was held August 3-5, 2014 at Bogazici University in Istanbul, Turkey continued this tradition. This volume contains extended versions of the 42 papers presented at WAFR. These contributions highlight the cutting edge research in classical robotics problems (e.g. manipulation, motion, path, multi-robot and kinodynamic planning), geometric and topological computation in robotics as well novel applications such as informative path planning, active sensing and surgical planning. This book - rich by topics and authoritative contributors - is a unique reference on the current developments and new directions in the field of algorithmic foundations.

This book systematically describes the concepts and principles for multi-satellite relative motion, passive and near passive formation designs, trajectory planning and control for fuel optimal formation maneuvers, and formation flying maintenance control design. As such, it provides a sound foundation for researchers and engineers in this field to develop further theories and pursue their implementations. Though satellite formation flying is widely considered to be a major advance in space technology, there are few systematic treatments of the topic in the literature. Addressing that gap, the book offers a valuable resource for academics, researchers, postgraduate students and practitioners in the field of satellite science and engineering.