This book introduces a unique, packet-based co-design control framework for networked control systems. It begins by providing a comprehensive survey of state-of-the-art research on networked control systems, giving readers a general overview of the field. It then verifies the proposed control framework both theoretically and experimentally - the former using multiple control methodologies, and the latter using a unique online test rig for networked control systems. The framework investigates in detail the most common, communication constraints, including network-induced delays, data packet dropout, data packet disorders, and network access constraints, as well as multiple controller design and system analysis tools such as model predictive control, linear matrix inequalities and optimal control. This unique and complete co-design framework greatly benefits researchers, graduate students and engineers in the fields of control theory and engineering.

PIC Microcontrollers are a favorite in industry and with hobbyists. These microcontrollers are versatile, simple, and low cost making them perfect for many different applications. The 8-bit PIC is widely used in consumer electronic goods, office automation, and personal projects. Author, Dogan Ibrahim, author of several PIC books has now written a book using the PIC18 family of microcontrollers to create projects with SD cards.
This book is ideal for those practicing engineers, advanced students, and PIC enthusiasts that want to incorporate SD Cards into their devices. SD cards are cheap, fast, and small, used in many MP3 players, digital and video cameras, and perfect for microcontroller applications.
Complete with Microchip's C18 student compiler and using the C language this book brings the reader up to speed on the PIC 18 and SD cards, knowledge which can then be harnessed for hands-on work with the eighteen projects included within. Two great technologies are brought together in this one practical, real-world, hands-on cookbook perfect for a wide range of PIC fans.

*Eighteen fully worked SD projects in the C programming language
*Details memory cards usage with the PIC18 family
*Companion Web site with project code listings to run onMicrochip's C18 student compiler"

This book is devoted to Slime mould Physarum polycephalum, which is a large single cell capable for distributed sensing, concurrent information processing, parallel computation and decentralized actuation. The ease of culturing and experimenting with Physarum makes this slime mould an ideal substrate for real-world implementations of unconventional sensing and computing devices The book is a treatise of theoretical and experimental laboratory studies on sensing and computing properties of slime mould, and on the development of mathematical and logical theories of Physarum behavior. It is shown how to make logical gates and circuits, electronic devices (memristors, diodes, transistors, wires, chemical and tactile sensors) with the slime mould. The book demonstrates how to modify properties of Physarum computing circuits with functional nano-particles and polymers, to interface the slime mould with field-programmable arrays, and to use Physarum as a controller of microbial fuel cells. A unique multi-agent model of slime is shown to serve well as a software slime mould capable for solving problems of computational geometry and graph optimization. The multiagent model is complemented by cellular automata models with parallel accelerations. Presented mathematical models inspired by Physarum include non-quantum implementation of Shor's factorization, structural learning, computation of shortest path tree on dynamic graphs, supply chain network design, p-adic computing and syllogistic reasoning. The book is a unique composition of vibrant and lavishly illustrated essays which will inspire scientists, engineers and artists to exploit natural phenomena in designs of future and emergent computing and sensing devices. It is a 'bible' of experimental computing with spatially extended living substrates, it spanstopics from biology of slime mould, to bio-sensing, to unconventional computing devices and robotics, non-classical logics and music and arts.

In recent years, automation has played a vital role in library systems that handle tasks of acquisition, cataloging, serials, and circulation. The automation of these operations has, in turn, minimised the demand for human interaction. Robots in Academic Libraries: Advancements in Library Automation provides an overview on the current state of library automation, addresses the need for changing personnel to accommodate these changes, and assesses the future for academic libraries as a whole. This book is essential for library leaders, technology experts, and library vendors interested in the future of library automation and its impact on the decline of human interaction in libraries.

In a world suffering from an ageing population and declining birth rate, service robotics and mechatronics have an increasingly vital role to play in maintaining a safe and sustainable environment for everyone. Mechatronics can be used in the reconstruction or restoration of various environments which we rely upon to survive; for example the reconstruction of a city after an earthquake, or the restoration of polluted waters

This collection of papers was originally presented at the 7th International Conference on Machine Automation, 2008, in Awaji, Japan, and covers a variety of new trends in service robotics and mechatronics.

Service Robotics and Mechatronics showcases the latest research in the area to provide researchers and scientists with an up-to-date source of knowledge and basis for further study, as well as offering graduate students valuable reference material.

Optimal Control of Hybrid Vehicles provides a description of power train control for hybrid vehicles. The background, environmental motivation and control challenges associated with hybrid vehicles are introduced. The text includes mathematical models for all relevant components in the hybrid power train. The power split problem in hybrid power trains is formally described and several numerical solutions detailed, including dynamic programming and a novel solution for state-constrained optimal control problems based on the maximum principle. Real-time-implementable strategies that can approximate the optimal solution closely are dealt with in depth. Several approaches are discussed and compared, including a state-of-the-art strategy which is adaptive for vehicle conditions like velocity and mass. Three case studies are included in the book: * a control strategy for a micro-hybrid power train; * experimental results obtained with a real-time strategy implemented in a hybrid electric truck; and * an analysis of the optimal component sizes for a hybrid power train. Optimal Control of Hybrid Vehicles will appeal to academic researchers and graduate students interested in hybrid vehicle control or in the applications of optimal control. Practitioners working in the design of control systems for the automotive industry will also find the ideas propounded in this book of interest.

Case Studies in Control presents a framework to facilitate the use of advanced control concepts in real systems based on two decades of research and over 150 successful applications for industrial end-users from various backgrounds. In successive parts the text approaches the problem of putting the theory to work from both ends, theoretical and practical. The first part begins with a stress on solid control theory and the shaping of that theory to solve particular instances of practical problems. It emphasizes the need to establish by experiment whether a model-derived solution will perform properly in reality. The second part focuses on real industrial applications based on the needs and requirements of end-users. Here, the engineering approach is dominant but with theoretical input of varying degree depending on the particular process involved. Following the illustrations of the progress that can be made from either extreme of the well-known theory-practice divide, the text proceeds to a third part related to the development of tools that enable simpler use of advanced methods, a need only partially met by available commercial products. Each case study represents a self-contained unit that shows an experimental application of a particular method, a practical solution to an industrial problem or a toolkit that makes control design and implementation easier or more efficient. Among the applications presented are: wastewater treatment; manufacturing of electrical motors ; temperature control of blow moulding; burn-protective garments quality assessment; and rapid prototyping. Written by contributors with a considerable record of industrially-applied research, Case Studies in Control will encourage interaction between industrial practitioners and academic researchers and be of benefit to both, helping to make theory realistic and practical implementation more thorough and efficacious. Advances in Industrial Control aims to report and encourage the transfer of technology in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. The series offers an opportunity for researchers to present an extended exposition of new work in all aspects of industrial control.

Applied Control System Design examines several methods for building up systems models based on real experimental data from typical industrial processes and incorporating system identification techniques. The text takes a comparative approach to the models derived in this way judging their suitability for use in different systems and under different operational circumstances. A broad spectrum of control methods including various forms of filtering, feedback and feedforward control is applied to the models and the guidelines derived from the closed-loop responses are then composed into a concrete self-tested recipe to serve as a check-list for industrial engineers or control designers. System identification and control design are given equal weight in model derivation and testing to reflect their equality of importance in the proper design and optimization of high-performance control systems. Readers' assimilation of the material discussed is assisted by the provision of problems and examples. Most of these exercises use MATLAB (R) to make computation and visualization more straightforward. Applied Control System Design will be of interest to academic researchers for its comparison of different systems models and their response to different control methods and will assist graduate students in learning the practical necessities of advanced control system design. The consistent reference to real systems coupled with self-learning tools will assist control practitioners who wish to keep up to date with the latest control design ideas.

The second volume of this work continues the approach of the first volume, providing mathematical tools for the control engineer and examining such topics as random variables and sequences, iterative logarithmic and large number laws, differential equations, stochastic measurements and optimization, discrete martingales and probability space. It includes proofs of all theorems and contains many examples with solutions.
It is written for researchers, engineers and advanced students who wish to increase their familiarity with different topics of modern and classical mathematics related to system and automatic control theories. It also has applications to game theory, machine learning and intelligent systems.
* Provides comprehensive theory of matrices, real, complex and functional analysis
* Provides practical examples of modern optimization methods that can be effectively used in variety of real-world applications
* Contains worked proofs of all theorems and propositions presented

A large international conference on Advances in Intelligent Control and Computer Engineering was held in Hong Kong, March 17-19, 2010, under the auspices of the International MultiConference of Engineers and Computer Scientists (IMECS 2010). The IMECS is organized by the International Association of Engineers (IAENG). "Intelligent Control and Computer Engineering" contains 25 revised and extended research articles written by prominent researchers participating in the conference. Topics covered include artificial intelligence, control engineering, decision supporting systems, automated planning, automation systems, systems identification, modelling and simulation, communication systems, signal processing, and industrial applications. "Intelligent Control and Computer Engineering" offers the state of the art of tremendous advances in intelligent control and computer engineering and also serves as an excellent reference text for researchers and graduate students, working on intelligent control and computer engineering.

By the dawn of the new millennium, robotics has undergone a major transformation in scope and dimensions. This expansion has been brought about by the maturity of the field and the advances in its related technologies. From a largely dominant industrial focus, robotics has been rapidly expanding into the challenges of the human world. The new generation of robots is expected to safely and dependably co-habitat with humans in homes, workplaces, and communities, providing support in services, entertainment, education, healthcare, manufacturing, and assistance. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider range of applications reaching across diverse research areas and scientific disciplines, such as: biomechanics, haptics, neuros- ences, 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 field 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 significance and quality. It is our hope that the wider dissemination of research developments will stimulate more exchanges and collaborations among the research community and contribute to further advancement of this rapidly growing field.

This book is the first to present the application of the hybrid system theory to systems with EPCA (equations with piecewise continuous arguments). The hybrid system paradigm is a valuable modeling tool for describing a wide range of real-world applications. Moreover, although new technology has produced, and continues to produce highly hierarchical sophisticated machinery that cannot be analyzed as a whole system, hybrid system representation can be used to reduce the structural complexity of these systems. That is to say, hybrid systems have become a modeling priority, which in turn has led to the creation of a promising research field with several application areas. As such, the book explores recent developments in the area of deterministic and stochastic hybrid systems using the Lyapunov and Razumikhin-Lyapunov methods to investigate the systems' properties. It also describes properties such as stability, stabilization, reliable control, H-infinity optimal control, input-to-state stability (ISS)/stabilization, state estimation, and large-scale singularly perturbed systems.

This book gives a wide-ranging description of the many facets of complex dynamic networks and systems within an infrastructure provided by integrated control and supervision: envisioning, design, experimental exploration, and implementation. The theoretical contributions and the case studies presented can reach control goals beyond those of stabilization and output regulation or even of adaptive control. Reporting on work of the Control of Complex Systems (COSY) research program, Complex Systems follows from and expands upon an earlier collection: Control of Complex Systems by introducing novel theoretical techniques for hard-to-control networks and systems. The major common feature of all the superficially diverse contributions encompassed by this book is that of spotting and exploiting possible areas of mutual reinforcement between control, computing and communications. These help readers to achieve not only robust stable plant system operation but also properties such as collective adaptivity, integrity and survivability at the same time retaining desired performance quality. Applications in the individual chapters are drawn from: * the general implementation of model-based diagnosis and systems engineering in medical technology, in communication, and in power and airport networks; * the creation of biologically inspired control brains and safety-critical human-machine systems, * process-industrial uses; * biped robots; * large space structures and unmanned aerial vehicles; and * precision servomechanisms and other advanced technologies. Complex Systems provides researchers from engineering, applied mathematics and computer science backgrounds with innovative theoretical and practical insights into the state-of-the-art of complex networks and systems research. It employs physical implementations and extensive computer simulations. Graduate students specializing in complex-systems

The Multi-Agent Based Beam Search (MABBS) method systematically integrates four major requirements of manufacturing production - representation capability, solution quality, computation efficiency, and implementation difficulty - within a unified framework to deal with the many challenges of complex real-world production planning and scheduling problems. Multi-agent Based Beam Search for Real-time Production Scheduling and Control introduces this method, together with its software implementation and industrial applications. This book connects academic research with industrial practice, and develops a practical solution to production planning and scheduling problems. To simplify implementation, a reusable software platform is developed to build the MABBS method into a generic computation engine. This engine is integrated with a script language, called the Embedded Extensible Application Script Language (EXASL), to provide a flexible and straightforward approach to representing complex real-world problems. Adopting an in-depth yet engaging and clear approach, and avoiding confusing or complicated mathematics and formulas, this book presents simple heuristics and a user-friendly software platform for system modelling. The supporting industrial case studies provide key information for students, lecturers, and industry practitioners alike. Multi-agent Based Beam Search for Real-time Production Scheduling and Control offers insights into the complex nature of and a practical total solution to production planning and scheduling, and inspires further research and practice in this promising research area.

In this book, the capability map, a novel general representation of the kinematic capabilities of a robot arm, is introduced. The capability map allows to determine how well regions of the workspace are reachable for the end effector in different orientations. It is a representation that can be machine processed as well as intuitively visualized for the human. The capability map and the derived algorithms are a valuable source of information for high- and low-level planning processes. The versatile applicability of the capability map is shown by examples from several distinct application domains. In human-robot interaction, a bi-manual interface for tele-operation is objectively evaluated. In low-level geometric planning, more human-like motion is planned for a humanoid robot while also reducing the computation time. And in high-level task reasoning, the suitability of a robot for a task is evaluated.

This book presents a novel, generalized approach to the design of nonlinear state feedback control laws for a large class of underactuated mechanical systems based on application of the block backstepping method. The control law proposed here is robust against the effects of model uncertainty in dynamic and steady-state performance and addresses the issue of asymptotic stabilization for the class of underactuated mechanical systems. An underactuated system is defined as one for which the dimension of space spanned by the configuration vector is greater than that of the space spanned by the control variables. Control problems concerning underactuated systems currently represent an active field of research due to their broad range of applications in robotics, aerospace, and marine contexts. The book derives a generalized theory of block backstepping control design for underactuated mechanical systems, and examines several case studies that cover interesting examples of underactuated mechanical systems. The mathematical derivations are described using well-known notations and simple algebra, without the need for any special previous background in higher mathematics. The chapters are lucidly described in a systematic manner, starting with control system preliminaries and moving on to a generalized description of the block backstepping method, before turning to several case studies. Simulation and experimental results are also provided to aid in reader comprehension.

This book brings together the diversified areas of contemporary computing frameworks in the field of Computer Science, Engineering and Electronic Science. It focuses on various techniques and applications pertaining to cloud overhead, cloud infrastructure, high speed VLSI circuits, virtual machines, wireless and sensor networks, clustering and extraction of information from images and analysis of e-mail texts. The state-of-the-art methodologies and techniques are addressed in chapters presenting various proposals for enhanced outcomes and performances. The techniques discussed are useful for young researchers, budding engineers and industry professionals for applications in their respective fields.

This important text/reference presents state-of-the-art research on intelligent vehicles, covering not only topics of object/obstacle detection and recognition, but also aspects of vehicle motion control. With an emphasis on both high-level concepts, and practical detail, the text links theory, algorithms, and issues of hardware and software implementation in intelligent vehicle research. Topics and features: presents a thorough introduction to the development and latest progress in intelligent vehicle research, and proposes a basic framework; provides detection and tracking algorithms for structured and unstructured roads, as well as on-road vehicle detection and tracking algorithms using boosted Gabor features; discusses an approach for multiple sensor-based multiple-object tracking, in addition to an integrated DGPS/IMU positioning approach; examines a vehicle navigation approach using global views; introduces algorithms for lateral and longitudinal vehicle motion control.

To design and develop capable, dependable, and affordable intelligent systems, their performance must be measurable. Scienti?c methodologies for standardization and benchmarking are crucial for quantitatively evaluating the performance of eme- ing robotic and intelligent systems' technologies. There is currently no accepted standard for quantitatively measuring the performance of these systems against user-de?ned requirements; and furthermore, there is no consensus on what obj- tive evaluation procedures need to be followed to understand the performance of these systems. The lack of reproducible and repeatable test methods has precluded researchers working towards a common goal from exchanging and communic- ing results, inter-comparing system performance, and leveraging previous work that could otherwise avoid duplication and expedite technology transfer. Currently, this lack of cohesion in the community hinders progress in many domains, such as m- ufacturing, service, healthcare, and security. By providing the research community with access to standardized tools, reference data sets, and open source libraries of solutions, researchers and consumers will be able to evaluate the cost and be- ?ts associated with intelligent systems and associated technologies. In this vein, the edited book volume addresses performance evaluation and metrics for intel- gent systems, in general, while emphasizing the need and solutions for standardized methods. To the knowledge of the editors, there is not a single book on the market that is solely dedicated to the subject of performance evaluation and benchmarking of intelligent systems.

Next-Generation Actuators Leading Breakthroughs is the proceedings of the final symposium of MEXT Grant-in-Aid for Scientific Research on Priority Areas: Next-Generation Actuators Leading Breakthroughs, held in January 2010.

Since the realization of next-generation actuators requires an interdisciplinary approach, the research has been organized according to a broad technological perspective that consists of: actuators for small motion of nano-meters, small-size actuators of micro-meters structures, intelligent actuators for functional motions, power actuators for large force/torque and actuators for special environments.

Next-Generation Actuators Leading Breakthroughs also deals with common fundamental technologies for these actuators, such as intelligent materials, machining processes, control technologies, evaluation methods, and system integration. It provides cutting-edge research for researchers, postgraduates, and practitioners in mechanical, electrical, and materials industries.

Each of the chapters in this volume devotes considerable attention to defining and elaborating the notion of the frame problem-one of the "hard problems" of artificial intelligence. Not only do the chapters clarify the problems at hand, they shed light on the different approaches taken by those in artificial intelligence and by certain philosophers who have been concerned with related problems in their field. The book should therefore not be read merely as a discussion of the frame problem narrowly conceived, but also as a general analysis of what could be a major challenge to the design of computer systems exhibiting general intelligence.

This book focuses on the electromagnetic and thermal modeling and analysis of electrical machines, especially canned electrical machines for hydraulic pump applications. It addresses both the principles and engineering practice, with more weight placed on mathematical modeling and theoretical analysis. This is achieved by providing in-depth studies on a number of major topics such as: can shield effect analysis, machine geometry optimization, control analysis, thermal and electromagnetic network models, magneto motive force modeling, and spatial magnetic field modeling. For the can shield effect analysis, several cases are studied in detail, including classical canned induction machines, as well as state-of-the-art canned permanent magnet machines and switched reluctance machines. The comprehensive and systematic treatment of the can effect for canned electrical machines is one of the major features of this book, which is particularly suited for readers who are interested in learning about electrical machines, especially for hydraulic pumping, deep-sea exploration, mining and the nuclear power industry. The book offers a valuable resource for researchers, engineers, and graduate students in the fields of electrical machines, magnetic and thermal engineering, etc.

first industrial application of MPC was in 1973. A key motivation was to provide better performance than could be obtained with the widely-used PID controller whilst making it easy to replace the PID controller unit or module with his new algorithm. It was the advent of digital control technology and the use of software control algorithms that made this replacement easier and more acceptable to process engineers. A decade of industrial practice with PFC was reported in the archival literature by Jacques Richalet et al. in 1978 in an important seminal Automatica paper. Around this time, Cutler and Ramaker published the dynamic matrix control algorithm that also used knowledge of future reference signals to determine a sequence of control signal adjustment. Thus, the theoretical and practical development of predictive control methods was underway and subsequent developments included those of generalized predictive control, and the whole armoury of MPC methods. Jacques Richalet's approach to PFC was to seek an algorithm that was: * easy to understand; * easy to install; * easy to tune and optimise. He sought a new modular control algorithm that could be readily used by the control-technician engineer or the control-instrument engineer. It goes without saying that this objective also forms a good market strategy.