Praise for Previous Volumes
"This book will be a useful reference to control engineers and researchers. The papers contained cover well the recent advances in the field of modern control theory."
-IEEE GROUP CORRESPONDENCE
"This book will help all those researchers who valiantly try to keep abreast of what is new in the theory and practice of optimal control."
-CONTROL

This book explores the design of optimal trajectories for space maneuver vehicles (SMVs) using optimal control-based techniques. It begins with a comprehensive introduction to and overview of three main approaches to trajectory optimization, and subsequently focuses on the design of a novel hybrid optimization strategy that combines an initial guess generator with an improved gradient-based inner optimizer. Further, it highlights the development of multi-objective spacecraft trajectory optimization problems, with a particular focus on multi-objective transcription methods and multi-objective evolutionary algorithms. In its final sections, the book studies spacecraft flight scenarios with noise-perturbed dynamics and probabilistic constraints, and designs and validates new chance-constrained optimal control frameworks. The comprehensive and systematic treatment of practical issues in spacecraft trajectory optimization is one of the book's major features, making it particularly suited for readers who are seeking practical solutions in spacecraft trajectory optimization. It offers a valuable asset for researchers, engineers, and graduate students in GNC systems, engineering optimization, applied optimal control theory, etc.

This book bridges fundamental gaps between control theory and formal methods. Although it focuses on discrete-time linear and piecewise affine systems, it also provides general frameworks for abstraction, analysis, and control of more general models. The book is self-contained, and while some mathematical knowledge is necessary, readers are not expected to have a background in formal methods or control theory. It rigorously defines concepts from formal methods, such as transition systems, temporal logics, model checking and synthesis. It then links these to the infinite state dynamical systems through abstractions that are intuitive and only require basic convex-analysis and control-theory terminology, which is provided in the appendix. Several examples and illustrations help readers understand and visualize the concepts introduced throughout the book.

Vision-based control of wheeled mobile robots is an interesting field of research from a scientific and even social point of view due to its potential applicability. This book presents a formal treatment of some aspects of control theory applied to the problem of vision-based pose regulation of wheeled mobile robots. In this problem, the robot has to reach a desired position and orientation, which are specified by a target image. It is faced in such a way that vision and control are unified to achieve stability of the closed loop, a large region of convergence, without local minima and good robustness against parametric uncertainty. Three different control schemes that rely on monocular vision as unique sensor are presented and evaluated experimentally. A common benefit of these approaches is that they are valid for imaging systems obeying approximately a central projection model, e.g., conventional cameras, catadioptric systems and some fisheye cameras. Thus, the presented control schemes are generic approaches. A minimum set of visual measurements, integrated in adequate task functions, are taken from a geometric constraint imposed between corresponding image features. Particularly, the epipolar geometry and the trifocal tensor are exploited since they can be used for generic scenes. A detailed experimental evaluation is presented for each control scheme.

"Nonholonomic Motion Planning" grew out of the Workshop on Nonholonomic Motion Planning that took place at the 1991 IEEE International Conference on Robotics and Automation. It consists of contributed chapters representing new developments in this area. Contributors to the book include robotics engineers, nonlinear control experts, differential geometres and applied mathematics. The book is arranged around three chapter groups: controllability - one of the key mathematical tools needed to study nonholonomic motion; motion planning for mobile robots - focusing on problems with nonholonomic velocity constraints as well as constraints on the generalized co-ordinates; and falling cats, space robots and gauge theory. There are numerous connections to be made between symplectic geometry techniques for the study of holonomies in mechanics, gauge theory and control. In this section these connections are discussed using the backdrop of examples drawn from space robots and falling cats reorienting themselves. "Nonholonomic Motion Planning" can be used either as a reference for researchers working in the areas of robotics, nonlinear control and differential geometry, or as a textbook for a graduate level robotics or nonlinear control course.

This book primarily illustrates the rationale, design and technical realization/verification for the cooperative guidance and control systems (CGCSs) of missile autonomous formation (MAF). From the seven functions to the five major compositions of CGCS, the book systematically explains the theory and modeling, analysis, synthesis and design of CGCSs for MAF, including bionics-based theories. Further, the book addresses how to create corresponding digital simulation analysis systems, as well as hardware in the loop (HIL) simulation test systems and flight test systems, to evaluate the combat effectiveness of MAF. Lastly, it provides detailed information on digital simulation analysis for a large range of wind tunnel test data, as well as test results of HIL system simulations and embedded systems testing.

This open access book constitutes the refereed post-conference proceedings of the 9th IFIP WG 5.5 International Precision Assembly Seminar, IPAS 2020, held virtually in December 2020.The 16 revised full papers and 10 revised short papers presented together with 1 keynote paper were carefully reviewed and selected from numerous submissions. The papers address topics such as assembly design and planning; assembly operations; assembly cells and systems; human centred assembly; and assistance methods in assembly.

This book addresses recent technological progress that has led to an increased complexity in many natural and artificial systems. The resulting complexity research due to the emergence of new properties and spatio-temporal interactions among a large number of system elements - and between the system and its environment - is the primary focus of this text. This volume is divided into three parts: Part one focuses on societal and ecological systems, Part two deals with approaches for understanding, modeling, predicting and mastering socio-technical systems, and Part three includes real-life examples. Each chapter has its own special features; it is a self-contained contribution of distinguished experts working on different fields of science and technology relevant to the study of complex systems. Advances in Complex Systems of Contemporary Reality: Societal, Environmental and Engineered Systems will provide postgraduate students, researchers and managers with qualitative and quantitative methods for handling the many features of complex contemporary reality.

"Robust Control of Robots" bridges the gap between robust control theory and applications, with a special focus on robotic manipulators. It is divided into three parts: robust control of regular, fully-actuated robotic manipulators;robust post-failure control of robotic manipulators; androbust control of cooperative robotic manipulators.

In each chapter the mathematical concepts are illustrated with experimental results obtained with a two-manipulator system. They are presented in enough detail to allow readers to implement the concepts in their own systems, or in Control Environment for Robots, a MATLAB(r)-based simulation program freely available from the authors.

The target audience for "Robust Control of Robots" includes researchers, practicing engineers, and graduate students interested in implementing robust and fault tolerant control methodologies to robotic manipulators.

This volume introduces new approaches in intelligent control area from both the viewpoints of theory and application. It consists of eleven contributions by prominent authors from all over the world and an introductory chapter. This volume is strongly connected to another volume entitled "New Approaches in Intelligent Image Analysis" (Eds. Roumen Kountchev and Kazumi Nakamatsu). The chapters of this volume are self-contained and include summary, conclusion and future works. Some of the chapters introduce specific case studies of various intelligent control systems and others focus on intelligent theory based control techniques with applications. A remarkable specificity of this volume is that three chapters are dealing with intelligent control based on paraconsistent logics.

This book introduces recent results on output synchronization of complex dynamical networks with single and multiple weights. It discusses novel research ideas and a number of definitions in complex dynamical networks, such as H-Infinity output synchronization, adaptive coupling weights, multiple weights, the relationship between output strict passivity and output synchronization. Furthermore, it methodically edits the research results previously published in various flagship journals and presents them in a unified form. The book is of interest to university researchers and graduate students in engineering and mathematics who wish to study output synchronization of complex dynamical networks.

The book emphasizes neural network structures for achieving practical and effective systems, and provides many examples. Practitioners, researchers, and students in industrial, manufacturing, electrical, mechanical, and production engineering will find this volume a unique and comprehensive reference source for diverse application methodologies.
Control and Dynamic Systems covers the important topics of highly effective Orthogonal Activation Function Based Neural Network System Architecture, multi-layer recurrent neural networks for synthesizing and implementing real-time linear control, adaptive control of unknown nonlinear dynamical systems, Optimal Tracking Neural Controller techniques, a consideration of unified approximation theory and applications, techniques for the determination of multi-variable nonlinear model structures for dynamic systems with a detailed treatment of relevant system model input determination, High Order Neural Networks and Recurrent High Order Neural Networks, High Order Moment Neural Array Systems, Online Learning Neural Network controllers, and Radial Bias Function techniques.
Key Features
Coverage includes:
* Orthogonal Activation Function Based Neural Network System Architecture (OAFNN)
* Multilayer recurrent neural networks for synthesizing and implementing real-time linear control
* Adaptive control of unknown nonlinear dynamical systems
* Optimal Tracking Neural Controller techniques
* Consideration of unified approximation theory and applications
* Techniques for determining multivariable nonlinear model structures for dynamic systems,
with a detailed treatment of relevant system model input determination

This monograph deals with various visibility-based path and motion planning problems motivated by real-world applications such as exploration and mapping planetary surfaces, environmental surveillance using stationary or mobile robots, and imaging of global air/pollutant circulation. The formulation and solution of these problems call for concepts and methods from many areas of applied mathematics including computational geometry, set-covering, non-smooth optimization, combinatorial optimization and optimal control. Emphasis is placed on the formulation of new problems and methods of approach to these problems. Since geometry and visualization play important roles in the understanding of these problems, intuitive interpretations of the basic concepts are presented before detailed mathematical development. The development of a particular topic begins with simple cases illustrated by specific examples, and then progresses forward to more complex cases. The intended readers of this monograph are primarily students and researchers in engineering, computer science and applied mathematics. An understanding of the mathematical development of the main results requires only basic knowledge of mathematical analysis, control, and optimization theories. Some exercises with various degrees of difficulty are provided at the end of the main chapters. The material presented here may serve as a portion of an introductory course or seminar on visibility-based optimal path and motion planning problems with the objective of stimulating interest and further studies in this relatively new area.

The proceedings collect the latest research trends, methods and experimental results in the field of electrical and information technologies for rail transportation. The topics cover intelligent computing, information processing, communication technology, automatic control, and their applications in rail transportation etc. The proceedings can be a valuable reference work for researchers and graduate students working in rail transportation, electrical engineering and information technologies.

A large international conference on Advances in Intelligent Control and Innovative Computing was held in Hong Kong, March March 16-18, 2011, 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 Innovative Computing 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.

This book collates past and current research on one of the most promising emerging modalities for breast cancer detection. Readers will discover how, as a standalone technology or in conjunction with another modality, microwave imaging has the potential to provide reliable, safe and comfortable breast exams at low cost. Current breast imaging modalities include X- ray, Ultrasound, Magnetic Resonance Imaging, and Positron Emission Tomography. Each of these methods suffers from limitations, including poor sensitivity or specificity, high cost, patient discomfort, and exposure to potentially harmful ionising radiation. Microwave breast imaging is based on a contrast in the dielectric properties of breast tissue that exists at microwave frequencies. The book begins by considering the anatomy and dielectric properties of the breast, contrasting historical and recent studies. Next, radar-based breast imaging algorithms are discussed, encompassing both early-stage artefact removal, and data independent and adaptive beamforming algorithms. In a similar fashion, microwave tomographic reconstruction algorithms are reviewed in the following chapter, introducing the reader to both the fundamental and more advanced algorithms. Apart from imaging, the book also reviews research efforts in extracting clinically useful information from the Radar Target Signature of breast tumours, which is used to classify tumours as either benign or malignant. Finally, the book concludes by describing the current state of the art in terms of prototype microwave breast imaging systems, with a particular emphasis on those which have progressed to the clinical evaluation stage. This work is motivated by the fact that breast cancer is one of the leading causes of death amongst women in Europe and the US, and the second most common cancer in the world today. Such an important area of research will appeal to many scholars and practitioners.p>

There isn't a facet of human life that has not been touched and influenced by robots and automation. What makes robots and machines versatile is their computational intelligence. While modern intelligent sensors and powerful hardware capabilities have given a huge fillip to the growth of intelligent machines, the progress in the development of algorithms for smart interaction, collaboration and pro-activeness will result in the next quantum jump.

This book deals with the recent advancements in design methodologies, algorithms and implementation techniques to incorporate intelligence in "robots and automation systems." Several articles deal with navigation, localization and mapping of mobile robots, a problem that engineers and researchers are grappling with all the time. Fuzzy logic, neural networks and neuro-fuzzy based techniques for real world applications have been detailed in a few articles.

This edited volume is targeted to present the latest state-of-the-art computational intelligence techniques in Robotics and Automation. It is a compilation of the extended versions of the very best papers selected from the many that were presented at the 5th International Conference on Automation, Robotics and Applications (ICARA 2011) which was held in Wellington, New Zealand from 6-8 December, 2011. Scientists and engineers who work with robots and automation systems will find this book very useful and stimulating.

The volume contains 19 contributions by international experts in the field of multibody system dynamics, robotics and control. The book aims to bridge the gap between the modeling of mechanical systems by means of multibody dynamics formulations and robotics. In the classical approach, a multibody dynamics model contains a very high level of detail, however, the application of such models to robotics or control is usually limited. The papers aim to connect the different scientific communities in multibody dynamics, robotics and control. Main topics are flexible multibody systems, humanoid robots, elastic robots, nonlinear control, optimal path planning, and identification.

This book addresses two fundamental issues of motor control for both humans and robots: kinematic redundancy and the posture/movement problem. It blends traditional robotic constrained-optimal approaches with neuroscientific and evidence-based principles, proposing a "Task-space Separation Principle," a novel scheme for planning both posture and movement in redundant manipulators. The proposed framework is first tested in simulation and then compared with experimental motor strategies displayed by humans during redundant pointing tasks. The book also shows how this model builds on and expands traditional formulations such as the Passive Motion Paradigm and the Equilibrium Point Theory. Lastly, breaking with the neuroscientific tradition of planar movements and linear(ized) kinematics, the theoretical formulation and experimental scenarios are set in the nonlinear space of 3D rotations which are essential for wrist motions, a somewhat neglected area despite its importance in daily tasks.

This book introduces readers to the application of orbital data on space objects in the contexts of conjunction assessment and space situation analysis, including theories and methodologies. It addresses the main topics involved in space object conjunction assessment, such as: orbital error analysis of space objects; close approach analysis; the calculation, analysis and application of collision probability; and the comprehensive assessment of collision risk. In addition, selected topics on space situation analysis are also presented, including orbital anomaly and space event analysis, and so on. The book offers a valuable guide for researchers and engineers in the fields of astrodynamics, space telemetry, tracking and command (TT&C), space surveillance, space situational awareness, and space debris, as well as for graduates majoring in flight vehicle design and related fields.

The book reports on the latest advances and applications of nonlinear control systems. It consists of 30 contributed chapters by subject experts who are specialized in the various topics addressed in this book. The special chapters have been brought out in the broad areas of nonlinear control systems such as robotics, nonlinear circuits, power systems, memristors, underwater vehicles, chemical processes, observer design, output regulation, backstepping control, sliding mode control, time-delayed control, variables structure control, robust adaptive control, fuzzy logic control, chaos, hyperchaos, jerk systems, hyperjerk systems, chaos control, chaos synchronization, etc. Special importance was given to chapters offering practical solutions, modeling and novel control methods for the recent research problems in nonlinear control systems. This book will serve as a reference book for graduate students and researchers with a basic knowledge of electrical and control systems engineering. The resulting design procedures on the nonlinear control systems are emphasized using MATLAB software.

The book introduces possibly the most compact, simple and physically understandable tool that can describe, explain, predict and design the widest set of phenomena in time-variant and nonlinear oscillations. The phenomena described include parametric resonances, combined resonances, instability of forced oscillations, synchronization, distributed parameter oscillation and flatter, parametric oscillation control, robustness of oscillations and many others. Although the realm of nonlinear oscillations is enormous, the book relies on the concept of minimum knowledge for maximum understanding. This unique tool is the method of stationarization, or one frequency approximation of parametric resonance problem analysis in linear time-variant dynamic systems. The book shows how this can explain periodic motion stability in stationary nonlinear dynamic systems, and reveals the link between the harmonic stationarization coefficients and describing functions. As such, the book speaks the language of control: transfer functions, frequency response, Nyquist plot, stability margins, etc. An understanding of the physics of stability loss is the basis for the design of new oscillation control methods for, several of which are presented in the book. These and all the other findings are illustrated by numerical examples, which can be easily reproduced by readers equipped with a basic simulation package like MATLAB with Simulink. The book offers a simple tool for all those travelling through the world of oscillations, helping them discover its hidden beauty. Researchers can use the method to uncover unknown aspects, and as a reference to compare it with other, for example, abstract mathematical means. Further, it provides engineers with a minimalistic but powerful instrument based on physically measurable variables to analyze and design oscillatory systems.

One of The Sunday Times' Business Books of the Year Technology is putting our humanity at risk to an unprecedented degree. This book is not for engineers who write the code or the policy makers who claim they can regulate it. This is a book for you. Because, believe it or not, you are the only one that can fix it. - Mo Gawdat 'From a brilliant mind comes a terrifying prediction' - Tim Ash, bestselling author of Unleash Your Primal Brain Artificial intelligence is smarter than humans. It can process information at lightning speed and remain focused on specific tasks without distraction. AI can see into the future, predicting outcomes and even use sensors to see around physical and virtual corners. So why does AI frequently get it so wrong? The answer is us. Humans design the algorithms that define the way that AI works, and the processed information reflects an imperfect world. Does that mean we are doomed? In Scary Smart, Mo Gawdat, the internationally bestselling author of Solve for Happy, draws on his considerable expertise to answer this question and to show what we can all do now to teach ourselves and our machines how to live better. With more than thirty years' experience working at the cutting-edge of technology and his former role as chief business officer of Google [X], no one is better placed than Mo Gawdat to explain how the Artificial Intelligence of the future works. By 2049 AI will be a billion times more intelligent than humans. Scary Smart explains how to fix the current trajectory now, to make sure that the AI of the future can preserve our species. This book offers a blueprint, pointing the way to what we can do to safeguard ourselves, those we love and the planet itself.

Based on lecture notes on a space robotics course, this book offers a pedagogical introduction to the mechanics of space robots. After presenting an overview of the environments and conditions space robots have to work in, the author discusses a variety of manipulatory devices robots may use to perform their tasks. This is followed by a discussion of robot mobility in these environments and the various technical approaches. The last two chapters are dedicated to actuators, sensors and power systems used in space robots. This book fills a gap in the space technology literature and will be useful for students and for those who have an interest in the broad and highly interdisciplinary field of space robotics, and in particular in its mechanical aspects.