This book presents recent advances in fault diagnosis and fault-tolerant control of dynamic processes. Its impetus derives from the need for an overview of the challenges of the fault diagnosis technique and sustainable control, especially for those demanding systems that require reliability, availability, maintainability, and safety to ensure efficient operations. Moreover, the need for a high degree of tolerance with respect to possible faults represents a further key point, primarily for complex systems, as modeling and control are inherently challenging, and maintenance is both expensive and safety-critical. Diagnosis and Fault-tolerant Control 2 also presents and compares different fault diagnosis and fault-tolerant schemes, using well established, innovative strategies for modeling the behavior of the dynamic process under investigation. An updated treatise of diagnosis and fault-tolerant control is addressed with the use of essential and advanced methods including signal-based, model-based and data-driven techniques. Another key feature is the application of these methods for dealing with robustness and reliability.

This book presents recent advances in fault diagnosis strategies for complex dynamic systems. Its impetus derives from the need for an overview of the challenges of the fault diagnosis technique, especially for those demanding systems that require reliability, availability, maintainability and safety to ensure efficient operations. Moreover, the need for a high degree of tolerance with respect to possible faults represents a further key point, primarily for complex systems, as modeling and control are inherently challenging, and maintenance is both expensive and safety-critical. Diagnosis and Fault-tolerant Control 1 also presents and compares different diagnosis schemes using established case studies that are widely used in related literature. The main features of this book regard the analysis, design and implementation of proper solutions for the problems of fault diagnosis in safety critical systems. The design of the considered solutions involves robust data-driven, model-based approaches.

Path Planning for Vehicles Operating in Uncertain 2D-environments presents a survey that includes several path planning methods developed using fuzzy logic, grapho-analytical search, neural networks, and neural-like structures, procedures of genetic search, and unstable motion modes.

Power Electronics and Motor Drive Systems is designed to aid electrical engineers, researchers, and students to analyze and address common problems in state-of-the-art power electronics technologies. Author Stefanos Manias supplies a detailed discussion of the theory of power electronics circuits and electronic power conversion technology systems, with common problems and methods of analysis to critically evaluate results. These theories are reinforced by simulation examples using well-known and widely available software programs, including SPICE, PSIM, and MATLAB/SIMULINK. Manias expertly analyzes power electronic circuits with basic power semiconductor devices, as well as the new power electronic converters. He also clearly and comprehensively provides an analysis of modulation and output voltage, current control techniques, passive and active filtering, and the characteristics and gating circuits of different power semiconductor switches, such as BJTs, IGBTs, MOSFETs, IGCTs, MCTs and GTOs.

Cellular Actuators: Modularity and Variability in Muscle-Inspired Actuation describes the roles actuators play in robotics and their insufficiency in emerging new robotic applications, such as wearable devices and human co-working robots where compactness and compliance are important. Piezoelectric actuators, the topic of this book, provide advantages like displacement scale, force, reliability, and compactness, and rely on material properties to provide displacement and force as reactions to electric stimulation. The authors, renowned researchers in the area, present the fundamentals of muscle-like movement and a system-wide study that includes the design, analysis, and control of biologically inspired actuators. This book is the perfect guide for researchers and practitioners who would like to deploy this technology into their research and products.

Autonomic networking aims to solve the mounting problems created by increasingly complex networks, by enabling devices and service-providers to decide, preferably without human intervention, what to do at any given moment, and ultimately to create self-managing networks that can interface with each other, adapting their behavior to provide the best service to the end-user in all situations. This book gives both an understanding and an assessment of the principles, methods and architectures in autonomous network management, as well as lessons learned from, the ongoing initiatives in the field. It includes contributions from industry groups at Orange Labs, Motorola, Ericsson, the ANA EU Project and leading universities. These groups all provide chapters examining the international research projects to which they are contributing, such as the EU Autonomic Network Architecture Project and Ambient Networks EU Project, reviewing current developments and demonstrating how autonomic management principles are used to define new architectures, models, protocols, and mechanisms for future network equipment.

In the era of cyber-physical systems, the area of control of complex systems has grown to be one of the hardest in terms of algorithmic design techniques and analytical tools. The 23 chapters, written by international specialists in the field, cover a variety of interests within the broader field of learning, adaptation, optimization and networked control. The editors have grouped these into the following 5 sections: "Introduction and Background on Control Theory", "Adaptive Control and Neuroscience", "Adaptive Learning Algorithms", "Cyber-Physical Systems and Cooperative Control", "Applications". The diversity of the research presented gives the reader a unique opportunity to explore a comprehensive overview of a field of great interest to control and system theorists. This book is intended for researchers and control engineers in machine learning, adaptive control, optimization and automatic control systems, including Electrical Engineers, Computer Science Engineers, Mechanical Engineers, Aerospace/Automotive Engineers, and Industrial Engineers. It could be used as a text or reference for advanced courses in complex control systems. * Collection of chapters from several well-known professors and researchers that will showcase their recent work * Presents different state-of-the-art control approaches and theory for complex systems * Gives algorithms that take into consideration the presence of modelling uncertainties, the unavailability of the model, the possibility of cooperative/non-cooperative goals and malicious attacks compromising the security of networked teams * Real system examples and figures throughout, make ideas concrete

There have been major recent advances in robotic systems that can replace humans in undertaking hazardous activities in demanding or dangerous environments. Published in association with the CLAWAR (Climbing and Walking Robots and Associated Technologies Association) (www.clawar.org), this important book reviews the development of robotic systems for de-mining and other risky activities such as fire-fighting. Part one provides an overview of the use of robots for humanitarian de-mining work. Part two discusses the development of sensors for mine detection whilst Part thee reviews developments in both teleoperated and autonomous robots. Building on the latter, Part four concentrates on robot autonomous navigation. The final part of the book reviews research on multi-agent-systems (MAS) and the multi-robotics-systems (MRS), promising tools that take into account modular design of mobile robots and the use of several robots in multi-task missions. With its distinguished editors and international team of contributors, Using robots in hazardous environments: landmine detection, de-mining and other applications is a standard reference for all those researching the use of robots in hazardous environments as well as government and other agencies wishing to use robots for dangerous tasks such as landmine detection and disposal.

With near-universal internet access and ever-advancing electronic devices, the ability to facilitate interactions between various hardware and software provides endless possibilities. Though internet of things (IoT) technology is becoming more popular among individual users and companies, more potential applications of this technology are being sought every day. There is a need for studies and reviews that discuss the methodologies, concepts, and possible problems of a technology that requires little or no human interaction between systems. The Handbook of Research on the Internet of Things Applications in Robotics and Automation is a pivotal reference source on the methods and uses of advancing IoT technology. While highlighting topics including traffic information systems, home security, and automatic parking, this book is ideally designed for network analysts, telecommunication system designers, engineers, academicians, technology specialists, practitioners, researchers, students, and software developers seeking current research on the trends and functions of this life-changing technology.

Microbiorobotics is a new engineering discipline that inherently involves a multidisciplinary approach (mechanical engineering, cellular biology, mathematical modeling, control systems, synthetic biology, etc). Building robotics system in the micro scale is an engineering task that has resulted in many important applications, ranging from micromanufacturing techniques to cellular manipulation. However, it is also a very challenging engineering task. One of the reasons is because many engineering ideas and principles that are used in larger scales do not scale well to the micro-scale. For example, locomotion principles in a fluid do not function in the same way, and the use of rotational motors is impractical because of the difficulty of building of the required components.

This book is a comprehensive collection and practical guide on robotics derived from the author's research in robotics since 1988. The Chinese edition of this book has sold over 300,000 copies, and is one of the best-selling books on robotics in China.The book covers the core technology of robotics, including the basic theories and techniques of robot manipulator, mobile robots to focus on location navigation, and intelligent control underpinned by artificial intelligence and deep learning. Several case studies from national research projects in China are also included to help readers understand the theoretical foundations of robotics and related application developments. This book is a valuable reference for undergraduate and graduate students of robotics courses.

On-Road Intelligent Vehicles: Motion Planning for Intelligent Transportation Systems deals with the technology of autonomous vehicles, with a special focus on the navigation and planning aspects, presenting the information in three parts. Part One deals with the use of different sensors to perceive the environment, thereafter mapping the multi-domain senses to make a map of the operational scenario, including topics such as proximity sensors which give distances to obstacles, vision cameras, and computer vision techniques that may be used to pre-process the image, extract relevant features, and use classification techniques like neural networks and support vector machines for the identification of roads, lanes, vehicles, obstacles, traffic lights, signs, and pedestrians. With a detailed insight into the technology behind the vehicle, Part Two of the book focuses on the problem of motion planning. Numerous planning techniques are discussed and adapted to work for multi-vehicle traffic scenarios, including the use of sampling based approaches comprised of Genetic Algorithm and Rapidly-exploring Random Trees and Graph search based approaches, including a hierarchical decomposition of the algorithm and heuristic selection of nodes for limited exploration, Reactive Planning based approaches, including Fuzzy based planning, Potential Field based planning, and Elastic Strip and logic based planning. Part Three of the book covers the macroscopic concepts related to Intelligent Transportation Systems with a discussion of various topics and concepts related to transportation systems, including a description of traffic flow, the basic theory behind transportation systems, and generation of shock waves.

Through expanded intelligence, the use of robotics has fundamentally transformed a variety of fields, including manufacturing, aerospace, medical, social services, and agriculture. Providing successful techniques in robotic design allows for increased autonomous mobility, which leads to a greater productivity level. Novel Design and Applications of Robotics Technologies provides innovative insights into the state-of-the-art technologies in the design and development of robotic technologies and their real-world applications. The content within this publication represents the work of interactive learning, microrobot swarms, and service robots. It is a vital reference source for computer engineers, robotic developers, IT professionals, academicians, and researchers seeking coverage on topics centered on the application of robotics to perform tasks in various disciplines.

Safe Robot Navigation Among Moving and Steady Obstacles is the first book to focus on reactive navigation algorithms in unknown dynamic environments with moving and steady obstacles. The first three chapters provide introduction and background on sliding mode control theory, sensor models, and vehicle kinematics. Chapter 4 deals with the problem of optimal navigation in the presence of obstacles. Chapter 5 discusses the problem of reactively navigating. In Chapter 6, border patrolling algorithms are applied to a more general problem of reactively navigating. A method for guidance of a Dubins-like mobile robot is presented in Chapter 7. Chapter 8 introduces and studies a simple biologically-inspired strategy for navigation a Dubins-car. Chapter 9 deals with a hard scenario where the environment of operation is cluttered with obstacles that may undergo arbitrary motions, including rotations and deformations. Chapter 10 presents a novel reactive algorithm for collision free navigation of a nonholonomic robot in unknown complex dynamic environments with moving obstacles. Chapter 11 introduces and examines a novel purely reactive algorithm to navigate a planar mobile robot in densely cluttered environments with unpredictably moving and deforming obstacles. Chapter 12 considers a multiple robot scenario. For the Control and Automation Engineer, this book offers accessible and precise development of important mathematical models and results. All the presented results have mathematically rigorous proofs. On the other hand, the Engineer in Industry can benefit by the experiments with real robots such as Pioneer robots, autonomous wheelchairs and autonomous mobile hospital.

Industrial automation is driving the development of robot manipulators in various applications, with much of the research effort focussed on flexible manipulators and their advantages compared to their rigid counterparts. This book reports recent advances and new developments in the analysis and control of these robot manipulators. After a general overview of flexible manipulators the book introduces a range of modelling and simulation techniques based on the Lagrange equation formulation, parametric approaches based on linear input/output models using system identification techniques, neuro-modelling approaches, and numerical techniques for dynamic characterisation using finite difference and finite element techniques. Control techniques are then discussed, including a range of open-loop and closed-loop control techniques based on classical and modern control methods including neuro and iterative control, and a range of soft-computing control techniques based on fuzzy logic, neural networks, and evolutionary and bio-inspired optimisation paradigms. Finally the book presents SCEFMAS, a software environment for analysis, design, simulation and control of flexible manipulators. Flexible Robot Manipulators is essential reading for advanced students of robotics, mechatronics and control engineering and will serve as a source of reference for research in areas of modelling, simulation and control of dynamic flexible structures in general and, specifically, of flexible robotic manipulators.

This book covers the most important issues from classical and robust control, deterministic and stochastic control, system identification, and adaptive and iterative control strategies. It covers most of the known control system methodologies using a new base, the Youla parameterization (YP). This concept is introduced and extended for TDOF control loops. The Keviczky-Banyasz parameterization (KP) method developed for closed loop systems is also presented. The book is valuable for those who want to see through the jungle of available methods by using a unified approach, and for those who want to prepare computer code with a given algorithm.

This book reviews the state of the art in the use of organic materals as physical, chemical and biomedical sensors in a variety of application settings. Topics covered include organic semiconductors for chemical and physical sensing; conducting polymers in sensor applications; chemically functionalized organic semiconductors for highly selective sensing; composite organic-inorganic sensors; artificial skin applications; organic thin film transistor strain gauges for biomedical applications; OTFT infrared sensors for touchless human-machine interaction; smart fabric sensors and e-textile technologie; image capture with organic sensors; organic gas sensors and electronic noses; electrolyte gated organic transistors for bio-chemical sensing; ion-selective organic electrochemical transistors; DNA biosensors; metabolic organic sensors; and conductive polymer based sensors for biomedical applications.

The field of robotics isn't what it used to be. Driven by an explosion in information systems over the past two decades, robotics as a discipline has rapidly evolved from the far-flung fantasies of science fiction to a practical, daily necessity of modern industry. Robotics, Automation, and Control in Industrial and Service Settings meets the challenges presented by the rise of ubiquitous computing by providing a detailed discussion of best practices and future developments in the field. This premier reference source offers a comprehensive overview of current research and emerging theory for a diverse and multidisciplinary audience of students, educators, professionals, and policymakers. This reference work includes research and perspectives from scholars and top industry practitioners in fields such as manufacturing, assistive robotics, bioinformatics, human-computer interaction, and intelligent mechatronics, among others.