This book presents bond graph model-based fault detection with a focus on hybrid system models. The book addresses model design, simulation, control and model-based fault diagnosis of multidisciplinary engineering systems. The text beings with a brief survey of the state-of-the-art, then focuses on hybrid systems. The author then uses different bond graph approaches throughout the text and provides case studies.

Robotic automation has become ubiquitous in the modern manufacturing landscape, spanning an overwhelming range of processes and applications-- from small scale force-controlled grinding operations for orthopedic joints to large scale composite manufacturing of aircraft fuselages. Smart factories, seamlessly linked via industrial networks and sensing, have revolutionized mass production, allowing for intelligent, adaptive manufacturing processes across a broad spectrum of industries. Against this background, an emerging group of researchers, designers, and fabricators have begun to apply robotic technology in the pursuit of architecture, art, and design, implementing them in a range of processes and scales. Coupled with computational design tools the technology is no longer relegated to the repetitive production of the assembly line, and is instead being employed for the mass-customization of non-standard components. This radical shift in protocol has been enabled by the development of new design to production workflows and the recognition of robotic manipulators as multi-functional fabrication platforms, capable of being reconfigured to suit the specific needs of a process.

The emerging discourse surrounding robotic fabrication seeks to question the existing norms of manufacturing and has far reaching implications for the future of how architects, artists, and designers engage with materialization processes. This book presents the proceedings of Rob-Arch2014, the second international conference on robotic fabrication in architecture, art, and design. It includes a Foreword by Sigrid Brell-Cokcan and Johannes Braumann, Association for Robots in Architecture. The work contained traverses a wide range of contemporary topics, from methodologies for incorporating dynamic material feedback into existing fabrication processes, to novel interfaces for robotic programming, to new processes for large-scale automated construction. The latent argument behind this research is that the term file-to-factory must not be a reductive celebration of expediency but instead a perpetual challenge to increase the quality of feedback between design, matter, and making. "

Passivity and associated stability conditions form one of the cornerstones in control theory and have begun to be applied in process control. In this book, passivity-based developments in all areas of control theory are addressed systematically for the first time. The emphasis is placed on real results that add insight. Case studies illustrate applications in all the main chapters. MATLAB(R) routines and a library of functions that implement the methods developed in the book can be downloaded from springer.com.

This book addresses the fundamentals of machine ethics. It discusses abilities required for ethical machine reasoning and the programming features that enable them. It connects ethics, psychological ethical processes, and machine implemented procedures. From a technical point of view, the book uses logic programming and evolutionary game theory to model and link the individual and collective moral realms. It also reports on the results of experiments performed using several model implementations. Opening specific and promising inroads into the terra incognita of machine ethics, the authors define here new tools and describe a variety of program-tested moral applications and implemented systems. In addition, they provide alternative readings paths, allowing readers to best focus on their specific interests and to explore the concepts at different levels of detail. Mainly written for researchers in cognitive science, artificial intelligence, robotics, philosophy of technology and engineering of ethics, the book will also be of general interest to other academics, undergraduates in search of research topics, science journalists as well as science and society forums, legislators and military organizations concerned with machine ethics.

This book presents a detailed study on fractional-order, set-point, weighted PID control strategies and the development of curve-fitting-based approximation techniques for fractional-order parameters. Furthermore, in all the cases, it includes the Scilab-based commands and functions for easy implementation and better understanding, and to appeal to a wide range of readers working with the software. The presented Scilab-based toolbox is the first toolbox for fractional-order systems developed in open-source software. The toolboxes allow time and frequency domains as well as stability analysis of the fractional-order systems and controllers. The book also provides real-time examples of the control of process plants using the developed fractional-order based PID control strategies and the approximation techniques. The book is of interest to readers in the areas of fractional-order controllers, approximation techniques, process modeling, control, and optimization, both in industry and academia. In industry, the book is particularly valuable in the areas of research and development (R&D) as well as areas where PID controllers suffice - and it should be noted that around 80% of low-level controllers in industry are PID based. The book is also useful where conventional PIDs are constrained, such as in industries where long-term delay and non-linearity are present. Here it can be used for the design of controllers for real-time processes. The book is also a valuable teaching and learning resource for undergraduate and postgraduate students.

This monograph presents a novel method of sliding mode control for switch-regulated nonlinear systems. The Delta Sigma modulation approach allows one to implement a continuous control scheme using one or multiple, independent switches, thus effectively merging the available linear and nonlinear controller design techniques with sliding mode control. Sliding Mode Control: The Delta-Sigma Modulation Approach, combines rigorous mathematical derivation of the unique features of Sliding Mode Control and Delta-Sigma modulation with numerous illustrative examples from diverse areas of engineering. In addition, engineering case studies demonstrate the applicability of the technique and the ease with which one can implement the exposed results. This book will appeal to researchers in control engineering and can be used as graduate-level textbook for a first course on sliding mode control.

This book is dedicated to Prof. Peter Young on his 70th birthday. Professor Young has been a pioneer in systems and control, and over the past 45 years he has influenced many developments in this field. This volume comprises a collection of contributions by leading experts in system identification, time-series analysis, environmetric modelling and control system design - modern research in topics that reflect important areas of interest in Professor Young's research career. Recent theoretical developments in and relevant applications of these areas are explored treating the various subjects broadly and in depth. The authoritative and up-to-date research presented here will be of interest to academic researcher in control and disciplines related to environmental research, particularly those to with water systems. The tutorial style in which many of the contributions are composed also makes the book suitable as a source of study material for graduate students in those areas.

This book provides recent advances in analysis and synthesis of Large-scale network systems (LSNSs) with sampled-data communication and non-identical nodes. In its first chapter of the book presents an introduction to Synchronization of LSNSs and Algebraic Graph Theory as well as an overview of recent developments of LSNSs with sampled data control or output regulation control. The main text of the book is organized into two main parts - Part I: LSNSs with sampled-data communication and Part II: LSNSs with non-identical nodes. This monograph provides up-to-date advances and some recent developments in the analysis and synthesis issues for LSNSs with sampled-data communication and non-identical nodes. It describes the constructions of the adaptive reference generators in the first stage and the robust regulators in the second stage. Examples are presented to show the effectiveness of the proposed design techniques.

This volume presents the proceedings of the Joint International Conference of the XII International Conference on Mechanisms and Mechanical Transmissions (MTM) and the XXIII International Conference on Robotics (Robotics '16), that was held in Aachen, Germany, October 26th-27th, 2016. It contains applications of mechanisms and transmissions in several modern technical fields such as mechatronics, biomechanics, machines, micromachines, robotics and apparatus. In connection with these fields, the work combines the theoretical results with experimental testing. The book presents reviewed papers developed by researchers specialized in mechanisms analysis and synthesis, dynamics of mechanisms and machines, mechanical transmissions, biomechanics, precision mechanics, mechatronics, micromechanisms and microactuators, computational and experimental methods, CAD in mechanism and machine design, mechanical design of robot architecture, parallel robots, mobile robots, micro and nano robots, sensors and actuators in robotics, intelligent control systems, biomedical engineering, teleoperation, haptics, and virtual reality.

The objective of this book is to provide the reader with a comprehensive coverage on the Robot Operating Systems (ROS) and latest related systems, which is currently considered as the main development framework for robotics applications. The book includes twenty-seven chapters organized into eight parts. Part 1 presents the basics and foundations of ROS. In Part 2, four chapters deal with navigation, motion and planning. Part 3 provides four examples of service and experimental robots. Part 4 deals with real-world deployment of applications. Part 5 presents signal-processing tools for perception and sensing. Part 6 provides software engineering methodologies to design complex software with ROS. Simulations frameworks are presented in Part 7. Finally, Part 8 presents advanced tools and frameworks for ROS including multi-master extension, network introspection, controllers and cognitive systems. This book will be a valuable companion for ROS users and developers to learn more ROS capabilities and features.

A self-contained introduction to algebraic control for nonlinear systems suitable for researchers and graduate students.

The most popular treatment of control for nonlinear systems is from the viewpoint of differential geometry yet this approach proves not to be the most natural when considering problems like dynamic feedback and realization. Professors Conte, Moog and Perdon develop an alternative linear-algebraic strategy based on the use of vector spaces over suitable fields of nonlinear functions. This algebraic perspective is complementary to, and parallel in concept with, its more celebrated differential-geometric counterpart.

Algebraic Methods for Nonlinear Control Systems describes a wide range of results, some of which can be derived using differential geometry but many of which cannot. They include:

a [ classical and generalized realization in the nonlinear context;

a [ accessibility and observability recast within the linear-algebraic setting;

a [ discussion and solution of basic feedback problems like input-to-output linearization, input-to-state linearization, non-interacting control and disturbance decoupling;

a [ results for dynamic and static state and output feedback.

Dynamic feedback and realization are shown to be dealt with and solved much more easily within the algebraic framework.

Originally published as Nonlinear Control Systems, 1-85233-151-8, this second edition has been completely revised with new text a" chapters on modeling and systems structure are expanded and that on output feedback added de novo a" examples and exercises. The book is divided into two parts: the first being devoted to the necessary methodology and the second toan exposition of applications to control problems.

Mechatronics in Action s case-study approach provides the most effective means of illustrating how mechatronics can make products and systems more flexible, more responsive and possess higher levels of functionality than would otherwise be possible. The series of case studies serves to illustrate how a mechatronic approach has been used to achieve enhanced performance through the transfer of functionality from the mechanical domain to electronics and software.

Mechatronics in Action not only provides readers with access to a range of case studies, and the experts view of these, but also offers case studies in course design and development to support tutors in making the best and most effective use of the technical coverage provided. It provides, in an easily accessible form, a means of increasing the understanding of the mechatronic concept, while giving both students and tutors substantial technical insight into how this concept has been developed and used.

This monograph covers theoretical aspects of simultaneous localization and map building for mobile robots. These include estimation stability, nonlinear models for the propagation of uncertainties, temporal landmark compatibility, as well as issues pertaining the coupling of control and SLAM. One of the most relevant topics covered in this monograph is the theoretical formalism of partial observability in SLAM.

In this edited collection we commemorate the 60th birthday of Prof. Christopher Byrnes and the retirement of Prof. Anders Lindquist from the Chair of Optimization and Systems Theory at KTH. These papers were presented in part at a 2009 workshop in KTH, Stockholm, honoring the lifetime contributions of Professors Byrnes and Lindquist in various fields of applied mathematics.

From an engineering standpoint, the increasing complexity of robotic systems and the increasing demand for more autonomously learning robots, has become essential. This book is largely based on the successful workshop "From motor to interaction learning in robots" held at the IEEE/RSJ International Conference on Intelligent Robot Systems. The major aim of the book is to give students interested the topics described above a chance to get started faster and researchers a helpful compandium.

The proceedings present selected research papers from the CIAC'17, held in Tianjin, China. The topics include adaptive control, fuzzy control, neural network based control, knowledge based control, hybrid intelligent control, learning control, evolutionary mechanism based control, multi-sensor integration, failure diagnosis, reconfigurable control, and etc. Engineers and researchers from academia, industry, and government can gain valuable insights into solutions combining ideas from multiple disciplines in the field of intelligent automation.

This book presents cutting-edge results on stability analysis and control scheme designs for networked teleoperation systems. It highlights new research on commonly encountered nonlinear teleoperation systems, including the stability analysis of teleoperation systems with asymmetric time-varying delays, stability analysis of teleoperation systems with interval time delays, and so on. Moreover, the book presents several high-performance control scheme designs for teleoperation systems when the velocity is available and unavailable, and for systems with nonlinear input. The results presented here mark a substantial contribution to nonlinear teleoperation system theory, robotic control theory and networked control system theory. As such, the book will be of interest to university researchers, R&D engineers and graduate students in control theory and control engineering who wish to learn about the core principles, methods, algorithms, and applications of networked teleoperation systems, robotic systems and nonlinear control systems.

"Proceedings of the 2013 Chinese Intelligent Automation Conference" presents selected research papers from the CIAC 13, held in Yangzhou, China. The topics include e.g. adaptive control, fuzzy control, neural network based control, knowledge based control, hybrid intelligent control, learning control, evolutionary mechanism based control, multi-sensor integration, failure diagnosis, and reconfigurable control. Engineers and researchers from academia, industry, and government can gain an inside view of new solutions combining ideas from multiple disciplines in the field of intelligent automation.
Zengqi Sun and Zhidong Deng are professors at the Department of Computer Science, Tsinghua University, China."

This volume presents a selection of advanced case studies that address a substantial range of issues and challenges arising in space engineering. The contributing authors are well-recognized researchers and practitioners in space engineering and in applied optimization.

The key mathematical modeling and numerical solution aspects of each application case study are presented in sufficient detail. Classic and more recent space engineering problems including cargo accommodation and object placement, flight control of satellites, integrated design and trajectory optimization, interplanetary transfers with deep space manoeuvres, low energy transfers, magnetic cleanliness modeling, propulsion system design, sensor system placement, systems engineering, space traffic logistics, and trajectory optimization are discussed. Novel points of view related to computational global optimization and optimal control, and to multidisciplinary design optimization are also given proper emphasis. A particular attention is paid also to scenarios expected in the context of future interplanetary explorations.

"Modeling and Optimization in Space Engineering" will benefit researchers and practitioners working on space engineering applications. Academics, graduate and post-graduate students in the fields of aerospace and other engineering, applied mathematics, operations research and optimal control will also find the book useful, since it discusses a range of advanced model development and solution techniques and tools in the context of real-world applications and new challenges."

This book aims at gathering roboticists, control theorists, neuroscientists, and mathematicians, in order to promote a multidisciplinary research on movement analysis. It follows the workshop " Geometric and Numerical Foundations of Movements " held at LAAS-CNRS in Toulouse in November 2015[1]. Its objective is to lay the foundations for a mutual understanding that is essential for synergetic development in motion research. In particular, the book promotes applications to robotics --and control in general-- of new optimization techniques based on recent results from real algebraic geometry.

This book offers a comprehensive presentation of optimization and polyoptimization methods. The examples included are taken from various domains: mechanics, electrical engineering, economy, informatics, and automatic control, making the book especially attractive. With the motto "from general abstraction to practical examples," it presents the theory and applications of optimization step by step, from the function of one variable and functions of many variables with constraints, to infinite dimensional problems (calculus of variations), a continuation of which are optimization methods of dynamical systems, that is, dynamic programming and the maximum principle, and finishing with polyoptimization methods. It includes numerous practical examples, e.g., optimization of hierarchical systems, optimization of time-delay systems, rocket stabilization modeled by balancing a stick on a finger, a simplified version of the journey to the moon, optimization of hybrid systems and of the electrical long transmission line, analytical determination of extremal errors in dynamical systems of the rth order, multicriteria optimization with safety margins (the skeleton method), and ending with a dynamic model of bicycle. The book is aimed at readers who wish to study modern optimization methods, from problem formulation and proofs to practical applications illustrated by inspiring concrete examples.

This book provides an overview of model-based environmental visual perception for humanoid robots. The visual perception of a humanoid robot creates a bidirectional bridge connecting sensor signals with internal representations of environmental objects. The objective of such perception systems is to answer two fundamental questions: What & where is it? To answer these questions using a sensor-to-representation bridge, coordinated processes are conducted to extract and exploit cues matching robot's mental representations to physical entities. These include sensor & actuator modeling, calibration, filtering, and feature extraction for state estimation. This book discusses the following topics in depth: * Active Sensing: Robust probabilistic methods for optimal, high dynamic range image acquisition are suitable for use with inexpensive cameras. This enables ideal sensing in arbitrary environmental conditions encountered in human-centric spaces. The book quantitatively shows the importance of equipping robots with dependable visual sensing. * Feature Extraction & Recognition: Parameter-free, edge extraction methods based on structural graphs enable the representation of geometric primitives effectively and efficiently. This is done by eccentricity segmentation providing excellent recognition even on noisy & low-resolution images. Stereoscopic vision, Euclidean metric and graph-shape descriptors are shown to be powerful mechanisms for difficult recognition tasks. * Global Self-Localization & Depth Uncertainty Learning: Simultaneous feature matching for global localization and 6D self-pose estimation are addressed by a novel geometric and probabilistic concept using intersection of Gaussian spheres. The path from intuition to the closed-form optimal solution determining the robot location is described, including a supervised learning method for uncertainty depth modeling based on extensive ground-truth training data from a motion capture system. The methods and experiments are presented in self-contained chapters with comparisons and the state of the art. The algorithms were implemented and empirically evaluated on two humanoid robots: ARMAR III-A & B. The excellent robustness, performance and derived results received an award at the IEEE conference on humanoid robots and the contributions have been utilized for numerous visual manipulation tasks with demonstration at distinguished venues such as ICRA, CeBIT, IAS, and Automatica.

The primary aim of this volume is to provide researchers and engineers from both academia and industry with up-to-date coverage of recent advances in the fields of robotic welding, intelligent systems and automation. It gathers selected papers from the 2018 International Conference on Robotic Welding, Intelligence and Automation (RWIA 2018), held Oct 20-22, 2018 in Guangzhou, China. The contributions reveal how intelligentized welding manufacturing (IWM) is becoming an inescapable trend, just as intelligentized robotic welding is becoming a key technology. The volume is divided into four main parts: Intelligent Techniques for Robotic Welding, Sensing in Arc Welding Processing, Modeling and Intelligent Control of Welding Processing, and Intelligent Control and its Applications in Engineering.