The International Symposium on Experimental Robotics (ISER) is a series of bi-annual meetings which are organized in a rotating fashion around North America, Europe and Asia/Oceania. The goal of ISER is to provide a forum for research in robotics that focuses on the novelty of theoretical contributions validated by experimental results. This unique reference presents the latest advances in robotics, with ideas that are conceived conceptually and have been explored experimentally.

The book introduces novel algorithms for designing fault-tolerant control (FTC) systems using the behavioral system theoretic approach, and presents a demonstration of successful novel FTC mechanisms on several benchmark examples. The authors also discuss a new transient management scheme, which is an essential requirement for the implementation of active FTC systems, and two data-driven methodologies that are broadly classified as active FTC systems: the projection-based approach and the online-redesign approach. These algorithms do not require much a priori information about the plant in real-time, and in addition this novel implementation of active FTC systems circumvents various weaknesses induced by using a diagnostic module in real-time. The book provides graduate students taking masters and doctoral courses in mathematics, control, and electrical engineering an excellent stepping-stone for their research. It also appeals to practitioners interested to apply innovative fail-safe control techniques.

Active Braking Control Design for Road Vehicles focuses on two main brake system technologies: hydraulically-activated brakes with on-off dynamics and electromechanical brakes, tailored to brake-by-wire control. The physical differences of such actuators enjoin the use of different control schemes so as to be able fully to exploit their characteristics. The authors show how these different control approaches are complementary, each having specific peculiarities in terms of either performance or of the structural properties of the closed-loop system. They also consider other problems related to the design of braking control systems, namely: * longitudinal vehicle speed estimation and its relationship with braking control system design; * tire-road friction estimation; * direct estimation of tire-road contact forces via in-tire sensors, providing a treatment of active vehicle braking control from a wider perspective linked to both advanced academic research and industrial reality.

This book is a tribute to Prof. Alberto Isidori on the occasion of his 65th birthday. Prof. Isidori's proli?c, pioneering and high-impact research activity has spanned over 35 years. Throughout his career, Prof. Isidori has developed ground-breaking results, has initiated researchdirections and has contributed towardsthe foundationofnonlinear controltheory.In addition, his dedication to explain intricate issues and di?cult concepts in a simple and rigorous way and to motivate young researchers has been instrumental to the intellectual growth of the nonlinear control community worldwide. The volume collects 27 contributions written by a total of 52 researchers. The principal author of each contribution has been selected among the - searchers who have worked with Prof. Isidori, have in?uenced his research activity, or have had the privilege and honour of being his PhD students. The contributions address a signi?cant number of control topics, including th- retical issues, advanced applications, emerging control directions and tutorial works. The diversity of the areas covered, the number of contributors and their international standing provide evidence of the impact of Prof. Isidori in the control and systems theory communities. The book has been divided into six parts: System Analysis, Optimization Methods, Feedback Design, Regulation, Geometric Methods and Asymptotic Analysis, re?ecting important control areas which have been strongly in- enced and, in some cases, pioneered by Prof. Isidori.

This book offers a compact introduction to modern linear control design. The simplified overview presented of linear time-domain methodology paves the road for the study of more advanced non-linear techniques. Only rudimentary knowledge of linear systems theory is assumed - no use of Laplace transforms or frequency design tools is required. Emphasis is placed on assumptions and logical implications, rather than abstract completeness; on interpretation and physical meaning, rather than theoretical formalism; on results and solutions, rather than derivation or solvability. The topics covered include transient performance and stabilization via state or output feedback; disturbance attenuation and robust control; regional eigenvalue assignment and constraints on input or output variables; asymptotic regulation and disturbance rejection. Lyapunov theory and Linear Matrix Inequalities (LMI) are discussed as key design methods. All methods are demonstrated with MATLAB to promote practical use and comprehension.

The optimal estimation problems for linear dynamic systems, and in particular for systems with aftereffect, reduce to different variational problems. The type and complexity of these variational problems depend on the process model, the model of uncertainties, and the estimation performance criterion. A solution of a variational problem determines an optimal estimator. In addition, frequently the optimal algorithm for one noise model must operate under another, more complex assumption about noise. Hence, simplified algorithms must be used. It is important to evaluate the level of nonoptimality for the simplified algorithms. Since the original variational problems can be very difficult, the estimate of nonoptimality must be obtained without solving the original variational problem. In this book, guaranteed levels of nonoptimality for simplified estimation and control algorithms are constructed. To obtain these levels the duality theory for convex extremal problems is used. Audience: This book will be of interest to applied mathematicians, researchers and engineers who deal with estimation and control systems. The material, which requires a good knowledge of calculus, is also suitable for a two-semester graduate or postgraduate course.

The international conference on Automation and Robotics-ICAR2011 is held during December 12-13, 2011 in Dubai, UAE. The proceedings of ICAR2011 have been published by Springer Lecture Notes in Electrical Engineering, which include 163 excellent papers selected from more than 400 submitted papers.

The conference is intended to bring together the researchers and engineers/technologists working in different aspects of intelligent control systems and optimization, robotics and automation, signal processing, sensors, systems modeling and control, industrial engineering, production and management.

This part of proceedings includes 82 papers contributed by many researchers in relevant topic areas covered at ICAR2011 from various countries such as France, Japan, USA, Korea and China etc.

The session topic of this proceeding is signal processing and industrial engineering, production and management, which includes papers about signal reconstruction, mechanical sensors, real-time systems control system identification, change detection problems, business process modeling, production planning, scheduling and control, computer-based manufacturing technologies, systems modeling and simulation, facilities planning and management, quality control and management, precision engineering, intelligent design and manufacturing.

The papers in this proceedings focus on industry engineering to promote efficiency and affect for the world, which typically showed their advanced research work recently in their various field. I am sure that discussing with many colleagues will give much more creative idea for each other on ICAR2011.

All of papers with powerful evidence and detail demonstration involved the authors' numerous time and energy will be proved valuable by their unexhausted exploring sprit. Sincere thanks to the committee and all the authors, in additionally, including anonymous reviewers from many fields and organizations. They pointed out us direction to go on research work for the world.

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This book presents proceedings of the third international conference in this field, continuing the success of the previous events. The peer-reviewed and the selected papers are arranged to make the proposed book the most recent and complete overview on the State-of-the-Art in Cable-Driven Parallel Robots! The conference took place 2017 in Quebec, QC, Canada,

Variable speed is one of the important requirements in most of the electric drives. Earlier dc motors were the only drives that were used in industries requiring - eration over a wide range of speed with step less variation, or requiring fine ac- racy of speed control. Such drives are known as high performance drives. AC - tors because of being highly coupled non-linear devices can not provide fast dynamic response with normal controls. However, recently, because of ready availability of power electronic devices, and digital signal processors ac motors are beginning to be used for high performance drives. Field oriented control or vector control has made a fundamental change with regard to dynamic perfo- ance of ac machines. Vector control makes it possible to control induction or s- chronous motor in a manner similar to control scheme used for the separately - cited dc motor. Recent advances in artificial intelligence techniques have also contributed in the improvement in performance of electric drives. This book presents a comprehensive view of high performance ac drives. It may be considered as both a text book for graduate students and as an up-to-date monograph. It may also be used by R & D professionals involved in the impro- ment of performance of drives in the industries. The book will also be beneficial to the researchers pursuing work on sensorless and direct torque control of electric drives as up-to date references in these topics are provided.

This book presents the cutting edge developments within a broad field related to robotic sailing. The contributions were presented during the 8th International Robotic Sailing Conference, which has taken place as a part of the 2015 World Robotic Sailing Championships in Mariehamn, Aland (Finland), August 31st - September 4th 2015. Since more than a decade, a series of competitions such as the World Robotic Sailing Championship have stimulated a variety of groups to work on research and development around autonomous sailing robots, which involves boat designers, naval architects, electrical engineers and computer scientists. While many of the challenges in building a truly autonomous sailboat are still unsolved, the books presents the state of the art of research and development within platform optimization, route and stability planning, collision avoidance, power management and boat control.

Complete with online files and updates, this cutting-edge text looks at the next generation of unmanned flying machines. Aerial robots can be considered as an evolution of the Unmanned Aerial Vehicles (UAVs). This book provides a complete overview of all the issues related to aerial robotics, addressing problems ranging from flight control to terrain perception and mission planning and execution. The major challenges and potentials of heterogeneous UAVs are comprehensively explored.

The emergence of flow control as an attractive new field is owed to breakthroughs in MEMS (micro-electromechanical systems) and related technologies. The instrumentation of fluid flows on extremely short length and short time scales requires the practical tool of control algorithms with provable performance guarantees. Dedicated to this problem, Flow Control by Feedback, brings together controller design and fluid mechanics expertise in an exposition of the latest research results. Featuring: Exhaustive treatment of flow control core areas including stabilization and mixing control techniques; self-contained introductory sections on Navier-Stokes equations, linear and nonlinear control and sensors and MEMS to facilitate accessibility to this cross-disciplinary subject; a comprehensive survey of feedback algorithms for flow control that are currently available. In response to the intense interest in flow control, this volume will be an essential addition to the library of researchers and graduate students in control theory, fluid mechanics, mathematics and physics. Content structure is ideal for instruction on flow control modules or as supplementary reading on fluid dynamics and infinite dimensional systems courses.

This book deals specifically with control theories relevant to the design of control units for switched power electronics devices, for the most part represented by DC DC converters and supplies, by rectifiers of different kinds and by inverters with varying topologies. The theoretical methods for designing controllers in linear and nonlinear systems are accompanied by multiple case studies and examples showing their application in the emerging field of power electronics.

This volume is intended for researchers in engineering and applied mathematics. It can also be used as a textbook for graduate students dealing with non-linear systems and control theory. After a self-contained treatment of the differential-geometric prerequisites, the book deals with controllability and observability properties of nonlinear systems, as well as various ways to obtain input-output representations. Problems of transforming nonlinear systems into simpler forms are discussed, including the feedback linearization problem. The disturbance and input-output decoupling problem are treated in detail, as well as some aspects of feedback stabilization, and interconnection and inversion of nonlinear systems. Emphasis is put on fundamental notions as (controlled) invariant distributions and submanifolds, together with algorithms to compute the required feedbacks. Extensions of these methods to other synthesis problems are indicated in the exercises at the end of each chapter. Special attention is paid to mechanical nonlinear control systems, and finally the theory is extended to general continuous-time and discrete time systems. Numerous examples and exercises illustrate the main results of the book.

This book presents intuitive explanations of the principles of microgrids, including their structure and operation and their applications. It also discusses the latest research on microgrid control and protection technologies and the essentials of microgrids as well as enhanced communication systems. The book provides solutions to microgrid operation and planning issues using various methodologies including planning and modelling; AC and DC hybrid microgrids; energy storage systems in microgrids; and optimal microgrid operational planning. Written by specialists, it is filled in innovative solutions and research related to microgrid operation, making it a valuable resource for those interested in developing updated approaches in electric power analysis, design and operational strategies. Thanks to its in-depth explanations and clear, three-part structure, it is useful for electrical engineering students, researchers and technicians.

Authored by a team of acknowledged experts, this book presents a multidisciplinary view of the state of the art in the field of actuators. The goal of the book is to provide a comprehensive overview of the properties, applications, and potential applications of traditional and unconventional actuators, together with their corresponding power electronics. Special attention is paid to the objective assessment of competing actuator principles. The book is written primarily for designers and engineers in research and development, but will also be valuable as a textbook for students of automation engineering, mechatronics and adaptronics.

Classical optimization methodologies fall short in very large and complex domains. In this book is suggested a different approach to optimization, an approach which is based on the 'blind' and heuristic mechanisms of evolution and population genetics. The genetic approach to optimization introduces a new philosophy to optimization in general, but particularly to engineering. By introducing the 'genetic' approach to robot trajectory generation, much can be learned about the adaptive mechanisms of evolution and how these mechanisms can solve real world problems. It is suggested further that optimization at large may benefit greatly from the adaptive optimization exhibited by natural systems when attempting to solve complex optimization problems, and that the determinism of classical optimization models may sometimes be an obstacle in nonlinear systems.This book is unique in that it reports in detail on an application of genetic algorithms to a real world problem, and explains the considerations taken during the development work. Futhermore, it addresses robotics in two new aspects: the optimization of the trajectory specification which has so far been done by human operators and has not received much attention for both automation and optimization, and the introduction of a heuristic strategy to a field predominated by deterministic strategies.

Petri Net Synthesis for Discrete Event Control of Manufacturing Systems develops two essential resource-sharing concepts: parallel and sequential mutual exclusions and theoretical results in Petri synthesis. A parallel mutual exclusion (PME) is defined to model a resource shared by independent distributed processes, and a sequential mutual exclusion is a sequential composition of PMEs, modeling a resource shared by sequentially-related processes. A hybrid synthesis methodology for Petri net models and controllers is proposed using top-down, modular, and bottom-up design ideas and the mutual exclusion theory. An aggregate Petri net model is refined by replacing places and /or transitions with basic design modules which are mathematically and graphically described. Petri net design methods are presented for such buffers as automatic storage and retrieval systems. Using the proposed method synthesizes both Petri net structure and feasible initial markings, guaranteeing that resulting Petri nets have desirable system properties such as freedom from deadlock and cyclic behavior. A Petri net controller is extended to error recovery for automated manufacturing systems. The theory can guarantee that the desired system properties achieved by the original design will be preserved when the controller is augmented to deal with an error in the prescribed methods. Control code has been directly generated from Petri net definitions. The algorithm and implementation details are given for a flexible manufacturing system. Using the approach presented in Petri Net Synthesis for Discrete Event Control of Manufacturing Systems, engineers and research workers can develop their own discrete event control applications and experiments.

This book provides an overview of the current research in the interdisciplinary area of personal assistants (PA) and cognitively inspired systems. It discusses the most relevant topics in this highly diversified domain, like reasoning, health, personalization, robotics, and ethical and social issues. Personal assistants (PA) are a relatively new concept directed at people with cognitive or physical disabilities, and is expanding to include complex platforms such as sensors, actuators, monitoring abilities and decision processes. Designed for a general audience, it is also of interest to undergraduates, graduates and researchers involved with intelligent systems, ambient intelligence or ambient assisted living. The content goes from an introduction of the field (aimed at undergraduates and a general readership) to specific and complex architectures (aimed at graduates and researchers).

This book presents methodological and application research in detecting cellular and molecular biophysical properties based on atomic force microscopy (AFM) nanorobotics. Series methods for in situ label-free visualizing and quantifying the multiple physical properties of single cells and single molecules were developed, including immobilization strategies for observing fine structures of living cells, measurements of single-cell mechanics, force recognition of molecular interactions, and mapping protein organizations on cell surface. The biomedical applications of these methods in clinical lymphoma treatments were explored in detail, including primary sample preparation, cancer cell recognition, AFM detection and data analysis. Future directions about the biomedical applications of AFM are also given.

Modern methods of filter design and controller design often yield systems of very high order, posing a problem for their implementation. Over the past two decades or so, sophisticated methods have been developed to achieve simplification of filters and controllers. Such methods often come with easy-to-use error bounds, and in the case of controller simplification methods, such error bounds will usually be related to closed-loop properties.This book is the first comprehensive treatment of approximation methods for filters and controllers. It is fully up to date, and it is authored by two leading researchers who have personally contributed to the development of some of the methods. Balanced truncation, Hankel norm reduction, multiplicative reduction, weighted methods and coprime factorization methods are all discussed.The book is amply illustrated with examples, and will equip practising control engineers and graduates for intelligent use of commercial software modules for model and controller reduction.

This book provides new insight on the problem of closed-loop performance and oscillations in discontinuous control systems, covering the class of systems that do not necessarily have low-pass filtering properties. The author provides a practical, yet rigorous and exact approach to analysis and design of discontinuous control systems via application of a novel frequency-domain tool: the locus of a perturbed relay system. Presented are a number of practical examples applying the theory to analysis and design of discontinuous control systems from various branches of engineering, including electro-mechanical systems, process control, and electronics.

Discontinuous Control Systems is intended for readers who have knowledge of linear control theory and will be of interest to graduate students, researchers, and practicing engineers involved in systems analysis and design.

Recent advancements in Lyapunov-based design and analysis techniques have applications to a broad class of engineering systems, including mechanical, electrical, robotic, aerospace, and underactuated systems. This book provides a practical yet rigorous development of nonlinear, Lyapunov-based tools and their use in the solution of control-theoretic problems. Rich in motivating examples and new design techniques, the text balances theoretical foundations and real-world implementation.

Features include:

* Control designs for a broad class of engineering systems

* Presentation of adaptive and learning control methods for uncertain nonlinear systems

* Experimental testbed descriptions and results that guide the reader toward techniques for further research

* Development of necessary mathematical background in each chapter; additional mathematical prerequisites contained in two appendices

Intended for readers who have some knowledge of undergraduate systems theory, the book includes a wide range of applications making it suitable for an extensive audience. Graduate students and researchers in control systems, robotics, and applied mathematics, as well as professional engineers will appreciate the work s combination of theoretical underpinnings and current and emerging engineering applications."

The Mobile Ad Hoc Network (MANET) has emerged as the next frontier for wireless communications networking in both the military and commercial arena. "Handbook of Mobile Ad Hoc Networks for Mobility Models" introduces 40 different major mobility models along with numerous associate mobility models to be used in a variety of MANET networking environments in the ground, air, space, and/or under water mobile vehicles and/or handheld devices. These vehicles include cars, armors, ships, under-sea vehicles, manned and unmanned airborne vehicles, spacecrafts and more. This handbook also describes how each mobility pattern affects the MANET performance from physical to application layer; such as throughput capacity, delay, jitter, packet loss and packet delivery ratio, longevity of route, route overhead, reliability, and survivability. Case studies, examples, and exercises are provided throughout the book.

"Handbook of Mobile Ad Hoc Networks for Mobility Models" is for advanced-level students and researchers concentrating on electrical engineering and computer science within wireless technology. Industry professionals working in the areas of mobile ad hoc networks, communications engineering, military establishments engaged in communications engineering, equipment manufacturers who are designing radios, mobile wireless routers, wireless local area networks, and mobile ad hoc network equipment will find this book useful as well.

This book collects the lectures given at the NATO Advanced Study Institute From Identijication to Learning held in Villa Olmo, Como, Italy, from August 22 to September 2, 1994. The school was devoted to the themes of Identijication, Adaptation and Learning, as they are currently understood in the Information and Contral engineering community, their development in the last few decades, their inter connections and their applications. These titles describe challenging, exciting and rapidly growing research areas which are of interest both to contral and communication engineers and to statisticians and computer scientists. In accordance with the general goals of the Institute, and notwithstanding the rat her advanced level of the topics discussed, the presentations have been generally kept at a fairly tutorial level. For this reason this book should be valuable to a variety of rearchers and to graduate students interested in the general area of Control, Signals and Information Pracessing. As the goal of the school was to explore a common methodologicalline of reading the issues, the flavor is quite interdisciplinary. We regard this as an original and valuable feature of this book."