The book reports an extended version of the lectures given by distinguished scholars at the workshop "Fault diagnosis and fault tolerance for dynamic systems" held in conjunction with the 2002 IEEE International Symposium on Intelligent Control in Vancouver, Canada, from 27-30 October 2002. The book collects some of the most recent results in fault diagnosis and fault tolerant systems with particular emphasis on mechatronic systems. Each chapter focuses on either theoretical aspects or applications to different fields of interest in mechatronics such as industrial robotics, underwater vehicles, hydraulic systems, and flight control.

The book presents recent advances in nature-inspired computing, giving a special emphasis to control systems applications. It reviews different techniques used for simulating physical, chemical, biological or social phenomena at the purpose of designing robust, predictive and adaptive control strategies. The book is a collection of several contributions, covering either more general approaches in control systems, or methodologies for control tuning and adaptive controllers, as well as exciting applications of nature-inspired techniques in robotics. On one side, the book is expected to motivate readers with a background in conventional control systems to try out these powerful techniques inspired by nature. On the other side, the book provides advanced readers with a deeper understanding of the field and a broad spectrum of different methods and techniques. All in all, the book is an outstanding, practice-oriented reference guide to nature-inspired computing addressing graduate students, researchers and practitioners in the field of control engineering.

This volume collects contributions related to selected presentations from the 12th IFAC Workshop on Time Delay Systems, Ann Arbor, June 28-30, 2015. The included papers present novel techniques and new results of delayed dynamical systems. The topical spectrum covers control theory, numerical analysis, engineering and biological applications as well as experiments and case studies. The target audience primarily comprises research experts in the field of time delay systems, but the book may also be beneficial for graduate students alike.

The Computational Biomechanics for Medicine titles provide an opportunity for specialists in computational biomechanics to present their latest methodologies and advancements. This volume comprises eighteen of the newest approaches and applications of computational biomechanics, from researchers in Australia, New Zealand, USA, UK, Switzerland, Scotland, France and Russia. Some of the interesting topics discussed are: tailored computational models; traumatic brain injury; soft-tissue mechanics; medical image analysis; and clinically-relevant simulations. One of the greatest challenges facing the computational engineering community is to extend the success of computational mechanics to fields outside traditional engineering, in particular to biology, the biomedical sciences, and medicine. We hope the research presented within this book series will contribute to overcoming this grand challenge.

Applied Cyber-Physical Systems presents the latest methods and technologies in the area of cyber-physical systems including medical and biological applications. Cyber-physical systems (CPS) integrate computing and communication capabilities by monitoring, and controlling the physical systems via embedded hardware and computers. This book brings together unique contributions from renowned experts on cyber-physical systems research and education with applications. It also addresses the major challenges in CPS, and then provides a resolution with various diverse applications as examples. Advanced-level students and researchers focused on computer science, engineering and biomedicine will find this to be a useful secondary text book or reference, as will professionals working in this field.

Offers a unique multidisciplinary overview of how humans interact with soft objects and how multiple sensory signals are used to perceive material properties, with an emphasis on object deformability. The authors describe a range of setups that have been employed to study and exploit sensory signals involved in interactions with compliant objects as well as techniques to simulate and modulate softness - including a psychophysical perspective of the field. Multisensory Softness focuses on the cognitive mechanisms underlying the use of multiple sources of information in softness perception. Divided into three sections, the first Perceptual Softness deals with the sensory components and computational requirements of softness perception, the second Sensorimotor Softness looks at the motor components of the interaction with soft objects and the final part Artificial Softness focuses on the identification of exploitable guidelines to help replicate softness in artificial environments.

"Intelligent Control" considers non-traditional modelling and control approaches to nonlinear systems. Fuzzy logic, neural networks and evolutionary computing techniques are the main tools used. The book presents a modular switching fuzzy logic controller where a PD-type fuzzy controller is executed first followed by a PI-type fuzzy controller thus improving the performance of the controller compared with a PID-type fuzzy controller.The advantage of the switching-type fuzzy controller is that it uses one rule-base thus minimises the rule-base during execution. A single rule-base is developed by merging the membership functions for change of error of the PD-type controller and sum of error of the PI-type controller. Membership functions are then optimized using evolutionary algorithms. Since the two fuzzy controllers were executed in series, necessary further tuning of the differential and integral scaling factors of the controller is then performed. Neural-network-based tuning for the scaling parameters of the fuzzy controller is then described and finally an evolutionary algorithm is applied to the neurally-tuned-fuzzy controller in which the sigmoidal function shape of the neural network is determined.

The important issue of stability is addressed and the text demonstrates empirically that the developed controller was stable within the operating range. The text concludes with ideas for future research to show the reader the potential for further study in this area.

"Intelligent Control "will be of interest to researchers from engineering and computer science backgrounds working in the intelligent and adaptive control."

There are more than 70 countries in the world that suffer from the presence of landmines. Annually, between 15,000 and 20,000 people are killed or injured by these mines so there is a pressing need for advances in technology to help to remove them.

Anti-personnel Landmine Detection for Humanitarian Demining reports on state-of-the-art technologies developed during a Japanese National Research Project which ran from 2002 2007. The conventional, and often reliable, method of landmine detection is to use a metal detector to pick up small amounts of metal within the mine. Unfortunately, minefields are frequently strewn with small metal fragments which can camouflage landmines greatly hindering progress using this form of demining. The challenge, then, is to develop practical detection systems that can discriminate between anti-personnel (AP) landmines and randomly scattered innocent metal fragments.

The results of research proposals from universities and industrial sources adopted by the Japan Science and Technology Agency are presented here. This book concentrates on various aspects of three main approaches to AP mine detection:

enhancing and confirming the results of metal-detection scans using ground penetrating radar (GPR);

using robot vehicles and manipulators to operate within minefields remotely; and

methods of sensing the explosives within mines.

Basic results are presented in the fields of GPR, nuclear quadrupole resonance, neutron thermal analysis and biosensors. The integration of these methods for workable robot operation is demonstrated.

The project was carried out in conjunction with mine action centers in Croatia, Cambodia and Afghanistan and evaluation data from field trials of the technologies are also reported.

The results presented by Professor Furuta and his colleagues will be most useful to anyone who is involved in the use or production of technical equipment associated with landmine removal. In addition, academics researching advances in this field and those working in remote sensing, mechatronics and robotics will find much to interest them and a co-ordinated body of work with which to expand their own studies.

"Software Engineering for Experimental Robotics" collects contributions that describe the state of the art in software development for the Robotics domain. It reports on innovative ideas that are progressively introduced in the software development process, in order to promote the reuse of robotic software artifacts: domain engineering, components, frameworks and architectural styles. It illustrates the results of the most successful and well-known research projects which aim to develop reusable robotic software systems. Most of the chapters report on concepts and ideas discussed at the well attended ICRA2005 Workshop on "Principles and Practice of Software Development in Robotics," Barcelona, Spain, April 18 2005. The authors are recognised as leading scholars internationally, and the result is an effective blend of fundamental and innovative results on research and development in software for robotic systems, where one common factor is the integration of reusable building blocks. Besides the advancement in the field, most contributions survey the state of the art, report a number of practical applications to real systems, and discuss possible future developments.

This volume contains the proceedings of the Second International Workshop on Optimal Design and Control, held in Arlington, Virginia, 30 September-3 Octo ber, 1997. The First Workshop was held in Blacksburg, Virginia in 1994. The proceedings of that meeting also appeared in the Birkhauser series on Progress in Systems and Control Theory and may be obtained through Birkhauser. These workshops were sponsored by the Air Force Office of Scientific Re search through the Center for Optimal Design and Control (CODAC) at Vrrginia Tech. The meetings provided a forum for the exchange of new ideas and were designed to bring together diverse viewpoints and to highlight new applications. The primary goal of the workshops was to assess the current status of research and to analyze future directions in optimization based design and control. The present volume contains the technical papers presented at the Second Workshop. More than 65 participants from 6 countries attended the meeting and contributed to its success. It has long been recognized that many modern optimal design problems are best viewed as variational and optimal control problems. Indeed, the famous problem of determining the body of revolution that produces a minimum drag nose shape in hypersonic How was first proposed by Newton in 1686. Optimal control approaches to design can provide theoretical and computational insight into these problems. This volume contains a number of papers which deal with computational aspects of optimal control."

Swarming species such as flocks of birds or schools of fish exhibit fascinating collective behaviors during migration and predator avoidance. Similarly, engineered multi-agent dynamic systems such as groups of autonomous ground, underwater, or air vehicles ("vehicle swarms") exhibit sophisticated collective behaviors while maneuvering. In this book we show how to model and control a wide range of such multi-agent dynamic systems and analyze their collective behavior using both stability theoretic and simulation-based approaches. In particular, we investigate problems such as group aggregation, social foraging, formation control, swarm tracking, distributed agreement, and engineering optimization inspired by swarm behavior.

Universal vehicular communication promises many improvements in terms of ac- dent avoidance and mitigation, better utilization of roads and resources such as time and fuel, and new opportunities for infotainment applications. However, before widespread acceptance, vehicular communication must meet challenges comparable to the trouble and disbelief that accompanied the introduction of traf c lights back then. The rst traf c light was installed in 1868 in London to signal railway, but only later, in 1912, was invented the rst red-green electric traf c light. And roughly 50 years after the rst traf c light, in 1920, the rst four-way traf c signal comparable to our today's traf c lights was introduced. The introduction of traf c signals was necessary after automobiles soon became prevalent once the rst car in history, actually a wooden motorcycle, was constructed in 1885. Soon, the scene became complicated, requiring the introduction of the "right-of-way" philosophy and later on the very rst traf c light. In the same way the traf c light was a necessary mean to regulate the beginning of the automotive life and to protect drivers, passengers, as well as pedestrians and other inhabitants of the road infrastructure, vehicular communication is necessary to accommodate the further growth of traf c volume and to signi cantly reduce the number of accidents.

Control theory has applications to a number of areas in engineering and communication theory. This introductory text on the subject is fairly self-contained and aimed primarily at advanced mathematics and engineering students in various disciplines.

The topics covered include realization problems, linear-quadratic optimal control, stability theory, stochastic modeling and recursive estimation algorithms in communications and control, and distributed system modeling. These topics have a wide range of applicability, and provide background for further study in the control and communications areas.

In the early chapters the basics of linear control systems as well as the fundamentals of stochastic control are presented in a unique way so that the methods generalize to a useful class of distributed parameter and nonlinear system models. The control of distributed parameter systems (systems governed by PDEs) is based on the framework of linear quadratic Gaussian optimization problems.

The approach here utilizes methods based on Wiener-Hopf integral equations. Additionally, the important notion of state space modeling of distributed systems is examined. Basic results due to Gohberg and Krein on convolution are given and many results are illustrated with some examples that carry throughout the text. The standard linear regulator problem is studied in both the continuous and discrete time cases, followed by a discussion of the (dual) filtering problems. Later chapters treat the stationary regulator and filtering problems with a Wiener-Hopf approach. This leads to spectral factorization problems and useful iterative algorithms that follow naturally from the methods employed. Theinterplay between time and frequency domain approaches is emphasized.

This thesis introduces a new integrated algorithm for the detection of lane-level irregular driving. To date, there has been very little improvement in the ability to detect lane level irregular driving styles, mainly due to a lack of high performance positioning techniques and suitable driving pattern recognition algorithms. The algorithm combines data from the Global Positioning System (GPS), Inertial Measurement Unit (IMU) and lane information using advanced filtering methods. The vehicle state within a lane is estimated using a Particle Filter (PF) and an Extended Kalman Filter (EKF). The state information is then used within a novel Fuzzy Inference System (FIS) based algorithm to detect different types of irregular driving. Simulation and field trial results are used to demonstrate the accuracy and reliability of the proposed irregular driving detection method.

Roboticsis undergoingamajortransformationinscopeanddimension.From a largelydominantindustrialfocus,roboticsis rapidly expandinginto human environments and vigorouslyengaged in its new challenges. Interacting with, assisting, serving, and exploring with humans, the emerging robots will - creasingly touch people and their lives. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider range of applications reaching across - verse research areas and scienti?c disciplines, such as: biomechanics, haptics, neurosciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are pr- ing an abundant source of stimulation and insights for the ?eld of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. TheSpringerTractsinAdvancedRobotics(STAR)isdevotedtobringingto the research community the latest advances in the robotics ?eld on the basis of their signi?cance and quality. Through a wide and timely dissemination of critical research developments in robotics, our objective with this series is to promotemoreexchangesandcollaborationsamongtheresearchersinthec- munity and contributeto further advancements inthis rapidlygrowing?eld. The monographwritten byAlejandro DizanVasquez Goveafocusesonthe practicalproblem of moving in a cluttered environment with pedestrians and vehicles. A frameworkbased on Hidden Markov models is developed to learn typical motion patterns which can be used to predict motion on the basis of sensor data. All the theoretical results have been implemented and validated with experiments, using both real and simulated data.

The problem of controlling or stabilizing a system of differential equa tions in the presence of random disturbances is intuitively appealing and has been a motivating force behind a wide variety of results grouped loosely together under the heading of "Stochastic Control." This book is concerned with a special instance of this general problem, the "Adaptive LQ Regulator," which is a stochastic control problem of partially observed type that can, in certain cases, be solved explicitly. We first describe this problem, as it is the focal point for the entire book, and then describe the contents of the book. The problem revolves around an uncertain linear system x(O) = x~ in R", where 0 E {1, ... , N} is a random variable representing this uncertainty and (Ai' B , C) and xJ are the coefficient matrices and initial state, respectively, of j j a linear control system, for eachj = 1, ... , N. A common assumption is that the mechanism causing this uncertainty is additive noise, and that conse quently the "controller" has access only to the observation process y( . ) where y = Cex +~.

This book reports on findings at the intersection between two related fields, namely coastal hydrography and marine robotics. On one side, it shows how the exploration of the ocean can be performed by autonomous underwater vehicles; on the other side, it shows how some methods from hydrography can be implemented in the localization and navigation of such vehicles, e.g. for target identification or path finding. Partially based on contributions presented at the conference Quantitative Monitoring of Underwater Environment, MOQESM, held on October 11-12, 2016, Brest, France, this book includes carefully revised and extended chapters presented at the conference, together with original papers not related to the event. All in all, it provides readers with a snapshot of current methods for sonar track registration, multi-vehicles control, collective exploration of underwater environments, optimization of propulsion systems, among others. More than that, the book is aimed as source of inspiration and tool to promote further discussions and collaboration between hydrographers, robotic specialists and other related communities.

Making Robots Smarter is a book about learning robots. It treats this topic based on the idea that the integration of sensing and action is the central issue. In the first part of the book, aspects of learning in execution and control are discussed. Methods for the automatic synthesis of controllers, for active sensing, for learning to enhance assembly, and for learning sensor-based navigation are presented. Since robots are not isolated but should serve us, the second part of the book discusses learning for human-robot interaction. Methods of learning understandable concepts for assembly, monitoring, and navigation are described as well as optimizing the implementation of such understandable concepts for a robot's real-time performance. In terms of the study of embodied intelligence, Making Robots Smarter asks how skills are acquired and where capabilities of execution and control come from. Can they be learned from examples or experience? What is the role of communication in the learning procedure? Whether we name it one way or the other, the methodological challenge is that of integrating learning capabilities into robots.

Well-written, practice-oriented textbook, and compact textbook

Presents the contemporary state of the art of control theory and its applications

Introduces traditional problems that are useful in the automatic control of technical processes, plus

presents current issues of control

Explains methods can be easily applied for the determination of the decision algorithms in computer control and management systems

Vision-based mobile robot guidance has proved difficult for classical machine vision methods because of the diversity and real-time constraints inherent in the task. This book describes a connectionist system called ALVINN (Autonomous Land Vehicle In a Neural Network) that overcomes these difficulties. ALVINN learns to guide mobile robots using the back-propagation training algorithm. Because of its ability to learn from example, ALVINN can adapt to new situations and therefore cope with the diversity of the autonomous navigation task. But real world problems like vision-based mobile robot guidance present a different set of challenges for the connectionist paradigm. Among them are: how to develop a general representation from a limited amount of real training data; how to understand the internal representations developed by artificial neural networks; how to estimate the reliability of individual networks; how to combine multiple networks trained for different situations into a single system; how to combine connectionist perception with symbolic reasoning. Neural Network Perception for Mobile Robot Guidance presents novel solutions to each of these problems. Using these techniques, the ALVINN system can learn to control an autonomous van in under 5 minutes by watching a person drive. Once trained, individual ALVINN networks can drive in a variety of circumstances, including single-lane paved and unpaved roads, and multi-lane lined and unlined roads, at speeds of up to 55 miles per hour. The techniques also are shown to generalize to the task of controlling the precise foot placement of a walking robot.

The present book includes a set of selected papers from the seventh "International Conference on Informatics in Control Automation and Robotics" (ICINCO 2010), held in Madeira, Portugal, from 15 to 18 June 2010. The conference was organized in three simultaneous tracks: "Intelligent Control Systems and Optimization", "Robotics and Automation" and "Signal Processing, Systems Modeling and Control". The book is based on the same structure. ICINCO received 320 paper submissions, not including those of workshops or special sessions, from 57 countries, in all continents. After a double blind paper review performed by the Program Committee only 27 submissions were accepted as full papers and thus selected for oral presentation, leading to a full paper acceptance ratio of 8%. Additional papers were accepted as short papers and posters. A further refinement was made after the conference, based also on the assessment of presentation quality, so that this book includes the extended and revised versions of the very best papers of ICINCO 2010. Commitment to high quality standards is a major concern of ICINCO that will be maintained in the next editions of this conference, including not only the stringent paper acceptance ratios but also the quality of the program committee, keynote lectures, workshops and logistics.