There has been significant interest for designing flight controllers for small-scale unmanned helicopters. Such helicopters preserve all the physical attributes of their full-scale counterparts, being at the same time more agile and dexterous. This book presents a comprehensive and well justified analysis for designing flight controllers for small-scale unmanned helicopters guarantying flight stability and tracking accuracy. The design of the flight controller is a critical and integral part for developing an autonomous helicopter platform. Helicopters are underactuated, highly nonlinear systems with significant dynamic coupling that needs to be considered and accounted for during controller design and implementation. Most reliable mathematical tools for analysis of control systems relate to modern control theory. Modern control techniques are model-based since the controller architecture depends on the dynamic representation of the system to be controlled. Therefore, the flight controller design problem is tightly connected with the helicopter modeling.

This book provides a step-by-step methodology for designing, evaluating and implementing efficient flight controllers for small-scale helicopters. Design issues that are analytically covered include:

An illustrative presentation of both linear and nonlinear models of ordinary differential equations representing the helicopter dynamics. A detailed presentation of the helicopter equations of motion is given for the derivation of both model types. In addition, an insightful presentation of the main rotor's mechanism, aerodynamics and dynamics is also provided. Both model types are of low complexity, physically meaningful and capable of encapsulating the dynamic behavior of a large class of small-scale helicopters.

An illustrative and rigorous derivation of mathematical control algorithms based on both the linear and nonlinear representation of the helicopter dynamics. Flight controller designs guarantee that the tracking objectives of the helicopter's inertial position (or velocity) and heading are achieved. Each controller is carefully constructed by considering the small-scale helicopter's physical flight capabilities. Concepts of advanced stability analysis are used to improve the efficiency and reduce the complexity of the flight control system. Controller designs are derived in both continuous time and discrete time covering discretization issues, which emerge from the implementation of the control algorithm using microprocessors.

Presentation of the most powerful, practical and efficient methods for extracting the helicopter model parameters based on input/output responses, collected by the measurement instruments. This topic is of particular importance for real-life implementation of the control algorithms.

This book is suitable for students and researches interested in the development and the mathematical derivation of flight controllers for small-scale helicopters. Background knowledge in modern control is required."

For the second time the International Workshop on Responsive Com puter Systems has brought together a group of international experts from the fields of real-time computing, distributed computing, and fault tolerant systems. The two day workshop met at the splendid facilities at the KDD Research and Development Laboratories at Kamifukuoka, Saitama, in Japan on October 1 and 2, 1992. The program included a keynote address, a panel discussion and, in addition to the opening and closing session, six sessions of submitted presentations. The keynote address "The Concepts and Technologies of Depend able and Real-time Computer Systems for Shinkansen Train Control" covered the architecture of the computer control system behind a very responsive, i. e., timely and reliable, transport system-the Shinkansen Train. It has been fascinating to listen to the operational experience with a large fault-tolerant computer application. "What are the Key Paradigms in the Integration of Timeliness and Reliability?" was the topic of the lively panel discussion. Once again the pro's and con's of the time-triggered versus the event-triggered paradigm in the design of a real-time systems were discussed. The eighteen submitted presentations covered diverse topics about important issues in the design of responsive systems and a session on progress reports about leading edge research projects. Lively discussions characterized both days of the meeting. This volume contains the revised presentations that incorporate some of the discussions that occurred during the meeting."

Shortly after the end of World War II high-speed digital computing machines were being developed. It was clear that the mathematical aspects of com putation needed to be reexamined in order to make efficient use of high-speed digital computers for mathematical computations. Accordingly, under the leadership of Min a Rees, John Curtiss, and others, an Institute for Numerical Analysis was set up at the University of California at Los Angeles under the sponsorship of the National Bureau of Standards. A similar institute was formed at the National Bureau of Standards in Washington, D. C. In 1949 J. Barkeley Rosser became Director of the group at UCLA for a period of two years. During this period we organized a seminar on the study of solu tions of simultaneous linear equations and on the determination of eigen values. G. Forsythe, W. Karush, C. Lanczos, T. Motzkin, L. J. Paige, and others attended this seminar. We discovered, for example, that even Gaus sian elimination was not well understood from a machine point of view and that no effective machine oriented elimination algorithm had been developed. During this period Lanczos developed his three-term relationship and I had the good fortune of suggesting the method of conjugate gradients. We dis covered afterward that the basic ideas underlying the two procedures are essentially the same. The concept of conjugacy was not new to me. In a joint paper with G. D."

Soft computing is a consortium of computing methodologies that provide a foundation for the conception, design, and deployment of intelligent systems and aims to formalize the human ability to make rational decisions in an environment of uncertainty and imprecision. This book is based on a NATO Advanced Study Institute held in 1996 on soft computing and its applications. The distinguished contributors consider the principal constituents of soft computing, namely fuzzy logic, neurocomputing, genetic computing, and probabilistic reasoning, the relations between them, and their fusion in industrial applications. Two areas emphasized in the book are how to achieve a synergistic combination of the main constituents of soft computing and how the combination can be used to achieve a high Machine Intelligence Quotient.

The most powerful computers in the world are not only used for scientific research, defence, and business, but also in game playing. Computer games are a multi-billion dollar industry. Recent advances in computational intelligence paradigms have generated tremendous interest among researchers in the theory and implementation of games. Game theory is a branch of operational research dealing with decision theory in a competitive situation. Game theory involves the mathematical calculations and heuristics to optimize the efficient lines of play. This book presents a sample of the most recent research on the application of computational intelligence techniques in games. This book contains 7 chapters. The first chapter, by Chen, Fanelli, Castellano, and Jain, is an introduction to computational intelligence paradigms. It presents the basics of the main constituents of compu tational intelligence paradigms including knowledge representation, probability-based approaches, fuzzy logic, neural networks, genetic algorithms, and rough sets. In the second chapter, Chellapilla and Fogel present the evolution of a neural network to play checkers without human expertise. This chapter focuses on the use of a population of neural networks, where each network serves as an evaluation function to describe the quality of the current board position. After only a little more than 800 generations, the evolutionary process has generated a neural network that can play checkers at the expert level as designated by the u.s. Chess Federation rating system. The program developed by the authors has also competed well against commercially available software."

Modeling and Simulation Environment for Satellite and Terrestrial Communications Networks: Proceedings of the European COST Telecommunications Symposium will be of interest to network designers, developers, and operators. This book is a collection of papers given at the European Cost Telecommunications Symposium. The Symposium was broken down into four sessions: Modelling and Simulation. Teletraffic Modelling. Communications Networks Simulation. Problems in Simulation. Each session addressed a wide spectrum of subjects. The symposium covered nearly all of the important aspects of simulation modeling and tools for the design and performance evaluation of communication techniques and systems. Emerging techniques were emphasized. Modeling and Simulation Environment for Satellite and Terrestrial Communications Networks: Proceedings of the European COST Telecommunications Symposium is a useful reference work for practicing engineers and academic researchers.

Foreword by James L. Massey. Codes, Graphs, and Systems is an excellent reference for both academic researchers and professional engineers working in the fields of communications and signal processing. A collection of contributions from world-renowned experts in coding theory, information theory, and signal processing, the book provides a broad perspective on contemporary research in these areas. Survey articles are also included. Specific topics covered include convolutional codes and turbo codes; detection and equalization; modems; physics and information theory; lattices and geometry; and behaviors and codes on graphs. Codes, Graphs, and Systems is a tribute to the leadership and profound influence of G. David Forney, Jr. The 35 contributors to the volume have assembled their work in his honor.

The book of Professor Evtushenko describes both the theoretical foundations and the range of applications of many important methods for solving nonlinear programs. Particularly emphasized is their use for the solution of optimal control problems for ordinary differential equations. These methods were instrumented in a library of programs for an interactive system (DISO) at the Computing Center of the USSR Academy of Sciences, which can be used to solve a given complicated problem by a combination of appropriate methods in the interactive mode. Many examples show the strong as well the weak points of particular methods and illustrate the advantages gained by their combination. In fact, it is the central aim of the author to pOint out the necessity of using many techniques interactively, in order to solve more dif ficult problems. A noteworthy feature of the book for the Western reader is the frequently unorthodox analysis of many known methods in the great tradition of Russian mathematics. J. Stoer PREFACE Optimization methods are finding ever broader application in sci ence and engineering. Design engineers, automation and control systems specialists, physicists processing experimental data, eco nomists, as well as operations research specialists are beginning to employ them routinely in their work. The applications have in turn furthered vigorous development of computational techniques and engendered new directions of research. Practical implementa tion of many numerical methods of high computational complexity is now possible with the availability of high-speed large-memory digital computers."

Over the last two decades, the search for a compact, high-power semiconductor source has produced many designs and concepts for monolithic diode-laser arrays and optical amplifiers. However, only a few design approaches have emerged with the potential for producing high-power, high-brightness monolithic sources. Although semiconductor-diode lasers are the most compact, highest gain and most efficient laser sources, challenges remain in developing structures that will produce high-quality, diffraction-limited output beams. This book presents and analyzes the results of work performed over the last twenty years in the development of high-brightness diode-laser arrays.

This book contains the edited version of lectures and selected papers presented at the NATO ADVANCED STUDY INSTITUTE ON COMPUTER AIDED OPTIMAL DESIGN: Structural and Mechanical Systems, held in Tr6ia, Portugal, 29th June to 11th July 1986, and organized by CEMUL -Center of Mechanics and Materials of the Technical University of Lisbon. The Institute was attended by 120 participants from 21 countries, including leading scientists and engineers from universities, research institutions and industry, and Ph.D. students. Some participants presented invited and contributed papers during the Institute and almost all participated actively in discussions on scientific aspects during the Institute. The Advanced Study Institute provided a forum for interaction among eminent scientists and engineers from different schools of thought and young reseachers. The Institute addressed the foundations and current state of the art of essential techniques related to computer aided optimal design of structural and mechanical systems, namely: Vari ational and Finite Element Methods in Optimal Design, Numerical Optimization Techniques, Design Sensitivity Analysis, Shape Optimal Design, Adaptive Finite Element Methods in Shape Optimization, CAD Technology, Software Development Techniques, Integrated Computer Aided Design and Knowledge Based Systems. Special topics of growing importance were also pre sented."

Probability has been an important part of mathematics for more than three centuries. Moreover, its importance has grown in recent decades, since the computing power now widely available has allowed probabilistic and stochastic techniques to attack problems such as speech and image processing, geophysical exploration, radar, sonar, etc. -- all of which are covered here. The book contains three exceptionally clear expositions on wavelets, frames and their applications. A further extremely active current research area, well covered here, is the relation between probability and partial differential equations, including probabilistic representations of solutions to elliptic and parabolic PDEs. New approaches, such as the PDE method for large deviation problems, and stochastic optimal control and filtering theory, are beginning to yield their secrets. Another topic dealt with is the application of probabilistic techniques to mathematical analysis. Finally, there are clear explanations of normal numbers and dynamic systems, and the influence of probability on our daily lives.

Historically, one of the basic issues in control systems design has been robustness: the ability of a controlled plant to withstand variations in or lack of knowledge of its dynamics. Even if the dynamics of a system are accurately known for purposes of implementation, it is often desirable to design a control system based on a simplified model. Consequently it is essential to be able to guarantee a reasonable performance not only for the nominal plant, but also for its neighbouring perturbations: this is the issue of robustness. Since the beginning of this decade major advances have been made in this area, notably using the H -approach; this term is meant to cover the solution of sensitivity reduction, approximation and model reduction, robustness and related control design problems using the mathematics of Hardy spaces and related areas in Harmonic Analysis. This book contains the proceedings of the NATO Advanced Research Workshop on "Modelling, Robustness and Sensitivity Reduction in Control Systems," which was held at the University of Groningen, December 1986. Its aim was to explore the development of H -design techniques and its ramifications in Systems Theory in a unified and systematic way with the emphasis on recent advances and future directions in this fast developing area. In particular the following inter-related aspects were addressed: H -mathematical foundations, model approximation and robustness in control design, optimal sensitivity reduction, modelling and system identification and signal processing.

Within 50 years computers could have capabilities rivaling that of the human brain. Effective utilization of such new technologies poses a significant challenge to the computer science community, which finds an ever increasing number of complex applications within its technological grasp. In addition to increased complexity, most, if not all, of these applications are also accompanied by an inherent increase in the consequences associated with their failure, resulting in the construction of increasingly high consequence complex systems. Systems that fall within this domain are beyond the ability to construct in a brute force manner. There are two major challenges in developing such systems: manage complexity and provide sufficient evidence that the system satisfies dependability constraints. Society is tacitly relying on the research community to solve these problems on a timetable satisfying the needs of industry. While impressive results have been obtained, the research community is still, to some extent, hamstrung by the lack of realistic case study problems against which to benchmark new techniques and approaches.The purpose of High Integrity Software is to explore a cross-section of some of the most promising areas of research in the construction of high consequence complex systems, for example, a case study involving the Bay Area Rapid Transit (BART) system. Because of its scope and complexity, the BART case study is being recognized by many in the formal methods community as one of the definitive case study problems, and as such provides a valuable insight into the challenges that must be faced in the upcoming years. High Integrity Software is suitable as a secondary text for a graduate level course, and as a reference for researchers and practitioners in industry.

This book is the result of the 11 th International Conference on Information Systems Development -Methods and Tools, Theory and Practice, held in Riga, Latvia, September 12-14,2002. The purpose of this conference was to address issues facing academia and industry when specifying, developing, managing, reengineering and improving information systems. Recently many new concepts and approaches have emerged in the Information Systems Development (ISD) field. Various theories, methodologies, methods and tools available to system developers also created new problems, such as choosing the most effective approach for a specific task, or solving problems of advanced technology integration into information systems. This conference provides a meeting place for ISD researchers and practitioners from Eastern and Western Europe as well as from other parts of the world. Main objectives of this conference are to share scientific knowledge and interests and to establish strong professional ties among the participants. The 11th International Conference on Information Systems Development (ISD'02) continues the tradition started with the first Polish-Scandinavian Seminar on Current Trends in Information Systems Development Methodologies, held in Gdansk, Poland in 1988. Through the years this Seminar has evolved into the International Conference on Information Systems Development. ISD'02 is the first ISD conference held in Eastern Europe, namely, in Latvia, one of the three Baltic countries.

Interacting many-body systems are the main subjects of research in theoretical condensed matter physics, and they are the source of both the interest and the difficulty in this field. In order to understand the macroscopic properties of matter in terms of macroscopic knowledge, many analytic and approximate methods have been introduced. The contributions to this proceedings volume focus on the most recent developments of computational approaches in condensed matter physics. Monte Carlo methods and molecular dynamics simulations applied to strongly correlated classical and quantum systems such as electron systems, quantum spin systems, spin glassss, coupled map systems, polymers and other random and comlex systems are reviewed. Comprising easy to follow introductions to each field covered and also more specialized contributions, this proceedings volume explains why computational approaches are necessary and how different fields are related to each other.

Applied and Computational Control, Signals, and Circuits: Recent Developments is an interdisciplinary book blending mathematics, computational mathematics, scientific computing and software engineering with control and systems theory, signal processing, and circuit simulations. The material consists of seven state-of-the-art review chapters, each written by a leading expert in that field. Each of the technical chapters deals exclusively with some of the recent developments involving applications and computations of control, signals and circuits. Also included is a Chapter focusing on the newly developed Fortran-based software library, called SLICOT, for control systems design and analysis. This collection will be an excellent reference work for research scientists, practicing engineers, and graduate level students of control and systems, circuit design, power systems and signal processing.

It is with great pleasure that I offer my reflections on Professor Anthony N. Michel's retirement from the University of Notre Dame. I have known Tony since 1984 when he joined the University of Notre Dame's faculty as Chair of the Depart ment of Electrical Engineering. Tony has had a long and outstanding career. As a researcher, he has made im portant contributions in several areas of systems theory and control theory, espe cially stability analysis of large-scale dynamical systems. The numerous awards he received from the professional societies, particularly the Institute of Electrical and Electronics Engineers (IEEE), are a testament to his accomplishments in research. He received the IEEE Control Systems Society's Best Transactions Paper Award (1978), and the IEEE Circuits and Systems Society's Guillemin-Cauer Prize Paper Award (1984) and Myril B. Reed Outstanding Paper Award (1993), among others. In addition, he was a Fulbright Scholar (1992) and received the Alexander von Hum boldt Forschungspreis (Alexander von Humboldt Research Award for Senior U.S. Scientists) from the German government (1997). To date, he has written eight books and published over 150 archival journal papers. Tony is also an effective administrator who inspires high academic standards.

Bionics evolved in the 1960s as a framework to pursue the development of artificial systems based on the study of biological systems. Numerous disciplines and technologies, including artificial intelligence and learningdevices, information processing, systems architecture and control, perception, sensory mechanisms, and bioenergetics, contributed to bionics research. This volume is based on a NATO Advanced Research Workshop within the Special Programme on Sensory Systems for Robotic Control, held in Il Ciocco, Italy, in June 1989. A consensus emerged at the workshop, and is reflected in the book, on the value of learning from nature in order to derive guidelines for the design of intelligent machines which operate in unstructured environments. The papers in the book are grouped into seven chapters: vision and dynamic systems, hands and tactile perception, locomotion, intelligent motor control, design technologies, interfacing robots to nervous systems, and robot societies and self-organization.

Using relevant mathematical proofs and case studies illustrating design and application issues, this book demonstrates this powerful technique in the light of research on neural networks, which allow the identification of nonlinear models without the complicated and costly development of models based on physical laws.

This volume contains papers presented at the Thirteenth Taniguchi Symposium on the Theory of Condensed Matter, which was held at Kashikojima (in Ise Shima National Park), Japan, from 6th to 9th November, 1990. The topic of the symposium was Molecular Dynamics Simulations. The general objective of this series of the Taniguchi Symposia is to encour age developing fields of great promise in condensed matter physics. Our theme, molecular dynamics (MD) simulations, certainly fulfills this requirement, be cause the field is developing at a remarkable pace and its future is considered almost boundless. It was in the 1950s that the original idea of the MD methods was first pro posed and applied to the study of physical systems composed of many particles. In fact, the invention of the MD techniques occurred soon after the construction of the first computers. For almost 35 years since then, MD methods, together with Monte Carlo methods, have played major parts in the drama of computer simulations. The triumph of MD simulations is not confined to numerical aspects of detailed analyses of physical systems. MD simulations have verified some un expected facts and introduced some new concepts, all of which had never been predicted previously from analytical theories. The occurrence of the Alder tran sition in a system of repulsive particles and the behavior of the long-time tails of the velocity autocorrelation function for a liquid are just two examples of the results achieved by means of MD studies."

Parallel Processing Applications for Jet Engine Control is a volume in the new Advances in Industrial Control series, edited by Professor M.J. Grimble and Dr. M.A. Johnson of the Industrial Control Unit, University of Strathclyde. The book describes the mapping and load balancing of gas turbine engine and controller simulations onto arrays of transputers. It compares the operating system for transputers and the Uniform System upon the Butterfly Plus computer. The problem of applying formal methods to parallel asychronous processors is addressed, implementing novel fault tolerant systems to meet real-time flight control requirements. The book presents real-time closed-loop results highlighting the advantages and disadvantages of Occam and the transputer. Readers will find that this book provides valuable material for researchers in both academia and the aerospace industry.

The contribution of computer simulation studies to our understanding of the prop erties of a wide range of condensed matter systems is now weIl established. The Center for Simulational Physics of the University of Georgia has been hosting a series of annual workshops with the intent of bringing together experienced prac titioners in the field, as weIl as relative newcomers, to provide a forum for the exchange of ideas and recent results. This year's workshop, the third in the series, was held February 12-16, 1990. These proceedings are arecord of the workshop and are published with the goal of timely dissemination of the papers to a wider audience. The proceedings are divided into four parts. The first contains invited pa pers dealing with simulational studies of classical systems and also includes an introduction to some new simulation techniques. Aseparate section is devoted to invited papers on quantum systems, including new results for strongly correlated electron and quantum spin models believed to be important for the description of high-Tc superconductors. The third part consists of a single invited paper, which presents a comprehensive treatment of issues associated with high perfor mance computing, including differences in architectures and a discussion of access strategies. The contributed papers constitute the final part.

The design of nonlinear controllers for mechanical systems has been an ex tremely active area of research in the last two decades. From a theoretical point of view, this attention can be attributed to their interesting dynamic behavior, which makes them suitable benchmarks for nonlinear control the oreticians. On the other hand, recent technological advances have produced many real-world engineering applications that require the automatic con trol of mechanical systems. the mechanism for de Often, Lyapunov-based techniques are utilized as veloping different nonlinear control structures for mechanical systems. The allure of the Lyapunov-based framework for mechanical system control de sign can most likely be assigned to the fact that Lyapunov function candi dates can often be crafted from physical insight into the mechanics of the system. That is, despite the nonlinearities, couplings, and/or the flexible effects associated with the system, Lyapunov-based techniques can often be used to analyze the stability of the closed-loop system by using an energy like function as the Lyapunov function candidate. In practice, the design procedure often tends to be an iterative process that results in the death of many trees. That is, the controller and energy-like function are often constructed in concert to foster an advantageous stability property and/or robustness property. Fortunately, over the last 15 years, many system the ory and control researchers have labored in this area to produce various design tools that can be applied in a variety of situations.

Information theory is an exceptional field in many ways. Technically, it is one of the rare fields in which mathematical results and insights have led directly to significant engineering payoffs. Professionally, it is a field that has sustained a remarkable degree of community, collegiality and high standards. James L. Massey, whose work in the field is honored here, embodies the highest standards of the profession in his own career. The book covers the latest work on: block coding, convolutional coding, cryptography, and information theory. The 44 contributions represent a cross-section of the world's leading scholars, scientists and researchers in information theory and communication. The book is rounded off with an index and a bibliography of publications by James Massey.

There have been significant developments in the theory and practice of combinatorial optimization in the last 15 years. This progress has been evidenced by a continuously increasing number of international and local conferences, books and papers in this area. This book is also another contribution to this burgeoning area of operations research and optimization. This volume contains the contributions of the participants of the recent NATO Ad vanced Study Institute, New Frontiers in the Theory and Practice of Combinatorial Op timization, which was held at the campus of Bilkent University, in Ankara, Turkey, July 16-29, 1990. In this conference, we brought many prominent researchers and young and promising scientists together to discuss current and future trends in the theory and prac tice of combinatorial optimization. The Bilkent campus was an excellent environment for such an undertaking. Being outside of Ankara, the capital of Turkey, Bilkent University gave the participants a great opportunity for exchanging ideas and discussing new theories and applications without much distraction. One of the primary goals of NATO ASIs is to bring together a group of scientists and research scientists primarily from the NATO countries for the dissemination of ad vanced scientific knowledge and the promotion of international contacts among scientists. We believe that we accomplished this mission very successfully by bringing together 15 prominent lecturers and 45 promising young scientists from 12 countries, in a university environment for 14 days of intense lectures, presentations and discussions.