This book presents a unified mathematical treatment of diverse problems in the general domain of robotics and associated fields using Clifford or geometric alge- bra. By addressing a wide spectrum of problems in a common language, it offers both fresh insights and new solutions that are useful to scientists and engineers working in areas related with robotics. It introduces non-specialists to Clifford and geometric algebra, and provides ex- amples to help readers learn how to compute using geometric entities and geomet- ric formulations. It also includes an in-depth study of applications of Lie group theory, Lie algebra, spinors and versors and the algebra of incidence using the universal geometric algebra generated by reciprocal null cones. Featuring a detailed study of kinematics, differential kinematics and dynamics using geometric algebra, the book also develops Euler Lagrange and Hamiltoni- ans equations for dynamics using conformal geometric algebra, and the recursive Newton-Euler using screw theory in the motor algebra framework. Further, it comprehensively explores robot modeling and nonlinear controllers, and discusses several applications in computer vision, graphics, neurocomputing, quantum com- puting, robotics and control engineering using the geometric algebra framework. The book also includes over 200 exercises and tips for the development of future computer software packages for extensive calculations in geometric algebra, and a entire section focusing on how to write the subroutines in C++, Matlab and Maple to carry out efficient geometric computations in the geometric algebra framework. Lastly, it shows how program code can be optimized for real-time computations. An essential resource for applied physicists, computer scientists, AI researchers, roboticists and mechanical and electrical engineers, the book clarifies and demon- strates the importance of geometric computing for building autonomous systems to advance cognitive systems research.

This book is dedicated to the analysis and modelling of fractional behaviours that mainly result from physical stochastic phenomena (diffusion, adsorption or aggregation, etc.) of a population (ions, molecules, people, etc.) in a constrained environment and that can be found in numerous areas. It breaks with the usual approaches based on fractional models since it proposes to use unusual models which have the advantage of overcoming some of the limitations of fractional models. This book is dedicated to postgraduated students and to researchers in the field or those who wish to learn with a fresh perspective. After a review of fractional models and their limitations, it proposes and demonstrates the interest of four other modelling tools to capture fractional behaviours: new kernels in integral operators, Volterra equations, nonlinear models and partial differential equations with spatially variable coefficients. Several applications on real data and devices illustrate their efficiency.

The Abel Symposia volume at hand contains a collection of high-quality articles written by the world's leading experts, and addressing all mathematicians interested in advances in deterministic and stochastic dynamical systems, numerical analysis, and control theory. In recent years we have witnessed a remarkable convergence between individual mathematical disciplines that approach deterministic and stochastic dynamical systems from mathematical analysis, computational mathematics and control theoretical perspectives. Breakthrough developments in these fields now provide a common mathematical framework for attacking many different problems related to differential geometry, analysis and algorithms for stochastic and deterministic dynamics. In the Abel Symposium 2016, which took place from August 16-19 in Rosendal near Bergen, leading researchers in the fields of deterministic and stochastic differential equations, control theory, numerical analysis, algebra and random processes presented and discussed the current state of the art in these diverse fields. The current Abel Symposia volume may serve as a point of departure for exploring these related but diverse fields of research, as well as an indicator of important current and future developments in modern mathematics.

A survey of current knowledge about Hamiltonian systems with three or more degrees of freedom and related topics. The Hamiltonian systems appearing in most of the applications are non-integrable. Hence methods to prove non-integrability results are presented and the different meaning attributed to non-integrability are discussed. For systems near an integrable one, it can be shown that, under suitable conditions, some parts of the integrable structure, most of the invariant tori, survive. Many of the papers discuss near-integrable systems. From a topological point of view, some singularities must appear in different problems, either caustics, geodesics, moving wavefronts, etc. This is also related to singularities in the projections of invariant objects, and can be used as a signature of these objects. Hyperbolic dynamics appear as a source on unpredictable behaviour and several mechanisms of hyperbolicity are presented. The destruction of tori leads to Aubrey-Mather objects, and this is touched on for a related class of systems. Examples without periodic orbits are constructed, against a classical conjecture. Other topics concern higher dimensional systems, either finite (networks and localised vibrations on them) or infinite, like the quasiperiodic SchrAdinger operator or nonlinear hyperbolic PDE displaying quasiperiodic solutions. Most of the applications presented concern celestial mechanics problems, like the asteroid problem, the design of spacecraft orbits, and methods to compute periodic solutions.

Explains multi-level models of enterprise systems and covers modeling methodology This book addresses the essential phenomena underlying the overall behaviors of complex systems and enterprises. Understanding these phenomena can enable improving these systems. These phenomena range from physical, behavioral, and organizational, to economic and social, all of which involve significant human components. Specific phenomena of interest and how they are represented depend on the questions of interest and the relevant domains or contexts. Modeling and Visualization of Complex Systems and Enterprises examines visualization of phenomena and how understanding the relationships among phenomena can provide the basis for understanding where deeper exploration is warranted. The author also reviews mathematical and computational models, defined very broadly across disciplines, which can enable deeper understanding. Presents a 10 step methodology for addressing questions associated with the design or operation of complex systems and enterprises Examines six archetypal enterprise problems including two from healthcare, two from urban systems, and one each from financial systems and defense systems Provides an introduction to the nature of complex systems, historical perspectives on complexity and complex adaptive systems, and the evolution of systems practice Modeling and Visualization of Complex Systems and Enterprises is written for graduate students studying systems science and engineering and professionals involved in systems science and engineering, those involved in complex systems such as healthcare delivery, urban systems, sustainable energy, financial systems, and national security.

This book highlights the prevention of possible accidents and crashes of aircrafts by analyzing the many factors that affect such events. It includes the theoretical study of known ideas and concepts, as well as a set of new methods and mathematical models. It contains factual information to investigate famous disasters and aviation accidents with aircrafts. The book proposes methods and models that can be the basis in developing guidance material for decision-making by the flight crew and experts in air traffic control. Some of the contents presented in this book are also useful in the design and operation of data transmission systems of aircraft. The book is intended for engineering and technical specialists engaged in the development, manufacturing and operations of onboard radio electronic systems of aircraft and ground-based radio engineering support for flights, as well as graduate students and senior students of radio engineering specialties. It is useful to researchers and managers whose activities are related to air traffic control.

This book offers a timely overview of nonlinear control methods applied to a set of vehicles and their applications to study vehicle dynamics. The first part on the book presents the mathematical models used for describing motion of three class of vehicles such as underwater vehicles, hovercrafts and airships. In turn, each model is expressed in terms of Inertial Quasi-Velocities. Various control strategies from the literature, including model-free ones, are then analyzed. The second part and core of the book guides readers to developing model-based control algorithms using Inertial Quasi-Velocities. Both non-adaptive and adaptive versions are covered. Each controller is validated through simulation tests, which are reported in detail. In turn, this part shows how to use the controllers to gain information about vehicle dynamics, thus describing an important relationship between the dynamics of the moving object and its motion control. The effects of mechanical couplings between variables describing vehicle motion due to inertial forces are also discussed. All in all, this book offers a timely guide and extensive information on nonlinear control schemes for unmanned marine and aerial vehicles. It covers specifically the simulation tests and is therefore meant as a starting point for engineers and researchers that would like to verify experimentally the suitability of the proposed models in real vehicles. Further, it also supports advanced-level students and educators in their courses on vehicle dynamics, control engineering and robotics.

This book focuses on fault diagnosis for linear discrete time-varying (LDTV) systems and its applications in modern engineering processes, with more weighting placed on the development of theory and methodologies. A comprehensive and systematic study on fault diagnosis for LDTV systems is provided, covering H -optimization-based fault diagnosis, H -filtering-based fault diagnosis, parity space-based fault diagnosis, Krein space technique-aided fault detection and fault estimation, and their typical applications in linear/nonlinear processes such as satellite attitude control systems and INS/GPS systems. This book benefits researchers, engineers, and graduate students in the fields of control engineering, electrical and electronic engineering, instrumentation science, and optoelectronic engineering.

An exposition of the interplay between the modelling of dynamic systems and the design of feedback controllers based on these models is the main goal of this book. The combination of both subjects into a cohesive development allows the consistent treatment of both problems to yield powerful new tools for the improvement of system performance. Central among the themes of this work is the observation that operation of a system in feedback with a controller exposes the areas in which the model fit is constraining the controller performance achieved. The book presents new techniques for the understanding of the iterative improvement of performance through the successive fitting of models using closed-loop data and the design of high-performance controllers using these models. The subject matter includes: New approaches to understanding how to affect the fit of dynamical models to physical processes through the choice of experiments, data pre-filtering and model structure; connections between robust control design methods and their dependency on the quality of model fit; experimental design in which data collected in operation under feedback can reveal areas that limit the performance achieved; iterative approaches to link these model-fitting and control design phases in a cogent manner so as to achieve improved performance overall. The authors of individual chapters are some of the most renowned and authoritative figures in the fields of system identification and control design.

This book constitutes the proceedings of the 6th International Symposium on Chaos, Complexity and Leadership (ICCLS). Written by interdisciplinary researchers and students from the fields of mathematics, physics, education, economics, political science, statistics, the management sciences and social sciences, the peer-reviewed contributions explore chaotic and complex systems, as well as chaos and complexity theory in the context of their applicability to management and leadership. The book discusses current topics, such as complexity leadership in the healthcare fields and tourism industry, conflict management and organization intelligence, and presents practical applications of theoretical concepts, making it a valuable resource for managers and leaders.

This book gathers papers addressing state-of-the-art research in all areas of information and communication technologies and their applications in intelligent computing, cloud storage, data mining and software analysis. It presents the outcomes of the Fourth International Conference on Information and Communication Technology for Intelligent Systems, which was held in Ahmedabad, India. Divided into two volumes, the book discusses the fundamentals of various data analysis techniques and algorithms, making it a valuable resource for researchers and practitioners alike.

This textbook is designed for an introductory, one-semester course in Control Systems for undergraduates and graduates in various engineering departments, such as electrical, mechanical, aerospace, and civil. It is written to be concise, clear, and yet comprehensive to make it easier for the students to learn this important subject with high mathematical complexity. The author emphasizes the physical simulation of systems, making it easier for readers to understand system behavior. The popular MATLAB (R) software package is used for programming and simulation. Every new concept is explained with figures and examples for a clear understanding. The simple and clear style of presentation, along with comprehensive coverage, enables students to obtain a solid foundation in the subject and for use in practical applications.

Robust Integration of Model-Based Fault Estimation and Fault-Tolerant Control is a systematic examination of methods used to overcome the inevitable system uncertainties arising when a fault estimation (FE) function and a fault-tolerant controller interact as they are employed together to compensate for system faults and maintain robustly acceptable system performance. It covers the important subject of robust integration of FE and FTC with the aim of guaranteeing closed-loop stability. The reader's understanding of the theory is supported by the extensive use of tutorial examples, including some MATLAB (R)-based material available from the Springer website and by industrial-applications-based material. The text is structured into three parts: Part I examines the basic concepts of FE and FTC, providing extensive insight into the importance of and challenges involved in their integration; Part II describes five effective strategies for the integration of FE and FTC: sequential, iterative, simultaneous, adaptive-decoupling, and robust decoupling; and Part III begins to extend the proposed strategies to nonlinear and large-scale systems and covers their application in the fields of renewable energy, robotics and networked systems. The strategies presented are applicable to a broad range of control problems, because in the absence of faults the FE-based FTC naturally reverts to conventional observer-based control. The book is a useful resource for researchers and engineers working in the area of fault-tolerant control systems, and supplementary material for a graduate- or postgraduate-level course on fault diagnosis and FTC. Advances in Industrial Control reports and encourages the transfer of technology in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. The series offers an opportunity for researchers to present an extended exposition of new work in all aspects of industrial control.

At present, concerning intensive development of computer hardware and software, computer-based methods for modeling of difficult problems have become the main technique for theoretical and applied investigations. Many unsolved tasks for evolutionary systems (ES) are an important class of such problems. ES relate to economic systems on the whole and separate branches and businesses, scientific and art centers, ecological systems, populations, separate species of animals and plants, human organisms, different subsystems of organisms, cells of animals and plants, and soon. Available methods for modeling of complex systems have received considerable attention and led to significant results. No large-scale programs are done without methods of modeling today. Power programs, health programs, cosmos investigations, economy designs, etc. are a few examples of such programs. Nevertheless, in connection with the permanent complication of contemporary problems, existing means are in need of subsequent renovation and perfection. In the monograph, along with analysis of contemporary means, new classes of mathematical models (MM) which can be used for modeling in the most difficult cases are proposed and justified. The main peculiarities of these MM offer possibilities for the description ofES; creation and restoration processes; dynamics of elimination or reservation of obsolete technology in ES; dynamics of resources distribution for fulfillment of internal and external functions ofES; and so on. The complexity of the problems allows us to refer to the theory and applications of these MM as the mathematical theory of development. For simplicity, the title "Model Development and Optimization" was adopted.

This book describes the research progress of the control design about strict-feedback nonlinear systems. A novel gain control design method is proposed, which greatly simplifies the construction procedure of controller for strict-feedback nonlinear systems. The control design problem of strict-feedback nonlinear systems is converted into the determination problem of gain parameters or the construction of dynamic gain equations. Therefore, the tedious iterative design procedure is effectively avoided. This book can be used as a reference for researchers in the field of control theory and engineers seeking advanced methods in practical control applications. 

This book presents a selection of cutting-edge methods that allow readers to obtain novel models for nonlinear solid mechanics. Today, engineers need more accurate techniques for modeling solid body mechanics, chiefly due to innovative methods like additive manufacturing-for example, 3D printing-but also due to miniaturization. This book focuses on the formulation of continuum and discrete models for complex materials and systems, and especially the design of metamaterials. It gathers outstanding papers from the international conference IcONSOM 2019

New finite elements are needed as well in research as in industry environments for thedevelopment of virtual prediction techniques. The design and implementation of novel finiteelements for specific purposes is a tedious and time consuming task, especially for nonlinearformulations. The automation of this process can help to speed up this processconsiderably since the generation of the final computer code can be accelerated by order ofseveral magnitudes.This book provides the reader with the required knowledge needed to employ modernautomatic tools like AceGen within solid mechanics in a successful way. It covers the rangefrom the theoretical background, algorithmic treatments to many different applications. Thebook is written for advanced students in the engineering field and for researchers ineducational and industrial environments.

This book aims to systematically review and design different intelligent control algorithms for the small-signal stability assessment of HPS. With the growing consciousness of global warming and the fast depletion of natural power generation resources, the existing power system is on the verge of transitions to a "hybrid power system (HPS)" integrated with distributed energy resources. The recent results and requirements for the developments of intelligent control algorithms have motivated the authors to introduce this book for extensively analyzing the performance of HPS against unknown/uncertain disturbances. This book introduces fractional-order resilient control methodologies for arresting small-signal instability of HPS. The prospective investigation has been performed on the MATLAB platform. This book is helpful for undergraduate, postgraduate students, and research scholars working in power system stability, control applications, and soft computing in particular.

This book analyzes the secure problems of cyber-physical systems from both the adversary and defender sides. Targeting the challenging security problems of cyber-physical systems under malicious attacks, this book presents some recent novel secure state estimation and control algorithms, in which moving target defense scheme, zero-sum game-theoretical approach, reinforcement learning, neural networks, and intelligent control are adopted. Readers will find not only the valuable secure state estimation and control schemes combined with the approaches aforementioned, but also some vital conclusions for securing cyber-physical systems, for example, the critical value of allowed attack probability, the maximum number of sensors to be attacked, etc. The book also provides practical applications, example of which are unmanned aerial vehicles, interruptible power system, and robot arm to validate the proposed secure algorithms. Given its scope, it offers a valuable resource for undergraduate and graduate students, academics, scientists, and engineers who are working in this field.

This book develops a dynamical model of the orbital motion of Lorentz spacecraft in both unperturbed and J2-perturbed environments. It explicitly discusses three kinds of typical space missions involving relative orbital control: spacecraft hovering, rendezvous, and formation flying. Subsequently, it puts forward designs for both open-loop and closed-loop control schemes propelled or augmented by the geomagnetic Lorentz force. These control schemes are entirely novel and represent a significantly departure from previous approaches.

This book contains all refereed papers that were accepted to the seventh edition of the international conference " Complex Systems Design & Management Paris" (CSD&M Paris 2016) which took place in Paris (France) on the December 13-14, 2016 These proceedings cover the most recent trends in the emerging field of complex systems sciences & practices from an industrial and academic perspective, including the main industrial domains (aeronautic & aerospace, defense & security, electronics & robotics, energy & environment, healthcare & welfare services, software & e-services, transportation), scientific & technical topics (systems fundamentals, systems architecture & engineering, systems metrics & quality, system is modeling tools) and system types (artificial ecosystems, embedded systems, software & information systems, systems of systems, transportation systems). The CSD&M Paris 2016 conference is organized under the guidance of the CESAMES non-profit organization, address: CESAMES, 8 rue de Hanovre, 75002 Paris, France.

This book explores the universe and its subsystems from the three lenses of evolutionary (contingent), developmental (predictable), and complex (adaptive) processes at all scales. It draws from prolific experts within the academic disciplines of complexity science, physical science, information and computer science, theoretical and evo-devo biology, cosmology, astrobiology, evolutionary theory, developmental theory, and philosophy. The chapters come from a Satellite Meeting, "Evolution, Development and Complexity" (EDC) hosted at the Conference on Complex Systems, in Cancun, 2017. The contributions have been peer-reviewed and contributors from outside the conference were invited to submit chapters to ensure full coverage of the topics. This book explores many issues within the field of EDC such as the interaction of evolutionary stochasticity and developmental determinism in biological systems and what they might teach us about these twin processes in other complex systems. This text will appeal to students and researchers within the complex systems and EDC fields.

This book presents the Proceedings of the 54th Winter School of Theoretical Physics on Simplicity of Complexity in Economic and Social Systems, held in Ladek Zdroj, Poland, from 18 to 24 February 2018. The purpose of the book is to introduce the new interdisciplinary research that links statistical physics, and particular attention is given to link physics of complex systems, with financial analysis and sociology. The main tools used in these areas are numerical simulation of agents behavior and the interpretation of results with the help of complexity methods, therefore a background in statistical physics and in physics of phase transition is necessary to take the first steps towards these research fields called econophysics and sociophysics. In this perspective, the book is intended to graduated students and young researchers who want to begin the study of this established new area, which connects physicists, economists, sociologists and IT professionals, to better understand complexity phenomena existing not only in physics but also in complex systems being seemingly far from traditional view at physics.

This book introduces the application of nonlinear dynamics theory for driving system of electric vehicle and hybrid electric vehicle respectively. It establishes the dynamic models for driving system of electric vehicle and hybrid electric vehicle under various working conditions. And the nonlinear dynamics theory is applied to the qualitative analysis and quantitative calculation for the models. The theoretical analysis results are applied to guide the optimization of control strategies. In the end of each chapter, corresponding simulations or experiments are provided to verify the corresponding instances which are carefully selected. This book will give some guidance to readers when they deal with nonlinear dynamics problems of vehicles in the future and provide theoretical bases for the further study of the nonlinear dynamics for driving system of electric vehicle and hybrid electric vehicle. The book is written for engineer of electric vehicle and hybrid vehicle, teachers and students majoring in automobile and automation.

This book provides novel approach to the diagnosis of complex technical systems that are widely used in various kinds of transportation, energy, metallurgy, metalworking, fuels, mining, chemical, paper industries, etc. Effective diagnostic systems are necessary for the early detection of errors in mechatronic systems, for the organization of maintenance and for the assessment of the performed service quality. Unfortunately, the practical use of AI in the diagnosis of mechatronic systems is still quite limited and the inability to build effective mechatronic systems leads to significant economic losses and dangers. The main aim of this book is to contribute to knowledge within the topic of diagnostics of mechatronic systems by the analysis of the elements reliability characteristics, using methods, models and algorithms for diagnostics and by studying examples of model diagnostic systems using AI methods based on neural networks, fuzzy inference systems and genetic algorithms.