Safe Robot Navigation Among Moving and Steady Obstacles is the first book to focus on reactive navigation algorithms in unknown dynamic environments with moving and steady obstacles. The first three chapters provide introduction and background on sliding mode control theory, sensor models, and vehicle kinematics. Chapter 4 deals with the problem of optimal navigation in the presence of obstacles. Chapter 5 discusses the problem of reactively navigating. In Chapter 6, border patrolling algorithms are applied to a more general problem of reactively navigating. A method for guidance of a Dubins-like mobile robot is presented in Chapter 7. Chapter 8 introduces and studies a simple biologically-inspired strategy for navigation a Dubins-car. Chapter 9 deals with a hard scenario where the environment of operation is cluttered with obstacles that may undergo arbitrary motions, including rotations and deformations. Chapter 10 presents a novel reactive algorithm for collision free navigation of a nonholonomic robot in unknown complex dynamic environments with moving obstacles. Chapter 11 introduces and examines a novel purely reactive algorithm to navigate a planar mobile robot in densely cluttered environments with unpredictably moving and deforming obstacles. Chapter 12 considers a multiple robot scenario. For the Control and Automation Engineer, this book offers accessible and precise development of important mathematical models and results. All the presented results have mathematically rigorous proofs. On the other hand, the Engineer in Industry can benefit by the experiments with real robots such as Pioneer robots, autonomous wheelchairs and autonomous mobile hospital.

Today, air-to-surface vessel (ASV) radars, or more generally maritime surveillance radars, are installed on maritime reconnaissance aircraft for long-range detection, tracking and classification of surface ships (ASuW - Air to Surface Warfare) and for hunting submarines (ASW - anti-submarine warfare). Such radars were first developed in the UK during WWII as part of the response to the threat to shipping from German U-Boats. This book describes the ASV radars developed in the UK after WWII (1946-2000) and used by the RAF for long-range maritime surveillance.

Fundamentals and Applications of Nanophotonics includes a comprehensive discussion of the field of nanophotonics, including key enabling technologies that have the potential to drive economic growth and impact numerous application domains such as ICT, the environment, healthcare, military, transport, manufacturing, and energy. This book gives readers the theoretical underpinnings needed to understand the latest advances in the field. After an introduction to the area, chapters two and three cover the essential topics of electrodynamics, quantum mechanics, and computation as they relate to nanophotonics. Subsequent chapters explore materials for nanophotonics, including nanoparticles, photonic crystals, nanosilicon, nanocarbon, III-V, and II-VI semiconductors. In addition, fabrication and characterization techniques are addressed, along with the importance of plasmonics, and the applications of nanophotonics in devices such as lasers, LEDs, and photodetectors.

Advances in Chemical Mechanical Planarization (CMP) provides the latest information on a mainstream process that is critical for high-volume, high-yield semiconductor manufacturing, and even more so as device dimensions continue to shrink. The technology has grown to encompass the removal and planarization of multiple metal and dielectric materials and layers both at the device and the metallization levels, using different tools and parameters, requiring improvements in the control of topography and defects. This important book offers a systematic review of fundamentals and advances in the area. Part One covers CMP of dielectric and metal films, with chapters focusing on the use of particular techniques and processes, and on CMP of particular various materials, including ultra low-k materials and high-mobility channel materials, and ending with a chapter reviewing the environmental impacts of CMP processes. Part Two addresses consumables and process control for improved CMP, and includes chapters on the preparation and characterization of slurry, diamond disc pad conditioning, the use of FTIR spectroscopy for characterization of surface processes, and approaches for defection characterization, mitigation, and reduction.

Advances in Imaging and Electron Physics merges two long-running serials, Advances in Electronics and Electron Physics and Advances in Optical and Electron Microscopy. The series features extended articles on the physics of electron devices (especially semiconductor devices), particle optics at high and low energies, microlithography, image science, and digital image processing, electromagnetic wave propagation, electron microscopy, and the computing methods used in all these domains.

Industrial automation is driving the development of robot manipulators in various applications, with much of the research effort focussed on flexible manipulators and their advantages compared to their rigid counterparts. This book reports recent advances and new developments in the analysis and control of these robot manipulators. After a general overview of flexible manipulators the book introduces a range of modelling and simulation techniques based on the Lagrange equation formulation, parametric approaches based on linear input/output models using system identification techniques, neuro-modelling approaches, and numerical techniques for dynamic characterisation using finite difference and finite element techniques. Control techniques are then discussed, including a range of open-loop and closed-loop control techniques based on classical and modern control methods including neuro and iterative control, and a range of soft-computing control techniques based on fuzzy logic, neural networks, and evolutionary and bio-inspired optimisation paradigms. Finally the book presents SCEFMAS, a software environment for analysis, design, simulation and control of flexible manipulators. Flexible Robot Manipulators is essential reading for advanced students of robotics, mechatronics and control engineering and will serve as a source of reference for research in areas of modelling, simulation and control of dynamic flexible structures in general and, specifically, of flexible robotic manipulators.

This book covers the most important issues from classical and robust control, deterministic and stochastic control, system identification, and adaptive and iterative control strategies. It covers most of the known control system methodologies using a new base, the Youla parameterization (YP). This concept is introduced and extended for TDOF control loops. The Keviczky-Banyasz parameterization (KP) method developed for closed loop systems is also presented. The book is valuable for those who want to see through the jungle of available methods by using a unified approach, and for those who want to prepare computer code with a given algorithm.

Advances in Imaging & Electron Physics merges two long-running serials-Advances in Electronics & Electron Physics and Advances in Optical & Electron Microscopy. The series features extended articles on the physics of electron devices (especially semiconductor devices), particle optics at high and low energies, microlithography, image science, and digital image processing, electromagnetic wave propagation, electron microscopy, and the computing methods used in all these domains.

Advances in Imaging and Electron Physics merges two long-running serials-Advances in Electronics and Electron Physics and Advances in Optical and Electron Microscopy. The series features extended articles on the physics of electron devices (especially semiconductor devices), particle optics at high and low energies, microlithography, image science and digital image processing, electromagnetic wave propagation, electron microscopy, and the computing methods used in all these domains.

This volume, number 91 in the Semiconductor and Semimetals series, focuses on defects in semiconductors. Defects in semiconductors help to explain several phenomena, from diffusion to getter, and to draw theories on materials' behavior in response to electrical or mechanical fields. The volume includes chapters focusing specifically on electron and proton irradiation of silicon, point defects in zinc oxide and gallium nitride, ion implantation defects and shallow junctions in silicon and germanium, and much more. It will help support students and scientists in their experimental and theoretical paths.

Internet of Things (IoT) enabled technology is evolving healthcare from conventional hub-based systems to more personalized eHealth systems, enabling faster and safer preventive care, lower overall cost, improved patient-centric practice and enhanced sustainability. Efficient IoT-enabled eHealth systems can be realized by providing highly customized access to rich medical information and efficient clinical decisions to each individual with unobtrusive monitoring. Wireless medical sensor networks (WMSNs) are at the heart of this concept, and their development is a key issue if such a concept is to achieve its potential. This book addresses the major challenges in realizing WMSNs in forthcoming IoT-based eHealth systems. Challenges vary from cost and energy efficiency to security and service quality, and to tackle such challenges WMSNs must meet certain expectations and requirements such as size constraints, manufacturing costs and resistance to environmental factors existing at deployment locations. Reflecting this the book focuses on both design and implementation aspects. Topics covered include the impact of medical sensor networks in smart-cities; an evaluation of mobile patient monitoring technologies; overview of wireless sensor devices in medical applications; cyber security issues in WMSNs and eHealth; smart hospital rooms and automated systems; medical sensor capabilities in smart cloud networks; swarm intelligence based medical diagnosis systems; and smart systems and device for the blind.

The field of robotics isn't what it used to be. Driven by an explosion in information systems over the past two decades, robotics as a discipline has rapidly evolved from the far-flung fantasies of science fiction to a practical, daily necessity of modern industry. Robotics, Automation, and Control in Industrial and Service Settings meets the challenges presented by the rise of ubiquitous computing by providing a detailed discussion of best practices and future developments in the field. This premier reference source offers a comprehensive overview of current research and emerging theory for a diverse and multidisciplinary audience of students, educators, professionals, and policymakers. This reference work includes research and perspectives from scholars and top industry practitioners in fields such as manufacturing, assistive robotics, bioinformatics, human-computer interaction, and intelligent mechatronics, among others.

Advances in Imaging and Electron Physics merges two long-running serials-Advances in Electronics and Electron Physics and Advances in Optical and Electron Microscopy. The series features extended articles on the physics of electron devices (especially semiconductor devices), particle optics at high and low energies, microlithography, image science and digital image processing, electromagnetic wave propagation, electron microscopy, and the computing methods used in all these domains.

This book presents contributions of deep technical content and high scientific quality in the areas of electromagnetic theory, scattering, UWB antennas, UWB systems, ground penetrating radar (GPR), UWB communications, pulsed-power generation, time-domain computational electromagnetics, UWB compatibility, target detection and discrimination, propagation through dispersive media, and wavelet and multi-resolution techniques. Ultra-wideband (UWB), short-pulse (SP) electromagnetics are now being used for an increasingly wide variety of applications, including collision avoidance radar, concealed object detection, and communications. Notable progress in UWB and SP technologies has been achieved by investigations of their theoretical bases and improvements in solid-state manufacturing, computers, and digitizers. UWB radar systems are also being used for mine clearing, oil pipeline inspections, archeology, geology, and electronic effects testing. Like previous books in this series, Ultra-Wideband Short-Pulse Electromagnetics 10 serves as an essential reference for scientists and engineers working in these applications areas.

Electromechanical Coupling Theory, Methodology and Applications for High-Performance Microwave Equipment Electromechanical Coupling Theory, Methodology, and Applications for High-Performance Microwave Equipment is an authoritative and up-to-date guide to the structural, mechanical, and electrical aspects of electromechanical coupling. Addressing control, electromagnetism, and structural engineering, this comprehensive reference covers the electromechanical coupling of high-performance microwave electronic equipment (MEE), such as antennas, radar, large radio telescopes, and telecommunication and navigation equipment. The book is divided into four main sections, beginning with an introduction to electromechanical coupling (EMC) theory and a detailed description of the multi-field coupling model (MFCM) and the influence mechanism (IM) of nonlinear factors of antenna-servo-feeder systems on performance. Subsequent sections discuss MFCM- and IM-based design methodology, EMC-based measurement and testing, computer software for coupling analysis and design of electronic equipment, and various engineering applications of EMC theory and the IM of typical electronic equipment. In addition, the book: Discusses information and data transfer in electromagnetic fields, mechanical and structural deformation fields, and temperature fields Explains how high-performance microwave electronic equipment differs from traditional mechanical equipment Addresses EMC-based and general design-vector based optimization of electronic equipment design Describes applications such as a gun-guided radar system for warships and a large-diameter antenna for moon exploration Includes evaluation criteria to validate MFCM/IM design theory and methodology Electromechanical Coupling Theory, Methodology, and Applications for High-Performance Microwave Equipment is essential reading for circuit designers, microwave engineers, researchers working with high-frequency microwave engineering, and engineers working with integrated circuits in radar, communications, IoT, antenna engineering, and remote sensing.

Advances in Imaging and Electron Physics merges two long-running serials-Advances in Electronics and Electron Physics and Advances in Optical and Electron Microscopy. The series features extended articles on the physics of electron devices (especially semiconductor devices), particle optics at high and low energies, microlithography, image science and digital image processing, electromagnetic wave propagation, electron microscopy, and the computing methods used in all these domains.

Biophotonics for Medical Applications presents information on the interface between laser optics and cell biology/medicine. The book discusses the development and application of photonic techniques that aid the diagnosis and therapeutics of biological tissues in both healthy and diseased states. Chapters cover the fundamental technologies used in biophotonics and a wide range of therapeutic and diagnostic applications.

This book reviews the state of the art in the use of organic materals as physical, chemical and biomedical sensors in a variety of application settings. Topics covered include organic semiconductors for chemical and physical sensing; conducting polymers in sensor applications; chemically functionalized organic semiconductors for highly selective sensing; composite organic-inorganic sensors; artificial skin applications; organic thin film transistor strain gauges for biomedical applications; OTFT infrared sensors for touchless human-machine interaction; smart fabric sensors and e-textile technologie; image capture with organic sensors; organic gas sensors and electronic noses; electrolyte gated organic transistors for bio-chemical sensing; ion-selective organic electrochemical transistors; DNA biosensors; metabolic organic sensors; and conductive polymer based sensors for biomedical applications.

Combining the positive characteristics of microfluidics and optics, microstructured optical fibres (MOFs) have revolutionized the field of optoelectronics. Tailored guiding, diffractive structures and photonic band-gap effects are used to produce fibres with highly specialised, complex structures, facilitating the development of novel kinds of optical fibre sensors and actuators. Part One outlines the key materials and fabrication techniques used for microstructured optical fibres. Microfluidics and heat flows, MOF-based metamaterials, novel and liquid crystal infiltrated photonic crystal fibre (PCF) designs, MOFs filled with carbon nanotubes and melting of functional inorganic glasses inside PCFs are all reviewed. Part Two then goes on to investigate sensing and optofluidic applications, with the use of MOFs in structural sensing, sensing units and mechanical sensing explored in detail. PCF's for switching applications are then discussed before the book concludes by reviewing MOFs for specific nucleic acid detection and resonant bio- and chemical sensing.