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Books > Professional & Technical > Electronics & communications engineering > Electronics engineering > Automatic control engineering > Robotics
The book covers four research domains representing a trend for
modern manufacturing control: Holonic and Multi-agent technologies
for industrial systems; Intelligent Product and Product-driven
Automation; Service Orientation of Enterprise's strategic and
technical processes; and Distributed Intelligent Automation
Systems. These evolution lines have in common concepts related to
service orientation derived from the Service Oriented Architecture
(SOA) paradigm. The service-oriented multi-agent systems approach
discussed in the book is characterized by the use of a set of
distributed autonomous and cooperative agents, embedded in smart
components that use the SOA principles, being oriented by offer and
request of services, in order to fulfil production systems and
value chain goals. A new integrated vision combining emergent
technologies is offered, to create control structures with
distributed intelligence supporting the vertical and horizontal
enterprise integration and running in truly distributed and global
working environments. The service value creation model at
enterprise level consists into using Service Component
Architectures for business process applications, based on entities
which handle services. In this componentization view, a service is
a piece of software encapsulating the business/control logic or
resource functionality of an entity that exhibits an individual
competence and responds to a specific request to fulfil a local
(product) or global (batch) objective. The service value creation
model at enterprise level consists into using Service Component
Architectures for business process applications, based on entities
which handle services. In this componentization view, a service is
a piece of software encapsulating the business/control logic or
resource functionality of an entity that exhibits an individual
competence and responds to a specific request to fulfil a local
(product) or global (batch) objective.
This book proposes a complete pipeline for monocular (single
camera) based 3D mapping of terrestrial and underwater
environments. The aim is to provide a solution to large-scale scene
modeling that is both accurate and efficient. To this end, we have
developed a novel Structure from Motion algorithm that increases
mapping accuracy by registering camera views directly with the
maps. The camera registration uses a dual approach that adapts to
the type of environment being mapped. In order to further increase
the accuracy of the resulting maps, a new method is presented,
allowing detection of images corresponding to the same scene region
(crossovers). Crossovers then used in conjunction with global
alignment methods in order to highly reduce estimation errors,
especially when mapping large areas. Our method is based on Visual
Bag of Words paradigm (BoW), offering a more efficient and simpler
solution by eliminating the training stage, generally required by
state of the art BoW algorithms. Also, towards developing methods
for efficient mapping of large areas (especially with costs related
to map storage, transmission and rendering in mind), an online 3D
model simplification algorithm is proposed. This new algorithm
presents the advantage of selecting only those vertices that are
geometrically representative for the scene.
Algorithms are a fundamental component of robotic systems. Robot
algorithms process inputs from sensors that provide noisy and
partial data, build geometric and physical models of the world,
plan high-and low-level actions at different time horizons, and
execute these actions on actuators with limited precision. The
design and analysis of robot algorithms raise a unique combination
of questions from many elds, including control theory,
computational geometry and topology, geometrical and physical
modeling, reasoning under uncertainty, probabilistic algorithms,
game theory, and theoretical computer science. The Workshop on
Algorithmic Foundations of Robotics (WAFR) is a single-track
meeting of leading researchers in the eld of robot algorithms.
Since its inception in 1994, WAFR has been held every other year,
and has provided one of the premiere venues for the publication of
some of the eld's most important and lasting contributions. This
books contains the proceedings of the tenth WAFR, held on June
13{15 2012 at the Massachusetts Institute of Technology. The 37
papers included in this book cover a broad range of topics, from
fundamental theoretical issues in robot motion planning, control,
and perception, to novel applications.
The model-based investigation of motions of anthropomorphic systems
is an important interdisciplinary research topic involving
specialists from many fields such as Robotics, Biomechanics,
Physiology, Orthopedics, Psychology, Neurosciences, Sports,
Computer Graphics and Applied Mathematics. This book presents a
study of basic locomotion forms such as walking and running is of
particular interest due to the high demand on dynamic coordination,
actuator efficiency and balance control. Mathematical models and
numerical simulation and optimization techniques are explained, in
combination with experimental data, which can help to better
understand the basic underlying mechanisms of these motions and to
improve them. Example topics treated in this book are Modeling
techniques for anthropomorphic bipedal walking systems Optimized
walking motions for different objective functions Identification of
objective functions from measurements Simulation and optimization
approaches for humanoid robots Biologically inspired control
algorithms for bipedal walking Generation and deformation of
natural walking in computer graphics Imitation of human motions on
humanoids Emotional body language during walking Simulation of
biologically inspired actuators for bipedal walking machines
Modeling and simulation techniques for the development of
prostheses Functional electrical stimulation of walking.
Today, autonomous robots are used in a rather limited range of
applications such as exploration of inaccessible locations,
cleaning floors, mowing lawns etc. However, ongoing hardware
improvements (and human fantasy) steadily reveal new robotic
applications of significantly higher sophistication. For such
applications, the crucial bottleneck in the engineering process
tends to shift from physical boundaries to controller generation.
As an attempt to automatize this process, Evolutionary Robotics has
successfully been used to generate robotic controllers of various
types. However, a major challenge of the field remains the
evolution of truly complex behavior. Furthermore, automatically
created controllers often lack analyzability which makes them
useless for safety-critical applications. In this book, a simple
controller model based on Finite State Machines is proposed which
allows a straightforward analysis of evolved behaviors. To increase
the model's evolvability, a procedure is introduced which, by
adapting the genotype-phenotype mapping at runtime, efficiently
traverses both the behavioral search space as well as (recursively)
the search space of genotype-phenotype mappings. Furthermore, a
data-driven mathematical framework is proposed which can be used to
calculate the expected success of evolution in complex
environments.
This book provides readers with extensive information on path
planning optimization for both single and multiple Autonomous
Guided Vehicles (AGVs), and discusses practical issues involved in
advanced industrial applications of AGVs. After discussing
previously published research in the field and highlighting the
current gaps, it introduces new models developed by the authors
with the goal of reducing costs and increasing productivity and
effectiveness in the manufacturing industry. The new models address
the increasing complexity of manufacturing networks, due for
example to the adoption of flexible manufacturing systems that
involve automated material handling systems, robots, numerically
controlled machine tools, and automated inspection stations, while
also considering the uncertainty and stochastic nature of automated
equipment such as AGVs. The book discusses and provides solutions
to important issues concerning the use of AGVs in the manufacturing
industry, including material flow optimization with AGVs,
programming manufacturing systems equipped with AGVs, reliability
models, the reliability of AGVs, routing under uncertainty, and
risks involved in AGV-based transportation. The clear style and
straightforward descriptions of problems and their solutions make
the book an excellent resource for graduate students. Moreover,
thanks to its practice-oriented approach, the novelty of the
findings and the contemporary topic it reports on, the book offers
new stimulus for researchers and practitioners in the broad field
of production engineering.
In this book advanced balancing methods for planar and spatial
linkages, hand operated and automatic robot manipulators are
presented. It is organized into three main parts and eight
chapters. The main parts are the introduction to balancing, the
balancing of linkages and the balancing of robot manipulators. The
review of state-of-the-art literature including more than 500
references discloses particularities of shaking force/moment
balancing and gravity compensation methods. Then new methods for
balancing of linkages are considered. Methods provided in the
second part of the book deal with the partial and complete shaking
force/moment balancing of various linkages. A new field for
balancing methods applications is the design of mechanical systems
for fast manipulation. Special attention is given to the shaking
force/moment balancing of robot manipulators. Gravity balancing
methods are also discussed. The suggested balancing methods are
illustrated by numerous examples.
This book examines how two distinct strands of research on
autonomous robots, evolutionary robotics and humanoid robot
research, are converging. The book will be valuable for researchers
and postgraduate students working in the areas of evolutionary
robotics and bio-inspired computing.
This book addresses dynamic modelling methodology and analyses of
tree-type robotic systems. Such analyses are required to visualize
the motion of a system without really building it. The book
contains novel treatment of the tree-type systems using concept of
kinematic modules and the corresponding Decoupled Natural
Orthogonal Complements (DeNOC), unified representation of the
multiple-degrees-of freedom-joints, efficient recursive dynamics
algorithms, and detailed dynamic analyses of several legged robots.
The book will help graduate students, researchers and practicing
engineers in applying their knowledge of dynamics for analysis of
complex robotic systems. The knowledge contained in the book will
help one in virtual testing of robot operation, trajectory planning
and control.
Autonomy for Marine Robots provides a timely and insightful
overview of intelligent autonomy in marine robots. A brief history
of this emerging field is provided, along with a discussion of the
challenges unique to the underwater environment and their impact on
the level of intelligent autonomy required. Topics covered at
length examine advanced frameworks, path-planning, fault tolerance,
machine learning, and cooperation as relevant to marine robots that
need intelligent autonomy.
The book reports on the author's original work to address the use
of today's state-of-the-art smartphones for human physical activity
recognition. By exploiting the sensing, computing and communication
capabilities currently available in these devices, the author
developed a novel smartphone-based activity-recognition system,
which takes into consideration all aspects of online human activity
recognition, from experimental data collection, to machine learning
algorithms and hardware implementation. The book also discusses and
describes solutions to some of the challenges that arose during the
development of this approach, such as real-time operation, high
accuracy, low battery consumption and unobtrusiveness. It clearly
shows that it is possible to perform real-time recognition of
activities with high accuracy using current smartphone
technologies. As well as a detailed description of the methods,
this book also provides readers with a comprehensive review of the
fundamental concepts in human activity recognition. It also gives
an accurate analysis of the most influential works in the field and
discusses them in detail. This thesis was supervised by both the
Universitat Politecnica de Catalunya (primary institution) and
University of Genoa (secondary institution) as part of the Erasmus
Mundus Joint Doctorate in Interactive and Cognitive Environments.
This book covers all topics relevant for the design of haptic
interfaces and teleoperation systems. The book provides the basic
knowledge required for understanding more complex approaches and
more importantly it introduces all issues that must be considered
for designing efficient and safe haptic interfaces. Topics covered
in this book provide insight into all relevant components of a
haptic system. The reader is guided from understanding the virtual
reality concept to the final goal of being able to design haptic
interfaces for specific tasks such as nanomanipulation. The
introduction chapter positions the haptic interfaces within the
virtual reality context. In order to design haptic interfaces that
will comply with human capabilities at least basic understanding of
human sensors-motor system is required. An overview of this topic
is provided in the chapter related to human haptics. The book does
not try to introduce the state-of-the-art haptic interface
solutions because these tend to change quickly. Only a careful
selection of different kinematic configurations is shown to
introduce the reader into this field. Mathematical models of
virtual environment, collision detection and force rendering topics
are strongly interrelated and are described in the next two
chapters. The interaction with the virtual environment is simulated
with a haptic interface. Impedance and admittance based approaches
to haptic robot control are presented. Stability issues of haptic
interaction are analyzed in details and solutions are proposed for
guaranteeing stable and safe operation. Finally, haptic interaction
is extended to teleoperation systems. Virtual fixtures which
improve the teleoperation and human-robot cooperation in complex
environments are covered next and the last chapter presents
nanomanipulation as one specific example of teleoperation.
This book provides an overview of a series of advanced research
lines in robotics as well as of design and development
methodologies for intelligent robots and their intelligent
components. It represents a selection of extended versions of the
best papers presented at the Seventh IEEE International Workshop on
Intelligent Data Acquisition and Advanced Computing Systems:
Technology and Applications IDAACS 2013 that were related to these
topics. Its contents integrate state of the art computational
intelligence based techniques for automatic robot control to novel
distributed sensing and data integration methodologies that can be
applied to intelligent robotics and automation systems. The
objective of the text was to provide an overview of some of the
problems in the field of robotic systems and intelligent automation
and the approaches and techniques that relevant research groups
within this area are employing to try to solve them. The
contributions of the different authors have been grouped into four
main sections: * Robots * Control and Intelligence * Sensing *
Collaborative automation The chapters have been structured to
provide an easy to follow introduction to the topics that are
addressed, including the most relevant references, so that anyone
interested in this field can get started in the area.
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