This book is the fifth volume in the successful book series Robot Operating System: The Complete Reference. The objective of the book is to provide the reader with comprehensive coverage on the Robot Operating System (ROS), which is currently considered to be the primary development framework for robotics applications, and the latest trends and contributing systems. The content is divided into six parts. Pat I presents for the first time the emerging ROS 2.0 framework, while Part II focuses on multi-robot systems, namely on SLAM and Swarm coordination. Part III provides two chapters on autonomous systems, namely self-driving cars and unmanned aerial systems. In turn, Part IV addresses the contributions of simulation frameworks for ROS. In Part V, two chapters explore robotic manipulators and legged robots. Finally, Part VI presents emerging topics in monocular SLAM and a chapter on fault tolerance systems for ROS. Given its scope, the book will offer a valuable companion for ROS users and developers, helping them deepen their knowledge of ROS capabilities and features.

This book provides a detailed analysis of the economic and political implications of the introduction of Artificial Intelligence and Robotics into the service sector of economies that have so far relied on service jobs to sustain levels of employment. It examines how reliance on coercive measures for enforcing low-paid service work attempts to postpone this third Industrial Revolution, and analyses the struggles that must still take place if we are to achieve a future of freedom and social justice for all. While automation and globalisation have made human solidarities of traditional kinds more difficult to sustain, they have also made new kinds possible. Experiments in social policy, and especially the pilot projects with unconditional Universal Basic Incomes, offer a possible model for a new kind of society. The author argues that it is politics which will determine whether we can achieve these new human solidarities.

Computer Vision for Assistive Healthcare describes how advanced computer vision techniques provide tools to support common human needs, such as mental functioning, personal mobility, sensory functions, daily living activities, image processing, pattern recognition, machine learning and how language processing and computer graphics cooperate with robotics to provide such tools. Users will learn about the emerging computer vision techniques for supporting mental functioning, algorithms for analyzing human behavior, and how smart interfaces and virtual reality tools lead to the development of advanced rehabilitation systems able to perform human action and activity recognition. In addition, the book covers the technology behind intelligent wheelchairs, how computer vision technologies have the potential to assist blind people, and about the computer vision-based solutions recently employed for safety and health monitoring.

This book is the first textbook specially on multicopter systems in the world. It provides a comprehensive overview of multicopter systems, rather than focusing on a single method or technique. The fifteen chapters are divided into five parts, covering the topics of multicopter design, modeling, state estimation, control, and decision-making. It differs from other books in the field in three major respects: it is basic and practical, offering self-contained content and presenting hands-on methods; it is comprehensive and systematic; and it is timely. It is also closely related to the autopilot that users often employ today and provides insights into the code employed. As such, it offers a valuable resource for anyone interested in multicopters, including students, teachers, researchers, and engineers. This introductory text is a welcome addition to the literature on multicopter design and control, on which the author is an acknowledged authority. The book is directed to advanced undergraduate and beginning graduate students in aeronautical and control (or electrical) engineering, as well as to multicopter designers and hobbyists. ------- Professor W. Murray Wonham, University of Toronto "This is the single best introduction to multicopter control. Clear, comprehensive and progressing from basic principles to advanced techniques, it's a must read for anyone hoping to learn how to design flying robots." ------- Chris Anderson, 3D Robotics CEO.

This self-contained book, written by active researchers, presents up-to-date information on smart maintenance strategies for human-robot interaction (HRI) and the associated applications of novel search algorithms in a single volume, eliminating the need to consult scattered resources. Unlike other books, it addresses maintaining a smart HRI from three dimensions, namely, hardware, cyberware, and hybrid-asset management, covering problems encountered in each through a wide variety of representative examples and elaborated illustrations. Further, the diverse mathematical models and intelligent systems constructions make the book highly practical. It enables readers interested in maintenance, robotics, and intelligent systems but perplexed by myriads of interrelated issues to grasp basic methodologies. At the same time, the referenced literature can be used as a roadmap for conducting deeper researches.

This book provides scientific research into Cognitive Internet of Things for Smart Society, with papers presented at the 2nd EAI International Conference on Robotic Sensor Networks. The conference explores the integration of networks and robotic technologies, which has become a topic of increasing interest for both researchers and developers from academic fields and industries worldwide. The authors posit that big networks will be the main approach to the next generation of robotic research, with the explosive number of networks models and increasing computational power of computers significantly extending the number of potential applications for robotic technologies while also bringing new challenges to the network's community. The 2nd EAI International Conference on Robotic Sensor Networks was held 25-26 August 2018 at the Kitakyushu International Conference Center (MICE), Kitakyushu, Japan.

Data-driven discovery is revolutionizing the modeling, prediction, and control of complex systems. This textbook brings together machine learning, engineering mathematics, and mathematical physics to integrate modeling and control of dynamical systems with modern methods in data science. It highlights many of the recent advances in scientific computing that enable data-driven methods to be applied to a diverse range of complex systems, such as turbulence, the brain, climate, epidemiology, finance, robotics, and autonomy. Aimed at advanced undergraduate and beginning graduate students in the engineering and physical sciences, the text presents a range of topics and methods from introductory to state of the art.

This book provides a comprehensive review of industry 4.0 and its applications, discussing the history of industry evaluation, including industry 1.0, 2.0, 3.0 and 4.0, and the future structure of industry evaluation. It also examines the effects and impact of various technologies in industry and presents new interdisciplinary business models based on advanced technologies with the help of use cases. Lastly, it highlights the benefits of technological implementation in industry using examples of real-world applications, providing a robust and reliable technological conceptual framework and roadmap for decision-makers in all areas of industry involved transformation.

Explorations in Ethics is a collection of essays with a speculative bent. Its twelve contributors attempt to take ethics thinking in new directions. Ethics is fundamentally a speculative discipline. We sometimes lose sight of that because of our current scholarly practices, which include reliance on a set of traditional works in ethics, deferring to the scholarly literature, drawing from the evidential sources afforded us. This volume breaks the mold. It is committed, first and foremost, to exploring new ground in a methodologically sound way whilst respecting and building on the literature where needed. The contributors range from world renowned ethicists to early-career scholars. The ethical standpoints represented are various and the overall aim of this collection is to stimulate fresh thinking.

Multimodal Perception and Secure State Estimation for Robotic Mobility Platforms Enables readers to understand important new trends in multimodal perception for mobile robotics This book provides a novel perspective on secure state estimation and multimodal perception for robotic mobility platforms such as autonomous vehicles. It thoroughly evaluates filter-based secure dynamic pose estimation approaches for autonomous vehicles over multiple attack signals and shows that they outperform conventional Kalman filtered results. As a modern learning resource, it contains extensive simulative and experimental results that have been successfully implemented on various models and real platforms. To aid in reader comprehension, detailed and illustrative examples on algorithm implementation and performance evaluation are also presented. Written by four qualified authors in the field, sample topics covered in the book include: Secure state estimation that focuses on system robustness under cyber-attacks Multi-sensor fusion that helps improve system performance based on the complementary characteristics of different sensors A geometric pose estimation framework to incorporate measurements and constraints into a unified fusion scheme, which has been validated using public and self-collected data How to achieve real-time road-constrained and heading-assisted pose estimation This book will appeal to graduate-level students and professionals in the fields of ground vehicle pose estimation and perception who are looking for modern and updated insight into key concepts related to the field of robotic mobility platforms.

Simultaneous Localization and Mapping for Mobile Robots: Introduction and Methods investigates the complexities of the theory of probabilistic localization and mapping of mobile robots as well as providing the most current and concrete developments. This reference source aims to be useful for practitioners, graduate and postgraduate students, and active researchers alike.

This carefully edited volume is the outcome of the eleventh edition of the Workshop on Algorithmic Foundations of Robotics (WAFR), which is the premier venue showcasing cutting edge research in algorithmic robotics. The eleventh WAFR, which was held August 3-5, 2014 at Bogazici University in Istanbul, Turkey continued this tradition. This volume contains extended versions of the 42 papers presented at WAFR. These contributions highlight the cutting edge research in classical robotics problems (e.g. manipulation, motion, path, multi-robot and kinodynamic planning), geometric and topological computation in robotics as well novel applications such as informative path planning, active sensing and surgical planning. This book - rich by topics and authoritative contributors - is a unique reference on the current developments and new directions in the field of algorithmic foundations.

- First book to focus on deep learning-based approaches in the field of cancer diagnostics. - Covers the state of the art across a wide-range of topics. - Topics include preprocessing data, prediction of cancer susceptibility and reoccurence, detection of different cancers, complexity and challenges.

This book presents advanced technologies used in practice to enable early recognition and tracking of various threats to national security. It discusses practical applications, examples and recent challenges in the application fields using sophisticated sensory devices, embedded designs and airborne and ground unmanned vehicles. Undeniably rapid advances in the development of sophisticated sensory devices, significant increases of computing power available to embedded designs and the development of airborne and ground unmanned vehicles offer almost unlimited possibilities for fighting various types of pathologies affecting our societies. The book provides scientists, researchers, engineers and graduate students involved in computer vision, image processing, data fusion, control algorithms, mechanics, data mining, navigation and integrated circuit (IC) with numerous valuable, useful and practical suggestions and solutions.

Underwater robots play a significant role in ocean exploration. This book provides full coverage of the theoretical and practical aspects of bionic gliding underwater robots, including system design, modeling control, and motion planning. To overcome the inherent shortcomings of traditional underwater robots that can simultaneously lack maneuverability and endurance, a new type of robot, the bionic gliding underwater robot, has attracted much attention from scientists and engineers. On the one hand, by imitating the appearance and swimming mechanisms of natural creatures, bionic gliding underwater robots achieve high maneuverability, swimming efficiency, and strong concealment. On the other hand, borrowing from the buoyancy adjustment systems of underwater gliders, bionic gliding underwater robots can obtain strong endurance, which is significant in practical applications. Taking gliding robotic dolphin and fish as examples, the designed prototypes and proposed methods are discussed, offering valuable insights into the development of next-generation underwater robots that are well suited for various oceanic applications. This book will be of great interest to students and professionals alike in the field of robotics or intelligent control. It will also be a great reference for engineers or technicians who deal with the development of underwater robots.

This book gathers the outcomes of the thirteenth Workshop on the Algorithmic Foundations of Robotics (WAFR), the premier event for showcasing cutting-edge research on algorithmic robotics. The latest WAFR, held at Universidad Politecnica de Yucatan in Merida, Mexico on December 9-11, 2018, continued this tradition. This book contains fifty-four papers presented at WAFR, which highlight the latest research on fundamental algorithmic robotics (e.g., planning, learning, navigation, control, manipulation, optimality, completeness, and complexity) demonstrated through several applications involving multi-robot systems, perception, and contact manipulation. Addressing a diverse range of topics in papers prepared by expert contributors, the book reflects the state of the art and outlines future directions in the field of algorithmic robotics.

This book includes the original, peer-reviewed research papers from the 2nd International Conference on Electrical Systems, Technology and Information (ICESTI 2015), held in September 2015 at Patra Jasa Resort & Villas Bali, Indonesia. Topics covered include: Mechatronics and Robotics, Circuits and Systems, Power and Energy Systems, Control and Industrial Automation, and Information Theory. It explores emerging technologies and their application in a broad range of engineering disciplines, including communication technologies and smart grids. It examines hybrid intelligent and knowledge-based control, embedded systems, and machine learning. It also presents emerging research and recent application in green energy system and storage. It discusses the role of electrical engineering in biomedical, industrial and mechanical systems, as well as multimedia systems and applications, computer vision and image and signal processing. The primary objective of this series is to provide references for dissemination and discussion of the above topics. This volume is unique in that it includes work related to hybrid intelligent control and its applications. Engineers and researchers as well as teachers from academia and professionals in industry and government will gain valuable insights into interdisciplinary solutions in the field of emerging electrical technologies and its applications.

It explore issues of diversity and inclusion in relation to artificial intelligence (AI). The author leads a research group on Digitalization and Robotization of Society at NTNU Norwegian University of Science and Technology.

This book describes the development of an integrated approach for generating the path and gait of realistic hexapod robotic systems. It discusses in detail locomation with straight-ahead, crab and turning motion capabilities in varying terrains, like sloping surfaces, staircases, and various user-defined rough terrains. It also presents computer simulations and validation using Virtual Prototyping (VP) tools and real-world experiments. The book also explores improving solutions by applying the developed nonlinear, constrained inverse dynamics model of the system formulated as a coupled dynamical problem based on the Newton-Euler (NE) approach and taking into account realistic environmental conditions. The approach is developed on the basis of rigid multi-body modelling and the concept that there is no change in the configuration of the system in the short time span of collisions.

This book describes intelligent control and its use in power electronic systems, specifically AC motor drives and uninterruptable power supply (UPS) systems. The book covers both the fundamentals of the subject and its practical applications. From the Foreword by Lotfi A. Zadeh, Director of Berkeley Soft Computing Center, California: 'What is unusual about [this book] is that it starts with a description of more or less classical control techniques; moves on to modern control and state space techniques; addresses in detail the complex issues arising in the analysis and design of robust control; takes up digital signal processing controllers; and finally, presents a very insightful exposition of soft computing techniques and their application to advanced control of AC drives and UPS systems.'

This book presents the work of the RILEM Technical Committee 276-DFC: Digital fabrication with cement-based materials. The most important outcomes of the technical committee are presented. First, a unified process classification for digital fabrication with concrete is proposed, discussed and illustrated. Then, a state of the art of the testing methods (both at a material and structural level and in the fresh and hardened state) is provided. The gathered knowledge is expected to form the foundation of some quality control procedures for fresh properties along with hardened properties and service life performance. The book will benefit academics, practitioners, industry and standardization committees interested in digital fabrication with cement-based materials.

This book at hand is an appropriate addition to the field of fractional calculus applied to control systems. If an engineer or a researcher wishes to delve into fractional-order systems, then this book has many collections of such systems to work upon, and this book also tells the reader about how one can convert an integer-order system into an appropriate fractional-order one through an efficient and simple algorithm. If the reader further wants to explore the controller design for the fractional-order systems, then for them, this book provides a variety of controller design strategies. The use of fractional-order derivatives and integrals in control theory leads to better results than integer-order approaches and hence provides solid motivation for further development of control theory. Fractional-order models are more useful than the integer-order models when accuracy is of paramount importance. Real-time experimental validation of controller design strategies for the fractional-order plants is available. This book is beneficial to the academic institutes for postgraduate and advanced research-level that need a specific textbook on fractional control and its applications in srobotic manipulators. The book is also a valuable teaching and learning resource for undergraduate and postgraduate students.

Algorithms are a fundamental component of robotic systems: they control or reason about motion and perception in the physical world. They receive input from noisy sensors, consider geometric and physical constraints, and operate on the world through imprecise actuators. The design and analysis of robot algorithms therefore raises a unique combination of questions in control theory, computational and differential geometry, and computer science.

This book contains the proceedings from the 2006 Workshop on the Algorithmic Foundations of Robotics. This biannual workshop is a highly selective meeting of leading researchers in the field of algorithmic issues related to robotics. The 32 papers in this book span a wide variety of topics: from fundamental motion planning algorithms to applications in medicine and biology, but they have in common a foundation in the algorithmic problems of robotic systems.

This book examines discrete dynamical systems with memory-nonlinear systems that exist extensively in biological organisms and financial and economic organizations, and time-delay systems that can be discretized into the memorized, discrete dynamical systems. It book further discusses stability and bifurcations of time-delay dynamical systems that can be investigated through memorized dynamical systems as well as bifurcations of memorized nonlinear dynamical systems, discretization methods of time-delay systems, and periodic motions to chaos in nonlinear time-delay systems. The book helps readers find analytical solutions of MDS, change traditional perturbation analysis in time-delay systems, detect motion complexity and singularity in MDS; and determine stability, bifurcation, and chaos in any time-delay system.

Visual Perception and Control of Underwater Robots covers theories and applications from aquatic visual perception and underwater robotics. Within the framework of visual perception for underwater operations, image restoration, binocular measurement, and object detection are addressed. More specifically, the book includes adversarial critic learning for visual restoration, NSGA-II-based calibration for binocular measurement, prior knowledge refinement for object detection, analysis of temporal detection performance, as well as the effect of the aquatic data domain on object detection. With the aid of visual perception technologies, two up-to-date underwater robot systems are demonstrated. The first system focuses on underwater robotic operation for the task of object collection in the sea. The second is an untethered biomimetic robotic fish with a camera stabilizer, its control methods based on visual tracking. The authors provide a self-contained and comprehensive guide to understand underwater visual perception and control. Bridging the gap between theory and practice in underwater vision, the book features implementable algorithms, numerical examples, and tests, where codes are publicly available. Additionally, the mainstream technologies covered in the book include deep learning, adversarial learning, evolutionary computation, robust control, and underwater bionics. Researchers, senior undergraduate and graduate students, and engineers dealing with underwater visual perception and control will benefit from this work.