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Introduction to Modern Robotics II (Paperback)
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Introduction to Modern Robotics II (Paperback)
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This book is a practical guide about designing, building and
programming modern robotics systems. It presents a collection of
wide range research results from the robotics community. Various
aspects of current research in robotics area are explored and
discussed. In particular, the major part of the book is devoted to
robotic vision systems, robot navigation, human-robot interactions
and adaptive learning systems. Different approaches including
theorems and formal proofs for these systems are provided. Some
advanced mathematics will be involved. There are totally 15
chapters in this book.Chapter 1 analyzes and compares two robotics
frameworks based on the identified requirements, and discusses the
benefits and drawbacks of using robotics frameworks. Chapter 2
shows how mechatronics and robotics are fused with objects of daily
life to become assistive systems, and thus become an integral part
of our built environment. Chapter 3 describes a new framework for
solving robotic navigation problems in a continuous environment.
The framework balances between exploration and exploitation, and
integrates global planning algorithms, local navigation routines,
and exploration procedures in order to achieve the global goal.
Chapter 4 addresses the Coverage Path Planning (CPP) problem
applied to aerial robots whose mission is to visual cover a
determinate wide area. Chapter 5 proposes a planning method to
unravel deformable linear objects based on their silhouette, which
corresponds to imperfect state information. Chapter 6 proposes a
design method for the wheeled vehicle with the passive linkage
mechanism for increasing step-climbing performance. Chapter 7
proposes an algorithm for identifying structural motifs. Chapter 8
discusses how we can use Reinforcement Learning to learn how to
move a group of servos in order to achieve a motion behavior.
Chapter 9 reviews the most widely adopted calibration procedures
for industrial robots. In Chapter 10, the complete mathematical
model of a highly complex and rigid-flexible coupling mechanical
system is deduced, using the classical approach of Newton-Euler
Method. Chapter 11 presents computationally efficient algorithms
for the calculation of the Jacobian and direct dynamics of elastic
parallel manipulators. Chapter 12 proposed a PDE based approach for
grayscale image restoration. Chapter 13 presents development and
research applying new approaches and means for the design of a
Modular multi-Applicable Neural Network (MANN) classification
structure with Programmable Logic Controllers (PLC) for industrial
implementation. Chapter 14 proposes a framework for on-line novelty
detection using artificial vision as main sensory input in
autonomous mobile robots. Finally, chapter 15 discusses the
difficulties of control system design and implement, as well as
proposes a framework for tackling controller design under the
context of lacking reliable information. This book is suitable for
advanced undergraduate students and postgraduate students. It takes
a practical approach rather than a conceptual approach. It offers a
truly reader-friendly way to get to the subject related to the
semantic web, making it the ideal resources for any student who is
new to this subject and providing a definitive guide to anyone in
this vibrant and evolving discipline. This book is an invaluable
companion for students from their first encounter with the subject
to more advanced studies, while the full-color artworks are
designed to present the key concepts with simplicity, clarity and
consistency.
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