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Author: Xiaobo Shi
Publisher: World Scientific
ISBN: 9789810234973
Category : Technology & Engineering
Languages : en
Pages : 178
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Book Description
Expensive and sophisticated machines such as wheel loaders are used for earth-moving. This book presents a robotic control approach to the computer control of wheel-loader-type excavators. The unpredictable and dynamic rock excavation environment poses challenges for the design of the real time control algorithm. The control method developed here is based on the analysis of human operators' performance; it applies neural networks, fuzzy logic and finite state machines to embody human excavation strategies for on-line bucket digging trajectory design. A behavior-based control architecture organizes operation of the modules to achieve quick system response.
Author: Xiaobo Shi
Publisher: World Scientific
ISBN: 9789810234973
Category : Technology & Engineering
Languages : en
Pages : 178
Get Book Here
Book Description
Expensive and sophisticated machines such as wheel loaders are used for earth-moving. This book presents a robotic control approach to the computer control of wheel-loader-type excavators. The unpredictable and dynamic rock excavation environment poses challenges for the design of the real time control algorithm. The control method developed here is based on the analysis of human operators' performance; it applies neural networks, fuzzy logic and finite state machines to embody human excavation strategies for on-line bucket digging trajectory design. A behavior-based control architecture organizes operation of the modules to achieve quick system response.
Author: Fei-Yue Wang
Publisher: World Scientific
ISBN: 9789812796721
Category : Technology & Engineering
Languages : en
Pages : 464
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Book Description
Flexible robotic manipulators pose various challenges in research as compared to rigid robotic manipulators, ranging from system design, structural optimization, and construction to modeling, sensing, and control. Although significant progress has been made in many aspects over the last one-and-a-half decades, many issues are not resolved yet, and simple, effective, and reliable controls of flexible manipulators still remain an open quest. Clearly, further efforts and results in this area will contribute significantly to robotics (particularly automation) as well as its application and education in general control engineering. To accelerate this process, the leading experts in this important area present in this book the state of the art in advanced studies of the design, modeling, control and applications of flexible manipulators. Sample Chapter(s). Chapter 1: Flexible-link Manipulators: Modeling, Nonlinear Control and Observer (235 KB). Contents: Flexible-Link Manipulators: Modeling, Nonlinear Control and Observer (M A Arteaga & B Siciliano); Energy-Based Control of Flexible Link Robots (S S Ge); Trajectory Planning and Compliant Control for Two Manipulators to Deform Flexible Materials (O Al-Jarrah et al.); Force Control of Flexible Manipulators (F Matsuno); Experimental Study on the Control of Flexible Link Robots (D Wang); Sensor Output Feedback Control of Flexible Robot Arms (Z-H Luo); On GA Based Robust Control of Flexible Manipulators (Z-Q Xiao & L-L Cui); Analysis of Poles and Zeros for Tapered Link Designs (D L Girvin & W J Book); Optimum Shape Design of Flexible Manipulators with Tip Loads (J L Russell & Y-Q Gao); Mechatronic Design of Flexible Manipulators (P-X Zhou & Z-Q Xiao); A Comprehensive Study of Dynamic Behaviors of Flexible Robotic Links: Modeling and Analysis (Y-Q Gao & F-Y Wang). Readership: Researchers, lecturers and graduate students in robotics & automated systems, electrical & electronic engineering, and industrial engineering
Author: Bruno Siciliano
Publisher: Springer
ISBN: 3319325523
Category : Technology & Engineering
Languages : en
Pages : 2259
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Book Description
The second edition of this handbook provides a state-of-the-art overview on the various aspects in the rapidly developing field of robotics. Reaching for the human frontier, robotics is vigorously engaged in the growing challenges of new emerging domains. Interacting, exploring, and working with humans, the new generation of robots will increasingly touch people and their lives. The credible prospect of practical robots among humans is the result of the scientific endeavour of a half a century of robotic developments that established robotics as a modern scientific discipline. The ongoing vibrant expansion and strong growth of the field during the last decade has fueled this second edition of the Springer Handbook of Robotics. The first edition of the handbook soon became a landmark in robotics publishing and won the American Association of Publishers PROSE Award for Excellence in Physical Sciences & Mathematics as well as the organization’s Award for Engineering & Technology. The second edition of the handbook, edited by two internationally renowned scientists with the support of an outstanding team of seven part editors and more than 200 authors, continues to be an authoritative reference for robotics researchers, newcomers to the field, and scholars from related disciplines. The contents have been restructured to achieve four main objectives: the enlargement of foundational topics for robotics, the enlightenment of design of various types of robotic systems, the extension of the treatment on robots moving in the environment, and the enrichment of advanced robotics applications. Further to an extensive update, fifteen new chapters have been introduced on emerging topics, and a new generation of authors have joined the handbook’s team. A novel addition to the second edition is a comprehensive collection of multimedia references to more than 700 videos, which bring valuable insight into the contents. The videos can be viewed directly augmented into the text with a smartphone or tablet using a unique and specially designed app. Springer Handbook of Robotics Multimedia Extension Portal: http://handbookofrobotics.org/
Author: Fei-Yue Wang
Publisher: Springer Science & Business Media
ISBN: 1848002157
Category : Computers
Languages : en
Pages : 352
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Book Description
Networked control systems (NCS) confer advantages of cost reduction, system diagnosis and flexibility, minimizing wiring and simplifying the addition and replacement of individual elements; efficient data sharing makes taking globally intelligent control decisions easier with NCS. The applications of NCS range from the large scale of factory automation and plant monitoring to the smaller networks of computers in modern cars, places and autonomous robots. Networked Control Systems presents recent results in stability and robustness analysis and new developments related to networked fuzzy and optimal control. Many chapters contain case-studies, experimental, simulation or other application-related work showing how the theories put forward can be implemented. The state-of-the art research reported in this volume by an international team of contributors makes it an essential reference for researchers and postgraduate students in control, electrical, computer and mechanical engineering and computer science.
Author: Rajive Joshi
Publisher: World Scientific
ISBN: 9789810238803
Category : Science
Languages : en
Pages : 340
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Book Description
The fusion of information from sensors with different physical characteristics, such as sight, touch, sound, etc., enhances the understanding of our surroundings and provides the basis for planning, decision-making, and control of autonomous and intelligent machines. The minimal representation approach to multisensor fusion is based on the use of an information measure as a universal yardstick for fusion. Using models of sensor uncertainty, the representation size guides the integration of widely varying types of data and maximizes the information contributed to a consistent interpretation. In this book, the general theory of minimal representation multisensor fusion is developed and applied in a series of experimental studies of sensor-based robot manipulation. A novel application of differential evolutionary computation is introduced to achieve practical and effective solutions to this difficult computational problem.
Author: David S. Wettergreen
Publisher: Springer
ISBN: 3319277022
Category : Technology & Engineering
Languages : en
Pages : 646
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Book Description
This book contains the proceedings of the 10th FSR, (Field and Service Robotics) which is the leading single-track conference on applications of robotics in challenging environments. The 10th FSR was held in Toronto, Canada from 23-26 June 2015. The book contains 42 full-length, peer-reviewed papers organized into a variety of topics: Aquatic, Vision, Planetary, Aerial, Underground, and Systems. The goal of the book and the conference is to report and encourage the development and experimental evaluation of field and service robots, and to generate a vibrant exchange and discussion in the community. Field robots are non-factory robots, typically mobile, that operate in complex and dynamic environments: on the ground (Earth or other planets), under the ground, underwater, in the air or in space. Service robots are those that work closely with humans to help them with their lives. The first FSR was held in Canberra, Australia, in 1997. Since that first meeting, FSR has been held roughly every two years, cycling through Asia, Americas, Europe.
Author: George N. Saridis
Publisher: World Scientific
ISBN: 9810245513
Category : Computers
Languages : en
Pages : 148
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Book Description
This book attempts to couple control engineering with modern developments in science, through the concept of entropy. Such disciplines as intelligent machines, economics, manufacturing, environmental systems, waste etc. can be favorably affected and their performance can be improved or their catastrophic effects minimized. Entropy is used as the unifying measure of the various, seemingly disjoint, disciplines to represent the cost of producing work that improves the standard of living, both in engineering and in science. Modeling is done through probabilistic methods, thus establishing the irreversibility of the processes involved. This is in accordance with the modern view of science. In addition, the behavior of control for an arbitrary but fixed controller away from the optimal (equilibrium) has been obtained, the analytic expression of which should lead to chaotic solutions. The control activity is explained, based on the principle that control is making a system do what we want it to do. This helps to relate control theory with the sciences.
Author: Kurapati Venkatesh
Publisher: World Scientific
ISBN: 9814497789
Category : Technology & Engineering
Languages : en
Pages : 429
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Book Description
One critical barrier leading to successful implementation of flexible manufacturing and related automated systems is the ever-increasing complexity of their modeling, analysis, simulation, and control. Research and development over the last three decades has provided new theory and graphical tools based on Petri nets and related concepts for the design of such systems. The purpose of this book is to introduce a set of Petri-net-based tools and methods to address a variety of problems associated with the design and implementation of flexible manufacturing systems (FMSs), with several implementation examples.There are three ways this book will directly benefit readers. First, the book will allow engineers and managers who are responsible for the design and implementation of modern manufacturing systems to evaluate Petri nets for applications in their work. Second, it will provide sufficient breadth and depth to allow development of Petri-net-based industrial applications. Third, it will allow the basic Petri net material to be taught to industrial practitioners, students, and academic researchers much more efficiently. This will foster further research and applications of Petri nets in aiding the successful implementation of advanced manufacturing systems.
Author: Raj Subbu
Publisher: World Scientific
ISBN: 9812387544
Category : Computers
Languages : en
Pages : 193
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Book Description
In this book, efficient and scalable coevolutionary algorithms for distributed, network-based decision-making, which utilize objective functions are developed in a networked environment where internode communications are a primary factor in system performance.A theoretical foundation for this class of coevolutionary algorithms is introduced using techniques from stochastic process theory and mathematical analysis.A case study in distributed, network-based decision-making presents an implementation and detailed evaluation of the coevolutionary decision-making framework that incorporates distributed evolutionary agents and mobile agents.The methodology discussed in this book can have a fundamental impact on the principles and practice of engineering in the distributed, network-based environment that is emerging within and among corporate enterprise systems. In addition, the conceptual framework of the approach to distributed decision systems described may have much wider implications for network-based systems and applications.
Author: Fei-yue Wang
Publisher: World Scientific
ISBN: 9814478288
Category : Technology & Engineering
Languages : en
Pages : 478
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Book Description
Computational Intelligence (CI) is a recently emerging area in fundamental and applied research, exploiting a number of advanced information processing technologies that mainly embody neural networks, fuzzy logic and evolutionary computation. With a major concern to exploiting the tolerance for imperfection, uncertainty, and partial truth to achieve tractability, robustness and low solution cost, it becomes evident that composing methods of CI should be working concurrently rather than separately. It is this conviction that research on the synergism of CI paradigms has experienced significant growth in the last decade with some areas nearing maturity while many others remaining unresolved. This book systematically summarizes the latest findings and sheds light on the respective fields that might lead to future breakthroughs.
