Author: François Hogan
Publisher:
ISBN:
Category :
Languages : en
Pages :
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Book Description
"The purpose of this research is to design and develop spherical rovers (tumbleweed rovers) that will enable the accelerated exploration of Mars. A wind-powered tumbleweed rover is a large sphere-shaped lightweight structure that uses Martian winds as its means of propulsion. Motivation for this research stems from the fact that current exploration strategies, such as stationary landers and wheeled rovers (e.g., Spirit, Opportunity, and Curiosity), travel on the surface of Mars at very slow rates. The contributions of this work are the development of dynamic modelling techniques, guidance strategies, and control algorithms that will allow for accurate simulations and trajectory tracking maneuvers of spherical rovers on the surface of Mars. The motion equations derived in this research capture the nonholonomic nature of rolling without slipping, the contact requirement between the spherical rover and the generic surface, an additional constraint associated with an energy-harvesting pendulum, and the quaternion unit-length constraints. Focus is placed on a general formulation of the problem that facilitates the integration of the holonomic and nonholonomic constraints into the motion equations in a straightforward manner. Numerical simulations involving Martian tumbleweed rovers are performed on complex three-dimensional surfaces resembling Martian craters. In order to control the trajectory of the spherical robot, a model-based controller is proposed to realize steady tracking of the spherical robot about a desired trajectory in the presence of model uncertainty and external disturbances. Finally, linear elastic theory is employed to capture the flexible nature of the tumbleweed rovers outer shell, which is believed to have a significant impact on its trajectory and rolling stability." --
Author: Ale J. Hejase
Publisher:
ISBN:
Category :
Languages : en
Pages :
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Book Description
Author: Dana Kulić
Publisher: Springer
ISBN: 3319501151
Category : Technology & Engineering
Languages : en
Pages : 858
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Book Description
Experimental Robotics XV is the collection of papers presented at the International Symposium on Experimental Robotics, Roppongi, Tokyo, Japan on October 3-6, 2016. 73 scientific papers were selected and presented after peer review. The papers span a broad range of sub-fields in robotics including aerial robots, mobile robots, actuation, grasping, manipulation, planning and control and human-robot interaction, but shared cutting-edge approaches and paradigms to experimental robotics. The readers will find a breadth of new directions of experimental robotics. The International Symposium on Experimental Robotics is a series of bi-annual symposia sponsored by the International Foundation of Robotics Research, whose goal is to provide a forum dedicated to experimental robotics research. Robotics has been widening its scientific scope, deepening its methodologies and expanding its applications. However, the significance of experiments remains and will remain at the center of the discipline. The ISER gatherings are a venue where scientists can gather and talk about robotics based on this central tenet.
Author: Yoseph Bar-Cohen
Publisher: CRC Press
ISBN: 9780849331633
Category : Technology & Engineering
Languages : en
Pages : 552
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Book Description
Nature is the world's foremost designer. With billions of years of experience and boasting the most extensive laboratory available, it conducts research in every branch of engineering and science. Nature's designs and capabilities have always inspired technology, from the use of tongs and tweezers to genetic algorithms and autonomous legged robots. Taking a systems perspective rather than focusing narrowly on materials or chemistry aspects, Biomimetics: Biologically Inspired Technologies examines the field from every angle. The book contains pioneering approaches to biomimetics including a new perspective on the mechanization of cognition and intelligence, as well as defense and attack strategies in nature, their applications, and potential. It surveys the field from modeling to applications and from nano- to macro-scales, beginning with an introduction to principles of using biology to inspire designs as well as biological mechanisms as models for technology. This innovative guide discusses evolutionary robotics; genetic algorithms; molecular machines; multifunctional, biological-, and nano- materials; nastic structures inspired by plants; and functional surfaces in biology. Looking inward at biological systems, the book covers the topics of biomimetic materials, structures, control, cognition, artificial muscles, biosensors that mimic senses, artificial organs, and interfaces between engineered and biological systems. The final chapter contemplates the future of the field and outlines the challenges ahead. Featuring extensive illustrations, including a 32-page full-color insert, Biomimetics: Biologically Inspired Technologies provides unmatched breadth of scope as well as lucid illumination of this promising field.
Author: Ranjan Vepa
Publisher: Cambridge University Press
ISBN: 0521895944
Category : Science
Languages : en
Pages : 361
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Book Description
This book is for a first course in robotics, especially in unmanned aerial or underwater vehicles.
Author: Peter Corke
Publisher: Springer Science & Business Media
ISBN: 3540334521
Category : Technology & Engineering
Languages : en
Pages : 620
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Book Description
The 5th International Conference on Field and Service Robotics (FSR05) was held in Port Douglas, Australia, on 29th - 31st July 2005, and brought together the worlds' leading experts in field and service automation. The goal of the conference was to report and encourage the latest research and practical results towards the use of field and service robotics in the community with particular focus on proven technology. The conference provided a forum for researchers, professionals and robot manufacturers to exchange up-to-date technical knowledge and experience. Field robots are robots which operate in outdoor, complex, and dynamic environments. Service robots are those that work closely with humans, with particular applications involving indoor and structured environments. There are a wide range of topics presented in this issue on field and service robots including: Agricultural and Forestry Robotics, Mining and Exploration Robots, Robots for Construction, Security & Defence Robots, Cleaning Robots, Autonomous Underwater Vehicles and Autonomous Flying Robots. This meeting was the fifth in the series and brings FSR back to Australia where it was first held. FSR has been held every 2 years, starting with Canberra 1997, followed by Pittsburgh 1999, Helsinki 2001 and Lake Yamanaka 2003.
Author: Reta C. Moser
Publisher: Springer Science & Business Media
ISBN: 1461595940
Category : Science
Languages : en
Pages : 486
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Book Description
Acronym agglomeration is an affliction of the age, and there are acronym addicts who, in their weakness, find it impossible to resist them. More than once in recent months my peers have cautioned me about my apparent readiness to use not only acronyms, but abbreviations, foreign isms, codes, and other cryptic symbols rather than common, ordinary American words. Many among us, though, either have not received or have chosen to ignore such advice. As a consequence, what we write and speak is full of mystery and confusion. It is then for the reader and listener and for the writer and speaker that Reta C. Moser has compiled this guide. Its effective application to the art of communication is urged. Such use should help avoid many of the misunderstandings involving terminology which occur daily. Although such misunderstandings are certainly crucial in humanistic and social situations, they are often of immediate import and the trigger to disaster in scientific, technical, and political situations. Some 15,000 acronyms and 25,000 definitions are provided (a 50- and 47 -percent increase over the 1964 edition!), with due credit to Miss Moser's diligence in making the compilation and with the acknowledgment that the acronymical phenomenon is very much with us. This edition, like the first, is certain to be of value to writers, librarians, editors, and others who must identify and deal with acronyms.
Author: Bloomsbury Publishing
Publisher: Bloomsbury Publishing
ISBN: 1408102579
Category : Games & Activities
Languages : en
Pages : 719
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Book Description
Anagram Solver is the essential guide to cracking all types of quiz and crossword featuring anagrams. Containing over 200,000 words and phrases, Anagram Solver includes plural noun forms, palindromes, idioms, first names and all parts of speech. Anagrams are grouped by the number of letters they contain with the letters set out in alphabetical order so that once the letters of an anagram are arranged alphabetically, finding the solution is as easy as locating the word in a dictionary.
Author: Thomas T. Warner
Publisher: Cambridge University Press
ISBN: 113944963X
Category : Science
Languages : en
Pages : 623
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Book Description
Aridity prevails over more than one third of the land area of the Earth and over a significant fraction of the oceans as well. Yet to date there has been no comprehensive reference volume or textbook dealing with the weather processes that define the character of desert areas. Desert Meteorology fills this gap by treating all aspects of desert weather.
Author: Peter Corke
Publisher: Springer
ISBN: 364220144X
Category : Technology & Engineering
Languages : en
Pages : 572
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Book Description
The author has maintained two open-source MATLAB Toolboxes for more than 10 years: one for robotics and one for vision. The key strength of the Toolboxes provide a set of tools that allow the user to work with real problems, not trivial examples. For the student the book makes the algorithms accessible, the Toolbox code can be read to gain understanding, and the examples illustrate how it can be used —instant gratification in just a couple of lines of MATLAB code. The code can also be the starting point for new work, for researchers or students, by writing programs based on Toolbox functions, or modifying the Toolbox code itself. The purpose of this book is to expand on the tutorial material provided with the toolboxes, add many more examples, and to weave this into a narrative that covers robotics and computer vision separately and together. The author shows how complex problems can be decomposed and solved using just a few simple lines of code, and hopefully to inspire up and coming researchers. The topics covered are guided by the real problems observed over many years as a practitioner of both robotics and computer vision. It is written in a light but informative style, it is easy to read and absorb, and includes a lot of Matlab examples and figures. The book is a real walk through the fundamentals of robot kinematics, dynamics and joint level control, then camera models, image processing, feature extraction and epipolar geometry, and bring it all together in a visual servo system. Additional material is provided at http://www.petercorke.com/RVC
