Essays on Mathematical Robotics

Essays on Mathematical Robotics
Title Essays on Mathematical Robotics PDF eBook
Author John Baillieul
Publisher Springer Science & Business Media
Pages 382
Release 2012-12-06
Genre Mathematics
ISBN 1461217105

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The chapters in this book present an excellent exposition of recent developments in both robotics and nonlinear control centering around "hyper-redundancy", highly oscillatory inputs, optimal control, exterior differential systems, and the use of generic loops. The principal topics covered in the book are: adaptive control for a class of nonlinear systems, event-based motion planning, nonlinear control synthesis and path planning in robotics with special emphasis on nonholonomic and "hyper-redundant" robotic systems, control design and stabilization of driftless affine control systems (of the type arising in the kinematic control of nonholonomic robotic systems), control design methods for Hamiltonian systems and exterior differential systems. The chapter covering exterior differential systems contains a detailed introduction to the use of exterior differential methods, including the Goursat and extended Goursat normal forms and their application to path planning for nonholonomic systems.

50 Years of Artificial Intelligence

50 Years of Artificial Intelligence
Title 50 Years of Artificial Intelligence PDF eBook
Author Max Lungarella
Publisher Springer Science & Business Media
Pages 408
Release 2007-12-10
Genre Computers
ISBN 3540772952

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This Festschrift volume, published in celebration of the 50th Anniversary of Artificial Intelligence, includes 34 refereed papers written by leading researchers in the field of Artificial Intelligence. The papers were carefully selected from the invited lectures given at the 50th Anniversary Summit of AI, held at the Centro Stefano Franscini, Monte Verità, Ascona, Switzerland, July 9-14, 2006. The summit provided a venue for discussions on a broad range of topics.

Geometric Fundamentals of Robotics

Geometric Fundamentals of Robotics
Title Geometric Fundamentals of Robotics PDF eBook
Author J.M. Selig
Publisher Springer Science & Business Media
Pages 402
Release 2007-12-13
Genre Technology & Engineering
ISBN 0387272747

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* Provides an elegant introduction to the geometric concepts that are important to applications in robotics * Includes significant state-of-the art material that reflects important advances, connecting robotics back to mathematical fundamentals in group theory and geometry * An invaluable reference that serves a wide audience of grad students and researchers in mechanical engineering, computer science, and applied mathematics

The Path to Autonomous Robots

The Path to Autonomous Robots
Title The Path to Autonomous Robots PDF eBook
Author Gaurav Sukhatme
Publisher Springer Science & Business Media
Pages 185
Release 2008-12-18
Genre Computers
ISBN 0387857745

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The principal chapters of this book form a collection of technical articles sp- ning many areas of research in robotics, these are followed by a set of short r- iniscences and tributes written by former students of Professor George A. Bekey. Professor Bekey, a pioneer in robotics, retired from the University of Southern C- ifornia (USC) in 2002 after serving on its faculty for forty years. He maintains an association with USC as University Professor Emeritus. Professor Bekey turned 80 in June 2008 - this is his Festschrift. As one of Professor Bekey’s former students, it has been my privilege to know him for many years. This book represents the collective warm feelings of his former students, who remember their association with him in the fondest terms. Part I of this book is composed of technical chapters representing threads of active robotics research knitted loosely together. In many cases the themes of the chapters have their origins in the work the authors did when they were graduate students with Professor Bekey. These chapters are written for the reader interested in a sampling of modern research in Autonomous Robots. It is my hope that, for the serious reader, these chapters will serve as invitations to explore the ?eld via further reading and research.

A Journey from Robot to Digital Human

A Journey from Robot to Digital Human
Title A Journey from Robot to Digital Human PDF eBook
Author Edward Y L Gu
Publisher Springer Science & Business Media
Pages 600
Release 2013-07-24
Genre Technology & Engineering
ISBN 3642390471

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This book provides readers with a solid set of diversified and essential tools for the theoretical modeling and control of complex robotic systems, as well as for digital human modeling and realistic motion generation. Following a comprehensive introduction to the fundamentals of robotic kinematics, dynamics and control systems design, the author extends robotic modeling procedures and motion algorithms to a much higher-dimensional, larger scale and more sophisticated research area, namely digital human modeling. Most of the methods are illustrated by MATLABTM codes and sample graphical visualizations, offering a unique closed loop between conceptual understanding and visualization. Readers are guided through practicing and creating 3D graphics for robot arms as well as digital human models in MATLABTM, and through driving them for real-time animation. This work is intended to serve as a robotics textbook with an extension to digital human modeling for senior undergraduate and graduate engineering students. At the same time, it represents a comprehensive reference guide for all researchers, scientists and professionals eager to learn the fundamentals of robotic systems as well as the basic methods of digital human modeling and motion generation.

Essays on Control

Essays on Control
Title Essays on Control PDF eBook
Author H.L. Trentelman
Publisher Springer Science & Business Media
Pages 440
Release 2012-12-06
Genre Science
ISBN 1461203139

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This book contains the text of the plenary lectures and the mini-courses of the European Control Conference (ECC'93) held in Groningen, the Netherlands, June 2S-July 1, 1993. However, the book is not your usu al conference proceedings. Instead, the authors took this occasion to take a broad overview of the field of control and discuss its development both from a theoretical as well as from an engineering perpective. The first essay is by the key-note speaker ofthe conference, A.G.J. Mac Farlane. It consists of a non-technical discussion of information processing and knowledge acquisition as the key features of control engineering tech nology. The next six articles are accounts of the plenary addresses. The contribution by R.W. Brockett concerns a mathematical framework for modelling motion control, a central question in robotics and vision. In the paper by M. Morari the engineering and the economic relevance of chemical process control are considered, in particular statistical quality control and the control of systems with constraints. The article by A.C.P.M. Backx is written from an industrial perspec tive. The author is director of an engineering consulting firm involved in the design of industrial control equipment. Specifically, the possibility of obtaining high performance and reliable controllers by modelling, identifi cation, and optimizing industrial processes is discussed.

Robotics

Robotics
Title Robotics PDF eBook
Author Kevin Warwick
Publisher
Pages 624
Release 1993
Genre Computers
ISBN

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Recent advances and development in the field of robotics, with emphasis on the mathematical and computational aspects, are presented in this volume. The papers are grouped under several themes which span the broad scope of modern robotics, including sensory systems, computational parallel processing aspects, kinematics, dynamics and robot control, manufacturing environment and artificial intelligence. Each area can be treated as a self-contained unit or in terms of its relationship with other areas of the field. As an international overview of the present-day research in robotics, this book should be of interest to those wishing to become more acquainted with the topic, including academic and industrial researchers in the areas of systems, robotics, and advanced manufacturing techniques.