Download or read book Essays on Mathematical Robotics written by John Baillieul and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 382 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Download or read book The Path to Autonomous Robots written by Gaurav Sukhatme and published by Springer Science & Business Media. This book was released on 2008-12-18 with total page 185 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Download or read book Geometric Fundamentals of Robotics written by J.M. Selig and published by Springer Science & Business Media. This book was released on 2007-12-13 with total page 402 pages. Available in PDF, EPUB and Kindle. Book excerpt: * 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
Download or read book Essays on Control written by H.L. Trentelman and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 440 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Download or read book From Linear Operators to Computational Biology written by Martin Davis and published by Springer Science & Business Media. This book was released on 2012-07-28 with total page 213 pages. Available in PDF, EPUB and Kindle. Book excerpt: In his rich and varied career as a mathematician, computer scientist, and educator, Jacob T. Schwartz wrote seminal works in analysis, mathematical economics, programming languages, algorithmics, and computational geometry. In this volume of essays, his friends, students, and collaborators at the Courant Institute of Mathematical Sciences present recent results in some of the fields that Schwartz explored: quantum theory, the theory and practice of programming, program correctness and decision procedures, dextrous manipulation in Robotics, motion planning, and genomics. In addition to presenting recent results in these fields, these essays illuminate the astonishingly productive trajectory of a brilliant and original scientist and thinker.
Download or read book Robotics written by Kevin Warwick and published by . This book was released on 1993 with total page 624 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Download or read book 50 Years of Artificial Intelligence written by Max Lungarella and published by Springer Science & Business Media. This book was released on 2007-12-10 with total page 408 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Download or read book Mechanizing Mathematical Reasoning written by Dieter Hutter and published by Springer. This book was released on 2011-03-29 with total page 573 pages. Available in PDF, EPUB and Kindle. Book excerpt: By presenting state-of-the-art results in logical reasoning and formal methods in the context of artificial intelligence and AI applications, this book commemorates the 60th birthday of Jörg H. Siekmann. The 30 revised reviewed papers are written by former and current students and colleagues of Jörg Siekmann; also included is an appraisal of the scientific career of Jörg Siekmann entitled "A Portrait of a Scientist: Logics, AI, and Politics." The papers are organized in four parts on logic and deduction, applications of logic, formal methods and security, and agents and planning.
Download or read book Advances in Robot Kinematics Analysis and Design written by Jadran Lenarčič and published by Springer Science & Business Media. This book was released on 2008-05-29 with total page 472 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the most recent research advances in the theory, design, control and application of robotic systems, which are intended for a variety of purposes such as manipulation, manufacturing, automation, surgery, locomotion and biomechanics.
Download or read book Numbers and the World written by David Mumford and published by American Mathematical Society. This book was released on 2023-09-27 with total page 259 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is a collection of essays written by a distinguished mathematician with a very long and successful career as a researcher and educator working in many areas of pure and applied mathematics. The author writes about everything he found exciting about math, its history, and its connections with art, and about how to explain it when so many smart people (and children) are turned off by it. The three longest essays touch upon the foundations of mathematics, upon quantum mechanics and Schrödinger's cat phenomena, and upon whether robots will ever have consciousness. Each of these essays includes some unpublished material. The author also touches upon his involvement with and feelings about issues in the larger world. The author's main goal when preparing the book was to convey how much he loves math and its sister fields.
Download or read book Mathematical Control Theory written by John B. Baillieul and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 389 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume on mathematical control theory contains high quality articles covering the broad range of this field. The internationally renowned authors provide an overview of many different aspects of control theory, offering a historical perspective while bringing the reader up to the very forefront of current research.
Download or read book Biomechanics and Robotics written by Marko B. Popović and published by CRC Press. This book was released on 2013-12-21 with total page 365 pages. Available in PDF, EPUB and Kindle. Book excerpt: The science and technology of biomechanics and robotics promise to be some of the most influential research directions of the twenty-first century. Biomechanics and Robotics goes beyond the individual areas of biomechanics, robotics, biomedical engineering, biomechatronics, and biologically inspired robotics to provide the first unified textbook on the subject. It offers a "big picture" look at the state-of-the-art science and technology. With numerous figures, references, and exercises, the book presents a pedagogical introduction to a variety of topics, reviews historical developments, and gives up-to-date insights on modern-day biomechanics and robotics.
Download or read book Computational Kinematics written by Andrés Kecskeméthy and published by Springer Science & Business Media. This book was released on 2009-10-06 with total page 394 pages. Available in PDF, EPUB and Kindle. Book excerpt: Computational kinematics is an enthralling area of science with a rich spectrum of problems at the junction of mechanics, robotics, computer science, mathematics, and computer graphics. The present book collects up-to-date methods as presented during the Fifth International Workshop on Computational Kinematics (CK2009) held at the University of Duisburg-Essen, Germany. The covered topics include design and optimization of cable-driven robots, analysis of parallel manipulators, motion planning, numerical methods for mechanism calibration and optimization, geometric approaches to mechanism analysis and design, synthesis of mechanisms, kinematical issues in biomechanics, balancing and construction of novel mechanical devices, detection and treatment of singularities, as well as computational methods for gear design. The results should be of interest for practicing and research engineers as well as Ph.D. students from the fields of mechanical and electrical engineering, computer science, and computer graphics.
Download or read book Zhang Gradient Control written by Yunong Zhang and published by Springer Nature. This book was released on 2020-11-24 with total page 310 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces readers to using the simple but effective Zhang-gradient (ZG) method to solve tracking-control problems concerning various nonlinear systems, while also highlighting the applications of the ZG method to tracking control for practical systems, e.g. an inverted-pendulum-on-a-cart (IPC) system and a two-wheeled mobile robot (showing its potential applications). In addition to detailed theoretical analyses of ZG controllers, the book presents a wealth of computer simulations to demonstrate the feasibility and efficacy of the controllers discussed (as well as the method itself). More importantly, the superiority of ZG controllers in overcoming the division-by-zero (DBZ) problem is also illustrated. Given its scope and format, the book is well suited for undergraduate and graduate students, as well as academic and industrial researchers in the fields of neural dynamics/neural networks, nonlinear control, computer mathematics, time-varying problem solving, modeling and simulation, analog hardware, and robotics.
Download or read book Nonholonomic Mechanics and Control written by A.M. Bloch and published by Springer Science & Business Media. This book was released on 2007-09-27 with total page 501 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book explores connections between control theory and geometric mechanics. The author links control theory with a geometric view of classical mechanics in both its Lagrangian and Hamiltonian formulations, and in particular with the theory of mechanical systems subject to motion constraints. The synthesis is appropriate as there is a rich connection between mechanics and nonlinear control theory. The book provides a unified treatment of nonlinear control theory and constrained mechanical systems that incorporates material not available in other recent texts. The book benefits graduate students and researchers in the area who want to enhance their understanding and enhance their techniques.
Download or read book Parallel Solution of Partial Differential Equations written by Petter Bjorstad and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 309 pages. Available in PDF, EPUB and Kindle. Book excerpt: This IMA Volume in Mathematics and its Applications PARALLEL SOLUTION OF PARTIAL DIFFERENTIAL EQUATIONS is based on the proceedings of a workshop with the same title. The work shop was an integral part of the 1996-97IMA program on "MATHEMAT ICS IN HIGH-PERFORMANCE COMPUTING." I would like to thank Petter Bj0rstad of the Institutt for Informatikk, University of Bergen and Mitchell Luskin of the School of Mathematics, University of Minnesota for their excellent work as organizers of the meeting and for editing the proceedings. I also take this opportunity to thank the National Science Founda tion (NSF), Department of Energy (DOE), and the Army Research Office (ARO), whose financial support made the workshop possible. Willard Miller, Jr., Professor and Director v PREFACE The numerical solution of partial differential equations has been of major importance to the development of many technologies and has been the target of much of the development of parallel computer hardware and software. Parallel computers offer the promise of greatly increased perfor mance and the routine calculation of previously intractable problems. The papers in this volume were presented at the IMA workshop on the Paral lel Solution of PDE held during June 9-13, 1997. The workshop brought together leading numerical analysts, computer scientists, and engineers to assess the state-of-the-art and to consider future directions.
Download or read book Numerical Methods for Polymeric Systems written by Stuart G. Whittington and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 225 pages. Available in PDF, EPUB and Kindle. Book excerpt: Polymers occur in many different states and their physical properties are strongly correlated with their conformations. The theoretical investigation of the conformational properties of polymers is a difficult task and numerical methods play an important role in this field. This book contains contributions from a workshop on numerical methods for polymeric systems, held at the IMA in May 1996, which brought together chemists, physicists, mathematicians, computer scientists and statisticians with a common interest in numerical methods. The two major approaches used in the field are molecular dynamics and Monte Carlo methods, and the book includes reviews of both approaches as well as applications to particular polymeric systems. The molecular dynamics approach solves the Newtonian equations of motion of the polymer, giving direct information about the polymer dynamics as well as about static properties. The Monte Carlo approaches discussed in this book all involve sampling along a Markov chain defined on the configuration space of the system. An important feature of the book is the treatment of Monte Carlo methods, including umbrella sampling and multiple Markov chain methods, which are useful for strongly interacting systems such as polymers at low temperatures and in compact phases. The book is of interest to workers in polymer statistical mechanics and also to a wider audience interested in numerical methods and their application in polymeric systems.
