Download or read book Robot Motion Planning written by Jean-Claude Latombe and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 668 pages. Available in PDF, EPUB and Kindle. Book excerpt: One of the ultimate goals in Robotics is to create autonomous robots. Such robots will accept high-level descriptions of tasks and will execute them without further human intervention. The input descriptions will specify what the user wants done rather than how to do it. The robots will be any kind of versatile mechanical device equipped with actuators and sensors under the control of a computing system. Making progress toward autonomous robots is of major practical inter est in a wide variety of application domains including manufacturing, construction, waste management, space exploration, undersea work, as sistance for the disabled, and medical surgery. It is also of great technical interest, especially for Computer Science, because it raises challenging and rich computational issues from which new concepts of broad useful ness are likely to emerge. Developing the technologies necessary for autonomous robots is a formidable undertaking with deep interweaved ramifications in auto mated reasoning, perception and control. It raises many important prob lems. One of them - motion planning - is the central theme of this book. It can be loosely stated as follows: How can a robot decide what motions to perform in order to achieve goal arrangements of physical objects? This capability is eminently necessary since, by definition, a robot accomplishes tasks by moving in the real world. The minimum one would expect from an autonomous robot is the ability to plan its x Preface own motions.

Download or read book Spacecraft Formation Flying written by Kyle Alfriend and published by Elsevier. This book was released on 2009-11-16 with total page 403 pages. Available in PDF, EPUB and Kindle. Book excerpt: Space agencies are now realizing that much of what has previously been achieved using hugely complex and costly single platform projects—large unmanned and manned satellites (including the present International Space Station)—can be replaced by a number of smaller satellites networked together. The key challenge of this approach, namely ensuring the proper formation flying of multiple craft, is the topic of this second volume in Elsevier's Astrodynamics Series, Spacecraft Formation Flying: Dynamics, control and navigation. In this unique text, authors Alfriend et al. provide a coherent discussion of spacecraft relative motion, both in the unperturbed and perturbed settings, explain the main control approaches for regulating relative satellite dynamics, using both impulsive and continuous maneuvers, and present the main constituents required for relative navigation. The early chapters provide a foundation upon which later discussions are built, making this a complete, standalone offering. Intended for graduate students, professors and academic researchers in the fields of aerospace and mechanical engineering, mathematics, astronomy and astrophysics, Spacecraft Formation Flying is a technical yet accessible, forward-thinking guide to this critical area of astrodynamics. - The first book dedicated to spacecraft formation flying, written by leading researchers and professors in the field - Develops the theory from an astrodynamical viewpoint, emphasizing modeling, control and navigation of formation flying satellites on Earth orbits - Examples used to illustrate the main developments, with a sample simulation of a formation flying mission included to illustrate high fidelity modeling, control and relative navigation

Download or read book Unmanned Aircraft Systems written by Ella Atkins and published by John Wiley & Sons. This book was released on 2017-01-17 with total page 740 pages. Available in PDF, EPUB and Kindle. Book excerpt: UNMANNED AIRCRAF T SYSTEMS UNMANNED AIRCRAF T SYSTEMS An unmanned aircraft system (UAS), sometimes called a drone, is an aircraft without a human pilot on board ??? instead, the UAS can be controlled by an operator station on the ground or may be autonomous in operation. UAS are capable of addressing a broad range of applications in diverse, complex environments. Traditionally employed in mainly military applications, recent regulatory changes around the world are leading to an explosion of interest and wide-ranging new applications for UAS in civil airspace. Covering the design, development, operation, and mission profiles of unmanned aircraft systems, this single, comprehensive volume forms a complete, stand-alone reference on the topic. The volume integrates with the online Wiley Encyclopedia of Aerospace Engineering, providing many new and updated articles for existing subscribers to that work. The chapters cover the following items: Airframe configurations and design (launch systems, power generation, propulsion) Operations (missions, integration issues, and airspace access) Coordination (multivehicle cooperation and human oversight) With contributions from leading experts, this volume is intended to be a valuable addition, and a useful resource, for aerospace manufacturers and suppliers, governmental and industrial aerospace research establishments, airline and aviation industries, university engineering and science departments, and industry analysts, consultants, and researchers.

Download or read book Algorithmic Foundations of Robotics X written by Emilio Frazzoli and published by Springer. This book was released on 2013-02-14 with total page 625 pages. Available in PDF, EPUB and Kindle. Book excerpt: Algorithms are a fundamental component of robotic systems. Robot algorithms process inputs from sensors that provide noisy and partial data, build geometric and physical models of the world, plan high-and low-level actions at different time horizons, and execute these actions on actuators with limited precision. The design and analysis of robot algorithms raise a unique combination of questions from many elds, including control theory, computational geometry and topology, geometrical and physical modeling, reasoning under uncertainty, probabilistic algorithms, game theory, and theoretical computer science. The Workshop on Algorithmic Foundations of Robotics (WAFR) is a single-track meeting of leading researchers in the eld of robot algorithms. Since its inception in 1994, WAFR has been held every other year, and has provided one of the premiere venues for the publication of some of the eld's most important and lasting contributions. This books contains the proceedings of the tenth WAFR, held on June 13{15 2012 at the Massachusetts Institute of Technology. The 37 papers included in this book cover a broad range of topics, from fundamental theoretical issues in robot motion planning, control, and perception, to novel applications.

Download or read book Motion Planning in Dynamic Environments written by Kikuo Fujimura and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 190 pages. Available in PDF, EPUB and Kindle. Book excerpt: Computer Science Workbench is a monograph series which will provide you with an in-depth working knowledge of current developments in computer technology. Every volume in this series will deal with a topic of importance in computer science and elaborate on how you yourself can build systems related to the main theme. You will be able to develop a variety of systems, including computer software tools, computer graphics, computer animation, database management systems, and computer-aided design and manufacturing systems. Computer Science Workbench represents an important new contribution in the field of practical computer technology. TOSIYASU L. KUNII To my parents Kenjiro and Nori Fujimura Preface Motion planning is an area in robotics that has received much attention recently. Much of the past research focuses on static environments - various methods have been developed and their characteristics have been well investigated. Although it is essential for autonomous intelligent robots to be able to navigate within dynamic worlds, the problem of motion planning in dynamic domains is relatively little understood compared with static problems.

Download or read book Autonomous and Autonomic Systems With Applications to NASA Intelligent Spacecraft Operations and Exploration Systems written by Walt Truszkowski and published by Springer Science & Business Media. This book was released on 2009-11-12 with total page 295 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the early 1990s, NASA Goddard Space Flight Center started researching and developing autonomous and autonomic ground and spacecraft control systems for future NASA missions. This research started by experimenting with and developing expert systems to automate ground station software and reduce the number of people needed to control a spacecraft. This was followed by research into agent-based technology to develop autonomous ground c- trol and spacecraft. Research into this area has now evolved into using the concepts of autonomic systems to make future space missions self-managing and giving them a high degree of survivability in the harsh environments in which they operate. This book describes much of the results of this research. In addition, it aimstodiscusstheneededsoftwaretomakefutureNASAspacemissionsmore completelyautonomousandautonomic.Thecoreofthesoftwareforthesenew missions has been written for other applications or is being applied gradually in current missions, or is in current development. It is intended that this book should document how NASA missions are becoming more autonomous and autonomic and should point to the way of making future missions highly - tonomous and autonomic. What is not covered is the supporting hardware of these missions or the intricate software that implements orbit and at- tude determination, on-board resource allocation, or planning and scheduling (though we refer to these technologies and give references for the interested reader).

Download or read book The DARPA Urban Challenge written by Martin Buehler and published by Springer. This book was released on 2009-11-26 with total page 651 pages. Available in PDF, EPUB and Kindle. Book excerpt: By the dawn of the new millennium, robotics has undergone a major transformation in scope and dimensions. This expansion has been brought about by the maturity of the field and the advances in its related technologies. From a largely dominant industrial focus, robotics has been rapidly expanding into the challenges of the human world. The new generation of robots is expected to safely and dependably co-habitat with humans in homes, workplaces, and communities, providing support in services, entertainment, education, healthcare, manufacturing, and assistance. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider range of applications reaching across diverse research areas and scientific disciplines, such as: biomechanics, haptics, neurosciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are proving an abundant source of stimulation and insights for the field of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The goal of the series of Springer Tracts in Advanced Robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on the basis of their significance and quality. It is our hope that the wider dissemination of research developments will stimulate more exchanges and collaborations among the research community and contribute to further advancement of this rapidly growing field.

Download or read book Introduction to Autonomous Robots written by Nikolaus Correll and published by . This book was released on 2016-04-25 with total page 226 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces concepts in mobile, autonomous robotics to 3rd-4th year students in Computer Science or a related discipline. The book covers principles of robot motion, forward and inverse kinematics of robotic arms and simple wheeled platforms, perception, error propagation, localization and simultaneous localization and mapping. The cover picture shows a wind-up toy that is smart enough to not fall off a table just using intelligent mechanism design and illustrate the importance of the mechanism in designing intelligent, autonomous systems. This book is open source, open to contributions, and released under a creative common license.

Download or read book Principles of Robot Motion written by Howie Choset and published by MIT Press. This book was released on 2005-05-20 with total page 642 pages. Available in PDF, EPUB and Kindle. Book excerpt: A text that makes the mathematical underpinnings of robot motion accessible and relates low-level details of implementation to high-level algorithmic concepts. Robot motion planning has become a major focus of robotics. Research findings can be applied not only to robotics but to planning routes on circuit boards, directing digital actors in computer graphics, robot-assisted surgery and medicine, and in novel areas such as drug design and protein folding. This text reflects the great advances that have taken place in the last ten years, including sensor-based planning, probabalistic planning, localization and mapping, and motion planning for dynamic and nonholonomic systems. Its presentation makes the mathematical underpinnings of robot motion accessible to students of computer science and engineering, rleating low-level implementation details to high-level algorithmic concepts.

Download or read book Motion Planning for Humanoid Robots written by Kensuke Harada and published by Springer Science & Business Media. This book was released on 2010-08-12 with total page 320 pages. Available in PDF, EPUB and Kindle. Book excerpt: Research on humanoid robots has been mostly with the aim of developing robots that can replace humans in the performance of certain tasks. Motion planning for these robots can be quite difficult, due to their complex kinematics, dynamics and environment. It is consequently one of the key research topics in humanoid robotics research and the last few years have witnessed considerable progress in the field. Motion Planning for Humanoid Robots surveys the remarkable recent advancement in both the theoretical and the practical aspects of humanoid motion planning. Various motion planning frameworks are presented in Motion Planning for Humanoid Robots, including one for skill coordination and learning, and one for manipulating and grasping tasks. The problem of planning sequences of contacts that support acyclic motion in a highly constrained environment is addressed and a motion planner that enables a humanoid robot to push an object to a desired location on a cluttered table is described. The main areas of interest include: • whole body motion planning, • task planning, • biped gait planning, and • sensor feedback for motion planning. Torque-level control of multi-contact behavior, autonomous manipulation of moving obstacles, and movement control and planning architecture are also covered. Motion Planning for Humanoid Robots will help readers to understand the current research on humanoid motion planning. It is written for industrial engineers, advanced undergraduate and postgraduate students.

Download or read book Human Dimension and Interior Space written by Julius Panero and published by Watson-Guptill. This book was released on 2014-01-21 with total page 322 pages. Available in PDF, EPUB and Kindle. Book excerpt: The study of human body measurements on a comparative basis is known as anthropometrics. Its applicability to the design process is seen in the physical fit, or interface, between the human body and the various components of interior space. Human Dimension and Interior Space is the first major anthropometrically based reference book of design standards for use by all those involved with the physical planning and detailing of interiors, including interior designers, architects, furniture designers, builders, industrial designers, and students of design. The use of anthropometric data, although no substitute for good design or sound professional judgment should be viewed as one of the many tools required in the design process. This comprehensive overview of anthropometrics consists of three parts. The first part deals with the theory and application of anthropometrics and includes a special section dealing with physically disabled and elderly people. It provides the designer with the fundamentals of anthropometrics and a basic understanding of how interior design standards are established. The second part contains easy-to-read, illustrated anthropometric tables, which provide the most current data available on human body size, organized by age and percentile groupings. Also included is data relative to the range of joint motion and body sizes of children. The third part contains hundreds of dimensioned drawings, illustrating in plan and section the proper anthropometrically based relationship between user and space. The types of spaces range from residential and commercial to recreational and institutional, and all dimensions include metric conversions. In the Epilogue, the authors challenge the interior design profession, the building industry, and the furniture manufacturer to seriously explore the problem of adjustability in design. They expose the fallacy of designing to accommodate the so-called average man, who, in fact, does not exist. Using government data, including studies prepared by Dr. Howard Stoudt, Dr. Albert Damon, and Dr. Ross McFarland, formerly of the Harvard School of Public Health, and Jean Roberts of the U.S. Public Health Service, Panero and Zelnik have devised a system of interior design reference standards, easily understood through a series of charts and situation drawings. With Human Dimension and Interior Space, these standards are now accessible to all designers of interior environments.

Download or read book Interior point Polynomial Algorithms in Convex Programming written by Yurii Nesterov and published by SIAM. This book was released on 1994-01-01 with total page 414 pages. Available in PDF, EPUB and Kindle. Book excerpt: Specialists working in the areas of optimization, mathematical programming, or control theory will find this book invaluable for studying interior-point methods for linear and quadratic programming, polynomial-time methods for nonlinear convex programming, and efficient computational methods for control problems and variational inequalities. A background in linear algebra and mathematical programming is necessary to understand the book. The detailed proofs and lack of "numerical examples" might suggest that the book is of limited value to the reader interested in the practical aspects of convex optimization, but nothing could be further from the truth. An entire chapter is devoted to potential reduction methods precisely because of their great efficiency in practice.

Download or read book Newton s Gravity written by Douglas W. MacDougal and published by Springer Science & Business Media. This book was released on 2012-12-16 with total page 442 pages. Available in PDF, EPUB and Kindle. Book excerpt: “Newton’s Gravity” conveys the power of simple mathematics to tell the fundamental truth about nature. Many people, for example, know the tides are caused by the pull of the Moon and to a lesser extent the Sun. But very few can explain exactly how and why that happens. Fewer still can calculate the actual pulls of the Moon and Sun on the oceans. This book shows in clear detail how to do this with simple tools. It uniquely crosses disciplines – history, astronomy, physics and mathematics – and takes pains to explain things frequently passed over or taken for granted in other books. Using a problem-based approach, “Newton’s Gravity” explores the surprisingly basic mathematics behind gravity, the most fundamental force that governs the movements of satellites, planets, and the stars. Author Douglas W. MacDougal uses actual problems from the history of astronomy, as well as original examples, to deepen understanding of how discoveries were made and what they mean. “Newton’s Gravity” concentrates strongly on the development of the science of orbital motion, beginning with Galileo, Kepler, and Newton, each of whom is prominently represented. Quotes and problems from Galileo’s Dialogs Concerning Two New Sciences and particularly Newton’s Principia help the reader get inside the mind of those thinkers and see the problems as they saw them, and experience their concise and typically eloquent writing. This book enables students and curious minds to explore the mysteries of celestial motion without having to know advanced mathematics. It will whet the reader’s curiosity to explore further and provide him or her the tools (mathematical or physical) to do so.

Download or read book Advances in Control System Technology for Aerospace Applications written by Eric Feron and published by Springer. This book was released on 2015-09-16 with total page 192 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is devoted to Control System Technology applied to aerospace and covers the four disciplines Cognitive Engineering, Computer Science, Operations Research, and Servo-Mechanisms. This edited book follows a workshop held at the Georgia Institute of Technology in June 2012, where the today's most important aerospace challenges, including aerospace autonomy, safety-critical embedded software engineering, and modern air transportation were discussed over the course of two days of intense interactions among leading aerospace engineers and scientists. Its content provide a snapshot of today's aerospace control research and its future, including Autonomy in space applications, Control in space applications, Autonomy in aeronautical applications, Air transportation, and Safety-critical software engineering.

Download or read book Model Rules of Professional Conduct written by American Bar Association. House of Delegates and published by American Bar Association. This book was released on 2007 with total page 216 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Model Rules of Professional Conduct provides an up-to-date resource for information on legal ethics. Federal, state and local courts in all jurisdictions look to the Rules for guidance in solving lawyer malpractice cases, disciplinary actions, disqualification issues, sanctions questions and much more. In this volume, black-letter Rules of Professional Conduct are followed by numbered Comments that explain each Rule's purpose and provide suggestions for its practical application. The Rules will help you identify proper conduct in a variety of given situations, review those instances where discretionary action is possible, and define the nature of the relationship between you and your clients, colleagues and the courts.

Download or read book Planning Algorithms written by Steven M. LaValle and published by Cambridge University Press. This book was released on 2006-05-29 with total page 844 pages. Available in PDF, EPUB and Kindle. Book excerpt: Planning algorithms are impacting technical disciplines and industries around the world, including robotics, computer-aided design, manufacturing, computer graphics, aerospace applications, drug design, and protein folding. Written for computer scientists and engineers with interests in artificial intelligence, robotics, or control theory, this is the only book on this topic that tightly integrates a vast body of literature from several fields into a coherent source for teaching and reference in a wide variety of applications. Difficult mathematical material is explained through hundreds of examples and illustrations.

Download or read book Semi Infinite Programming written by Rembert Reemtsen and published by Springer Science & Business Media. This book was released on 2013-03-14 with total page 418 pages. Available in PDF, EPUB and Kindle. Book excerpt: Semi-infinite programming (briefly: SIP) is an exciting part of mathematical programming. SIP problems include finitely many variables and, in contrast to finite optimization problems, infinitely many inequality constraints. Prob lems of this type naturally arise in approximation theory, optimal control, and at numerous engineering applications where the model contains at least one inequality constraint for each value of a parameter and the parameter, repre senting time, space, frequency etc., varies in a given domain. The treatment of such problems requires particular theoretical and numerical techniques. The theory in SIP as well as the number of numerical SIP methods and appli cations have expanded very fast during the last years. Therefore, the main goal of this monograph is to provide a collection of tutorial and survey type articles which represent a substantial part of the contemporary body of knowledge in SIP. We are glad that leading researchers have contributed to this volume and that their articles are covering a wide range of important topics in this subject. It is our hope that both experienced students and scientists will be well advised to consult this volume. We got the idea for this volume when we were organizing the semi-infinite pro gramming workshop which was held in Cottbus, Germany, in September 1996.