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Optimal Path and Trajectory Planning for Serial Robots
Alexander Reiter describes optimal path and trajectory planning for serial robots in general, and rigorously treats the challenging application of path tracking for kinematically redundant manipulators therein in particular. This is facilitated by resolving both the path tracking task and the optimal inverse kinematics problem simultaneously. Furthermore, the author presents methods for fast computation of approximate optimal solutions to planning problems with changing parameters. With an optimal solution to a nominal problem, an iterative process based on parametric sensitivities is applied to rapidly obtain an approximate solution. About the Author: Dr. Alexander Reiter is a senior scientist at the Institute of Robotics of the Johannes Kepler University (JKU) Linz, Austria. His major fields of research are kinematics, dynamics, and trajectory planning for kinematically redundant serial robots as well as real-time methods for solving parametric non-linear programming problems.
Das Schöpfer-Gen
Das Leben des Londoner Barkeepers David Cole wird aufgrund eines noch nie da gewesenen Ereignisses von einem auf den anderen Moment völlig auf den Kopf gestellt. Es folgt ein Wettlauf gegen die Zeit, in dem es um nicht weniger geht als den Untergang der Menschheit. Der uralte Kampf Gut gegen Böse wird dabei ein für alle Mal entschieden. Würde die Welt solche Veränderungen überleben? Ist die uns bekannte Realität das, was sie zu sein scheint oder liegt da noch viel mehr im Verborgenen unserer Geschichte sowie unseres Selbst?
Time-Optimal Trajectory Planning for Redundant Robots
This master’s thesis presents a novel approach to finding trajectories with minimal end time for kinematically redundant manipulators. Emphasis is given to a general applicability of the developed method to industrial tasks such as gluing or welding. Minimum-time trajectories may yield economic advantages as a shorter trajectory duration results in a lower task cycle time. Whereas kinematically redundant manipulators possess increased dexterity, compared to conventional non-redundant manipulators, their inverse kinematics is not unique and requires further treatment. In this work a joint space decomposition approach is introduced that takes advantage of the closed form inverse kinematics solution of non-redundant robots. Kinematic redundancy can be fully exploited to achieve minimum-time trajectories for prescribed end-effector paths.
The Cat - E-Book
Comprehensive in scope and exclusively devoted to feline medical care, Dr. Susan Little's The Cat: Clinical Medicine and Management is an essential resource for anyone who provides complete, state-of-the-art care to cats. In one convenient volume, you'll find authoritative, clinically-focused information enhanced by full-color illustrations, tables, boxes, algorithms, key points, and much more — all in a format designed for quick access. Dr. Little and her expert contributors address the unique concerns and challenges facing the feline practitioner, including the latest advances in feline medical diagnosis and management and their clinical applications to everyday practice. User-friendly a...
Manual of Trauma Management in the Dog and Cat
Manual of Trauma Management in the Dog and Cat provides quick access to clinically relevant information on stabilizing, diagnosing, and managing the trauma patient. The book uses an outline format to provide fast access to essential information, focusing on practical advice and techniques for treating traumatic injuries. Manual of Trauma Management in the Dog and Cat is an ideal handbook for quickly and confidently managing this common presenting complaint. Beginning with a concise summary of the global assessment of traumatized patients, the heart of the book is devoted to guidance on managing specific types of trauma following definitive diagnosis. Manual of Trauma Management in the Dog and Cat is a valuable quick-reference guide to treating canine and feline trauma patients for general practitioners and emergency specialists alike.
Multibody Dynamics
This book includes selected papers from the ECCOMAS Thematic Conference on Multibody Dynamics, that took place in Barcelona, Spain, from June 29 to July 2, 2015. By having its origin in analytical and continuum mechanics, as well as in computer science and applied mathematics, multibody dynamics provides a basis for analysis and virtual prototyping of innovative applications in many fields of contemporary engineering. With the utilization of computational models and algorithms that classically belonged to different fields of applied science, multibody dynamics delivers reliable simulation platforms for diverse highly-developed industrial products such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, smart structures, biomechanical systems, and nanotechnologies.
Advances in Service and Industrial Robotics
This volume contains the proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017, held at the Polytechnic University of Turin, Italy, from June 21-23, 2017. The conference brought together academic and industrial researchers in robotics from 30 countries, the majority of them affiliated to the Alpe-Adria-Danube Region, and their worldwide partners. RAAD 2017 covered all major areas of R&D and innovation in robotics, including the latest research trends. The book provides an overview on the advances in service and industrial robotics. The topics are presented in a sequence starting from the classical robotic subjects, such as kinematics, dynamics, structures, control, and ending with the newest topics, like human-robot interaction and biomedical applications. Researchers involved in the robotic field will find this an extraordinary and up-to-date perspective on the state of the art in this area.
Clinical Veterinary Advisor - E-Book
No other quick reference comes close in covering the diagnosis and treatment of hundreds of diseases in dogs and cats. Etienne Cote's Clinical Veterinary Advisor: Dogs and Cats, 2nd Edition is like six books in one -- with concise topics within sections on diseases and disorders, procedures and techniques, differential diagnosis, laboratory tests, clinical algorithms, and a drug formulary. Revised from cover to cover, this edition includes dozens of new topics. It also includes free access to a fully searchable companion website featuring an electronic version of the text, all of the book's images, a searchable drug formulary, and 150 Client Education Sheets in both English and Spanish. Sect...
Before Catastrophe
Studies the rise and decline of German Zionism between World War I and the rise of Nazism. Lavsky offers a detailed look at the ideological and political world that German Zionists inhabited and their role in building the Yishuv.
IUTAM Symposium on Intelligent Multibody Systems – Dynamics, Control, Simulation
This volume, which brings together research presented at the IUTAM Symposium Intelligent Multibody Systems – Dynamics, Control, Simulation, held at Sozopol, Bulgaria, September 11-15, 2017, focuses on preliminary virtual simulation of the dynamics of motion, and analysis of loading of the devices and of their behaviour caused by the working conditions and natural phenomena. This requires up-to-date methods for dynamics analysis and simulation, novel methods for numerical solution of ODE and DAE, real-time simulation, passive, semi-passive and active control algorithms. Applied examples are mechatronic (intelligent) multibody systems, autonomous vehicles, space structures, structures expose...
