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Modelling and Control of Robot Manipulators
Fundamental and technological topics are blended uniquely and developed clearly in nine chapters with a gradually increasing level of complexity. A wide variety of relevant problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained, step by step. Fundamental coverage includes: Kinematics; Statics and dynamics of manipulators; Trajectory planning and motion control in free space. Technological aspects include: Actuators; Sensors; Hardware/software control architectures; Industrial robot-control algorithms. Furthermore, established research results involving description of end-effector orientation, closed kinematic chains, kinematic ...
Synthesis and Control of Discrete Event Systems
This book aims at providing a view of the current trends in the development of research on Synthesis and Control of Discrete Event Systems. Papers col lected in this volume are based on a selection of talks given in June and July 2001 at two independent meetings: the Workshop on Synthesis of Concurrent Systems, held in Newcastle upon Tyne as a satellite event of ICATPN/ICACSD and organized by Ph. Darondeau and L. Lavagno, and the Symposium on the Supervisory Control of Discrete Event Systems (SCODES), held in Paris as a satellite event of CAV and organized by B. Caillaud and X. Xie. Synthesis is a generic term that covers all procedures aiming to construct from specifications given as input ...
Gearing Up and Accelerating Cross‐fertilization between Academic and Industrial Robotics Research in Europe:
This monograph by Florian Röhrbein, Germano Veiga and Ciro Natale is an edited collection of 15 authoritative contributions in the area of robot technology transfer between academia and industry. It comprises three parts on Future Industrial Robotics, Robotic Grasping as well as Human-Centered Robots. The book chapters cover almost all the topics nowadays considered ‘hot’ within the robotics community, from reliable object recognition to dexterous grasping, from speech recognition to intuitive robot programming, from mobile robot navigation to aerial robotics, from safe physical human-robot interaction to body extenders. All contributions stem from the results of ECHORD – the European...
Robotics
Based on the successful Modelling and Control of Robot Manipulators by Sciavicco and Siciliano (Springer, 2000), Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control. It has been expanded to include coverage of mobile robots, visual control and motion planning. A variety of problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained. The text includes coverage of fundamental topics like kinematics, and trajectory planning and related technological aspects including actuators and sensors. To impart practical skill, examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, end-of-chapter exercises are proposed, and the book is accompanied by an electronic solutions manual containing the MATLAB® code for computer problems; this is available free of charge to those adopting this volume as a textbook for courses.
Board of Contract Appeals Decisions
The full texts of Armed Services and othr Boards of Contract Appeals decisions on contracts appeals.
Distributed Optimisation for Multi-Robot Cooperative Manipulation Control in Dynamic Environments
Since the manipulation tasks for robotic systems become more and more complicated, multi-robot cooperation has been attracting much attention recently. Furthermore, under the trend of human-robot co-existence, collision-free motion control is now also desired on multi-robot groups. This dissertation aims to design a novel distributed optimal control framework to deal with multi-robot cooperative manipulation of rigid objects in dynamic environments. Besides object transportation, the control scheme also tackles obstacle avoidance, joint-space performance optimisation and internal force suppression. The proposed control framework has a two-layer structure, with a distributed optimisation algo...
Advances in Robot Kinematics and Computational Geometry
Recently, research in robot kinematics has attracted researchers with different theoretical profiles and backgrounds, such as mechanical and electrica! engineering, computer science, and mathematics. It includes topics and problems that are typical for this area and cannot easily be met elsewhere. As a result, a specialised scientific community has developed concentrating its interest in a broad class of problems in this area and representing a conglomeration of disciplines including mechanics, theory of systems, algebra, and others. Usually, kinematics is referred to as the branch of mechanics which treats motion of a body without regard to the forces and moments that cause it. In robotics,...
ICAE 2022
This is proceeding for the 5th International Conference on Applied Engineering (ICAE 2022), held online in Batam, Indonesia on 5 October 2022. ICAE is an annual conference organized by Politeknik Negeri Batam. This year, ICAE was structured in 3 tracks namely Electronics, Informatics and Mechanicals. ICAE received 64 papers in various topics including Control Systems and Mechanical Engineering, Applied Mechanics and Control Systems, Computational Mechanics and Microelectronic Circuits and Systems, Micro-Electro-Mechanical System, RFID and Electronics Design, Electronics materials, Sensor Networks, Fuzzy Systems, AI and Expert Systems, Virtual Reality, Augmented Reality, Architecture and Topo...
CMBEBIH 2017
This volume presents the proceedings of the International Conference on Medical and Biological Engineering held from 16 to 18 March 2017 in Sarajevo, Bosnia and Herzegovina. Focusing on the theme of ‘Pursuing innovation. Shaping the future’, it highlights the latest advancements in Biomedical Engineering and also presents the latest findings, innovative solutions and emerging challenges in this field. Topics include: - Biomedical Signal Processing - Biomedical Imaging and Image Processing - Biosensors and Bioinstrumentation - Bio-Micro/Nano Technologies - Biomaterials - Biomechanics, Robotics and Minimally Invasive Surgery - Cardiovascular, Respiratory and Endocrine Systems Engineering - Neural and Rehabilitation Engineering - Molecular, Cellular and Tissue Engineering - Bioinformatics and Computational Biology - Clinical Engineering and Health Technology Assessment - Health Informatics, E-Health and Telemedicine - Biomedical Engineering Education - Pharmaceutical Engineering
Discrete Event Systems
Discrete Event Systems: Analysis and Control is the proceedings of WODES2000 (the 5th Workshop on Discrete Event Systems, held in Ghent, Belgium, on August 21-23, 2000). This book provides a survey of the current state of the art in the field of modeling, analysis and control synthesis of discrete event systems, lecture notes for a mini course on sensitivity analysis for performance evaluation of timed discrete event systems, and 48 carefully selected papers covering all areas of discrete event theory and the most important applications domains. Topics include automata theory and supervisory control (12); Petri net based models for discrete event systems, and their control synthesis (11); (max,+) and timed automata models (9); applications papers related to scheduling, failure detection, and implementation of supervisory controllers (7); formal description of PLCs (6); and finally, stochastic models of discrete event systems (3).
