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Multi Arm Cooperating Robots

Author: M.D. Zivanovic
Publisher: Springer Science & Business Media
ISBN: 1402042698
Size: 13.61 MB
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Several consistent solutions for cooperative system control have recently been identified by the authors of the current monograph. This was achieved by solving three separate tasks that are essential for solving the problem of cooperative manipulation as a whole. The first task is related to the understanding of the physical nature of cooperative manipulation and finding a way for a sufficiently exact characterization of cooperative system statics, kinematics and dynamics. After successfully completing this task, in the frame of the second task, the problem of coordinated motion of the cooperative system is solved. Finally, as a solution to the third task, the control laws of cooperative manipulation are synthesized. The starting point in dealing with the above three tasks of cooperative manipulation was the assumption that the problem of force uncertainty in cooperative manipulation can be resolved by introducing elastic properties into the cooperative system, at least in the part where force uncertainty appears. In static and dynamic analysis of the elastic structure of cooperative systems the finite element method is applied. In contrast to the procedure used in the major part of the available literature where deformation work is expressed by deviations from the unloaded state of fixed elastic structure, in this monograph the deformation work is expressed by internal forces as a function of the absolute coordinates of contacts of mobile elastic structure. Coordinated motion and control in cooperative manipulation are solved as the problem of coordinated motion and control of a mobile elastic structure, taking into account the specific features of cooperative manipulation. Coordinated motion and control laws in cooperative manipulation are synthesized on the basis of a non-linear model where the problem of uncertainty is solved, which is not the case in the available literature. Simple examples demonstrate the consistent procedure of mathematical modeling and synthesis of nominal coordinated motion, as well as control of the cooperative system. This book will be useful to a wide audience of engineers, ranging from undergraduate and graduate students, new and advanced academic researchers, to practitioners (mechanical and electrical engineers, computer and system scientists). It is intended for readers whose work involves manufacturing, industrial, robotics, automation, computer and control engineering, and who wish to find out about this important new technology and its potential advantages for control engineering applications.

Elastic Multibody Dynamics

Author: Hartmut Bremer
Publisher: Springer Science & Business Media
ISBN: 1402086806
Size: 38.54 MB
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1. Background This textbook is an introduction to and exploration of a number of core topics in the ?eld of applied mechanics. Mechanics, in both its theoretical and applied contexts, is, like all scienti?c endeavors, a human construct. It re?ects the personalities, thoughts, errors, and successes of its creators. We therefore provide some personal information about each of these individuals when their names arise for the ?rst time in this book. This should enable the reader to piece together a cultural-historical picture of the ?eld s origins and development. This does not mean that we are writing history. Nevertheless, some remarks putting individuals and ideas in context are necessary in order to make clear what we are speaking about – and what we are not speaking about. At the end of the 19th century, technical universities were established eve- where in Europe in an almost euphoric manner. But the practice of technical mechanics itself, as one of the basics of technical development, was in a desolate state, due largely to the refusal of its practitioners to recognize the in?uence of kinetics on motion. They were correct to the extend that then current mechanical systems moved with small velocities where kinetics does not play a signi?cant role. But they had failed to keep up with developments in the science underlying their craft and were unable to keep pace with the speeds of such systems as the steam engine.

High Dimensional Chaotic And Attractor Systems

Author: Vladimir G. Ivancevic
Publisher: Springer Science & Business Media
ISBN: 1402054564
Size: 70.77 MB
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This graduate–level textbook is devoted to understanding, prediction and control of high–dimensional chaotic and attractor systems of real life. The objective is to provide the serious reader with a serious scientific tool that will enable the actual performance of competitive research in high–dimensional chaotic and attractor dynamics. From introductory material on low-dimensional attractors and chaos, the text explores concepts including Poincaré’s 3-body problem, high-tech Josephson junctions, and more.

Intelligent Data Engineering And Automated Learning Ideal 2015

Author: Konrad Jackowski
Publisher: Springer
ISBN: 3319248340
Size: 33.72 MB
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This book constitutes the refereed proceedings of the 16th International Conference on Intelligent Data Engineering and Automated Learning, IDEAL 2015, held in Wroclaw, Poland, in October 2015. The 64 revised full papers presented were carefully reviewed and selected from 127 submissions. These papers provided a valuable collection of recent research outcomes in data engineering and automated learning, from methodologies, frameworks, and techniques to applications. In addition to various topics such as evolutionary algorithms, neural networks, probabilistic modeling, swarm intelligent, multi-objective optimization, and practical applications in regression, classification, clustering, biological data processing, text processing, video analysis, IDEAL 2015 also featured a number of special sessions on several emerging topics such as computational intelligence for optimization of communication networks, discovering knowledge from data, simulation-driven DES-like modeling and performance evaluation, and intelligent applications in real-world problems.

Advances In Human Factors In Robots And Unmanned Systems

Author: Pamela Savage-Knepshield
Publisher: Springer
ISBN: 3319419595
Size: 50.83 MB
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This book focuses on the importance of human factors in the development of reliable and safe unmanned systems. It discusses current challenges such as how to improve perceptual and cognitive abilities of robots, develop suitable synthetic vision systems, cope with degraded reliability of unmanned systems, predict robotic behavior in case of a loss of communication, the vision for future soldier-robot teams, human-agent teaming, real-world implications for human-robot interaction, and approaches to standardize both display and control of technologies across unmanned systems. Based on the AHFE 2016 International Conference on Human Factors in Robots and Unmanned Systems, held on July 27-31, 2016, in Walt Disney World®, Florida, USA, this book is expected to foster new discussion and stimulate new ideas towards the development of more reliable, safer, and functional devices for carrying out automated and concurrent tasks.