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Book
902 pages
Engineering Library (Terman)
ENGR-105-01
Book
1 online resource
  • 1. Gas Power Cycles.-- 2. Thermodynamic Property Data.-- 3. Two-Phase (Steam) Power Cycles.-- 4. Equations of State.-- 5. Multi-Phase Mixtures.-- 6. Combustion.-- 7. Alternative Energy.-- 8. Additional Applications.-- 9. Statistical Thermodynamics.-- Appendices - A. Properties of Common Substances.-- B. Steam Tables.-- C. Property Tables for Ammonia, Hydrogen, Oxygen, Helium, and Air.-- D. MATLAB programs for property data.-- E. MATLAB codes for Cycle Simulations, Combustion and Chemical Reactions.-- F. Curve fit equations for property data.-- G. Combustion Properties for Common Fuels.-- H. Online Sources of Property Data.-- I. Conversion factors.
  • (source: Nielsen Book Data)9781936420278 20180312
Designed for the senior/graduate level course in thermodynamics or for use as a reference for practicing engineers, this book includes the theoretical underpinnings and derivations necessary for advanced study as well as numerous applications from industry. A companion CD-ROM with figures and MATLAB files is included. Modern software tools, such as EXCEL and MATLAB, are used to solve mathematically challenging problems. Starting with the First and Second Laws of Thermodynamics, it shows how the principles of thermodynamics apply to engine and power plant design. Applications include combustion of traditional fossil-fuels, pollutants and their effects, and alternative energy technologies - including fuel cells, solar power, and wind power. This title includes a companion CD-ROM with files of images, figures, property data tables, and MATLAB codes. It uses modern applications, e.g., alternative energy technologies to reinforce concepts. It provides classical theoretical underpinnings and derivations. Instructor's resources are available upon adoption.
(source: Nielsen Book Data)9781936420278 20180312
Book
1 online resource.
"Application of Semi-Analytical Methods for Nanofluid Flow and Heat Transfer applies semi-analytical methods to solve a range of engineering problems. After various methods are introduced, their application in nanofluid flow and heat transfer, magnetohydrodynamic flow, electrohydrodynamic flow and heat transfer, and nanofluid flow in porous media within several examples are explored. This is a valuable reference resource for materials scientists and engineers that will help familiarize them with a wide range of semi-analytical methods and how they are used in nanofluid flow and heat transfer. The book also includes case studies to illustrate how these methods are used in practice.Presents detailed information, giving readers a complete familiarity with governing equations where nanofluid is used as working fluid. Provides the fundamentals of new analytical methods, applying them to applications of nanofluid flow and heat transfer in the presence of magnetic and electric field. Gives a detailed overview of nanofluid motion in porous media"-- Provided by publisher.
Book
1 online resource (1 volume) : illustrations.
Book
xvi, 162 pages ; [ca. 23-29] cm
  • Introduction. Diamond Turn Machines. Mechanism of Material Removal. Tooling for Diamond Turn Machining. DTM Process Parameters and Optimization. Tool Path Strategies in Surface Generation. Application of DTM Products. DTM Surfaces - Metrology - Characterization. Advances in DTM Technology.
  • (source: Nielsen Book Data)9781138748323 20171218
The goal of this book is to familiarize professionals, researchers, and students with the basics of the Diamond Turn Machining Technology and the various issues involved. The book provides a comprehensive knowledge about various aspects of the technology including the background, components of the machine, mechanism of material removal, application areas, relevant metrology, and advances taking place in this domain. Solved and unsolved examples are provided in each of the areas which will help the readers to practice and get familiarized with that particular area of the Diamond Turn Machining process.
(source: Nielsen Book Data)9781138748323 20171218
Book
pages ; cm
  • CHAPTER 1: INTRODUCTION 1.1 INTRODUCTION 1.2 DESCRIPTION OF ANALOG AND DIGITAL CONTROL SYSTEMS 1.3 ADVANTAGES OF DIGITAL CONTROL SYSTEMS AND APPLICATIONS CHAPTER 2: Z - TRANSFORM 2.1 INTRODUCTION 2.2 FROM LAPLACE TRANSFORM TO Z - TRANSFORM 2.3 Z - TRANSFORM PROPERTIES 2.4 INVERSE Z - TRANSFORM 2.5 FORMULAS TABLE 2.6 SOLVED EXERCISES CHAPTER 3: TRANSFER FUNCTION 3.1 INTRODUCTION 3.2 OPEN LOOP SAMPLED-DATA CONTROL SYSTEM 3.3 CLOSED LOOP SAMPLED-DATA CONTROL SYSTEM 3.4 SIGNAL FLOW GRAPHS 3.5 MASON'S FORMULA 3.6 DIFFERENCE EQUATIONS 3.7 FORMULAS TABLE 3.8 SOLVED EXERCISES CHAPTER 4: TRANSFER FUNCTION DISCRETIZATION 4.1 INTRODUCTION 4.2 DISCRETIZATION METHODS 4.3 COMPARISON OF DISCRETIZATION METHODS 4.4 FORMULAS TABLE 4.5 SOLVED EXERCISES CHAPTER 5: STATE-SPACE REPRESENTATION 5.1 INTRODUCTION 5.2 DISCRETE TIME STATE-SPACE EQUATIONS 5.3 SOLUTION OF STATE EQUATIONS 5.4 STATE SPACE REPRESENTATION 5.5 CONTROLLABILITY AND OBSERVABILITY 5.6 STATE-SPACE DISCRETIZATION 5.7 FORMULAS TABLE 5.8 SOLVED EXERCISES CHAPTER 6: STABILITY OF DIGITAL CONTROL SYSTEMS 6.1 STABILITY 6.2 UNIT-CIRCLE CRITERION 6.3 ROUTH CRITERION USING THE BILINEAR MOBIUS TRANSFORMATION 6.4 JURY CRITERION 6.5 ROOT LOCUS METHOD 6.5.1 RULES FOR APPROXIMATE ESTABLISHMENT OF ROOT LOCUS 6.6 NYQUIST STABILITY CRITERION 6.7 BODE STABILITY CRITERION 6.8 FORMULAS TABLE 6.9 SOLVED EXERCISES ã CHAPTER 7: TIME AND HARMONIC RESPONSE ANALYSIS STEADY-STATE ERRORS 7.1 TIME RESPONSE 7.2 STEADY-STATE ERRORS 7.3 HARMONIC RESPONSE OF DISCRETE SYSTEMS 7.4 FORMULAS TABLE 7.5 SOLVED EXERCISES CHAPTER 8: COMPENSATION OF DIGITAL CONTROL SYSTEMS 8.1 INTRODUCTION 8.2 INDIRECT DESIGN METHODS 8.3 DIRECT DESIGN METHODS 8.4 PID DIGITAL CONTROLLER 8.4.1 DIGITAL PID CONTROLLER TUNING 8.5 DEADBEAT DIGITAL CONTROLLER 8.6 PHASE-LEAD/LAG DIGITAL COMPENSATORS 8.7 FORMULAS TABLE 8.8 SOLVED EXERCISES CHAPTER 9: SIMULATION TOOLS MATLAB-SIMULINK - LABVIEW - COMPREHENSIVE CONTROL (CC) 9.1 INTRODUCTION 9.2 CONTROL SYSTEMS SIMULATION USING MATLAB 9.3 SIMULINK 9.4 Program CC BIBLIOGRAPHY.
  • (source: Nielsen Book Data)9781351686556 20171218
The objective of this book is to provide a collection of solved problems on control systems, with an emphasis on practical problems. System functionality is described, the modeling process is explained, the problem solution is introduced, and the derived results are discussed. Each chapter ends with a discussion on applying MATLAB (R), LabVIEW, and/or Comprehensive Control to the previously introduced concepts. The aim of the book is to help an average reader understand the concepts of control systems through problems and applications. The solutions are based directly on math formulas given in extensive tables throughout the text.
(source: Nielsen Book Data)9781351686556 20171218
Book
pages ; cm.
  • Prologue Chapter One: Introduction Chapter Two: Why Femto Chapter Three: What is a Light Pulse Chapter Four: A Pulse Goes Through a Transparent Medium Chapter Five: Light Matter Interactions (Part One) Chapter Six: Light Matter Interactions (Part Two) Chapter Seven: About Femtosecond Pulse Generation Chapter Eight: How to Measure Femtosecond Pulses (Part One) Chapter Nine: Shaping the Laser Pulses Chapter Ten: How to Measure Femtosecond Pulses (Part Two) Chapter Eleven: Applications of Shaped Pulses to Biomedical Imaging, Optical Biopsy, Brain Chapter Twelve: Applications of Shaped Pulses to Standoff Detection of Explosives Chapter Thirteen: Applications of Shaped Pulses to Material Processing, Cutting and Dicing Chapter Fourteen: Applications of Shaped Pulses to Communications Chapter Fifteen: Applications of Shaped Pulses in Science (fs-LID) Chapter Sixteen: A Survey of New Directions Being Explored, and Potential New Applications Chapter Seventeen: The Ultrafast Laser Scaling Revolution.
  • (source: Nielsen Book Data)9781498762472 20171218
Expensive, delicate, and difficult to operate, femtosecond lasers have already won two Nobel Prizes and created multi-billion dollar industries. As these lasers break out of laboratories for use in real-world large-scale applications, the number of people using them increases. This book provides a fresh perspective on femtosecond lasers, discussing how they are soon to become a universal light source, spanning any timescale and generating any wavelength of light. Starting from the basics of light itself, this book presents in an everyday manner, with clear illustrations and without formulas, what makes this class of lasers so versatile and the future of many more applications. Many of the subjects covered in this book are described in plain words for the first time.
(source: Nielsen Book Data)9781498762472 20171218
Book
1 online resource (715 p.) : ill. (some col.).
"This book provides state-of-the-art scientific and engineering research findings and developments in the area of service robotics and associated support technologies around the theme of human-centric robotics. The book contains peer reviewed articles presented at the CLAWAR 2017 conference. The book contains a strong stream of papers on robotic locomotion strategies and wearable robotics for assistance and rehabilitation. There is also a strong collection of papers on non-destructive inspection, underwater and UAV robotics to meet the growing emerging needs in various sectors of the society. Robot designs based on biological inspirations are also strongly featured."--Publisher's website.
Book
1 online resource (432 p.) : ill. (some col.).
"Mathematics of Autonomy provides solid mathematical foundations for building useful Autonomous Systems. It clarifies what makes a system autonomous rather than simply automated, and reveals the inherent limitations of systems currently incorrectly labeled as autonomous in reference to the specific and strong uncertainty that characterizes the environments they operate in. Such complex real-world environments demand truly autonomous solutions to provide the flexibility and robustness needed to operate well within them. This volume embraces hybrid solutions to demonstrate extending the classes of uncertainty autonomous systems can handle. In particular, it combines physical-autonomy (robots), cyber-autonomy (agents) and cognitive-autonomy (cyber and embodied cognition) to produce a rigorous subset of trusted autonomy: Cyber-Physical-Cognitive autonomy (CPC-autonomy). The body of the book alternates between underlying theory and applications of CPC-autonomy including "Autonomous Supervision of a Swarm of Robots" , "Using Wind Turbulence against a Swarm of UAVs" and "Unique Super-Dynamics for All Kinds of Robots (UAVs, UGVs, UUVs and USVs)" to illustrate how to effectively construct Autonomous Systems using this model. It avoids the wishful thinking that characterizes much discussion related to autonomy, discussing the hard limits and challenges of real autonomous systems. In so doing, it clarifies where more work is needed, and also provides a rigorous set of tools to tackle some of the problem space."--Publisher's website.
Book
1 online resource.
  • Cover; Half Title; Title Page; Copyright Page; Dedication; Table of Contents; Preface; Author; Chapter 1: Introduction to Mechatronic Systems and Process Automation; 1.1 Introduction; 1.2 Definitions and Classifications; 1.3 Generic Automation System Architecture and Components; 1.3.1 Data Processing and Computing Unit; 1.3.2 Data Acquisition and Transmission Unit; 1.3.3 Electrical-Driven Actuating Unit; 1.3.4 Measuring and Detecting Unit; 1.3.5 Signal-Conditioning Unit; 1.4 Examples of Product and Industrial Process Automation; 1.5 Generic Automation System Objectives and Design Methodology
  • Exercises and Conceptual ProblemsBibliography; Chapter 2: Electrical-Driven Actuating Elements: Modeling and Selection; 2.1 Introduction; 2.2 Electrical-Driven Actuating Systems; 2.2.1 Electromechanical Actuator; 2.2.2 DC Motor Dynamics Modeling; 2.2.2.1 Self-Excited Series DC Motor; 2.2.2.2 Self-Excited Shunt DC Motor; 2.2.2.3 Separately Excited DC Motor; 2.2.2.4 Compound-Wound DC Motor; 2.2.2.5 Permanent Magnet DC Motor; 2.2.2.6 Speed Control Methods of DC Motors; 2.2.2.6.1 Armature Voltage Control, Va(t); 2.2.2.6.2 Field Control Ï#x95;; 2.2.2.6.3 Armature Resistance Control, Ra
  • 2.2.3 AC Motor Technical Specifications and Dynamics Modeling2.2.3.1 Induction Motor Dynamics Modeling; 2.2.3.2 Speed Control of AC Motors; 2.2.4 Stepper Motors; 2.2.4.1 Stepper Motor Modeling; 2.3 Electrical Motor Sizing and Selection Procedure; 2.3.1 Electric Motor Selection; 2.3.1.1 Electric Motor Operational Conditions (Duty Cycle); 2.3.1.2 Motion Profile; 2.3.1.3 Load Torque Calculation; 2.3.1.4 Motor Shaft Torque Calculation; 2.3.1.4.1 Procedure of Electrical Motor Selection and Sizing; 2.3.1.5 Load Torqueâ#x80;#x93;Speed Profile Characteristics; 2.3.1.5.1 Four-Quadrant Operation
  • 2.3.1.6 Matching Motor and Load Speedâ#x80;#x93;Torque Curves2.3.1.7 DC Motor Parameter Estimation; 2.3.1.7.1 Estimation of Motor Amplifier Gain, Ka (V/V); 2.3.1.7.2 Estimation of Current Sensor Gain, Ki (V/A); 2.3.1.7.3 Estimation of Back emf Constant, Ke (V·s/rad); 2.3.1.7.4 Estimation of Torque Constant, Kt (N·m/A); 2.3.1.7.5 Estimation of Tachometer Gain, Kv (V·s/rad); 2.3.1.7.6 Estimation of the Armature Resistance, Ra (Ω); 2.3.1.7.7 Estimation of the Armature Inductance, La (H); 2.3.1.7.8 Estimation of Combined Motor Shaft of Inertia J
  • Motor Damping Viscous Friction, bm[N â#x8B;#x85; m â#x8B;#x85; s/rad] and Static Friction (Stiction), TT[N â#x8B;#x85; m]; 2.3.2 Process Dynamics Particularities; 2.3.2.1 Summary of Electric Motor Sizing and Selection Procedure; 2.3.3 Electric Motor Interface and Accessories; 2.3.3.1 Power Source; 2.3.3.2 Power Converter; 2.4 Modeling of Mechanical Transmission Elements; 2.5 Modeling of Electrofluidic Transmission Elements; 2.5.1 Electric Pumps; 2.5.2 Electric Cylinders; 2.5.3 Electric Fans and Blowers; 2.5.4 Fluid Flowâ#x80;#x93;Controlled Electric Valves; 2.5.4.1 Valve Dynamic Equations
Book
1 PDF (xiii, 179 pages).
  • 1. Historical review
  • 1.1 The advancement of [Mu]C technology and its effect in education
  • 1.2 Previous and recent research studies in [Mu]C education
  • 1.2.1 Pedagogies in microcontroller learning
  • 1.2.2 Microcontroller education in diverse disciplines/levels of education
  • 1.2.3 Microcontrollers as an integral part of teaching embedded systems solutions
  • 2. Micro-controller fundamentals
  • 2.1 Deep insight into the underlying mechanisms of hardware
  • 2.2 Timing issues in microcontroller applications
  • 2.3 Interrupts, peripherals, and regular hardware interfaces
  • 3. Micro-controller programming
  • 3.1 High-level vs. low-level programming
  • 3.2 A brief overview to C programming language
  • 3.2.1 Operators, data types, constants, and variables
  • 3.2.2 Arrays and indexing techniques
  • 3.2.3 User-defined functions
  • 3.2.4 Preprocessor directives
  • 3.3 Embedded C programming and issues toward adaptability
  • 3.3.1 I/O operations in MCUs toward code verification
  • 3.3.2 Programming issues toward the code's adaptability
  • 3.3.3 I/O registers definition and user-defined macros
  • 3.3.4 Pin assignment, type definitions, and timing of events
  • 3.4 Getting started with blinking LED
  • 4. Micro-controller applications
  • 4.1 Dominant communication protocols for hardware interfacing
  • 4.1.1 UART communication protocol
  • 4.1.2 I2C communication protocol
  • 4.1.3 SPI communication protocol
  • 4.2 Driver development of a MEMS barometric sensor
  • 4.3 System-level design of a real-time monitoring application
  • 4.4 User interface design in C programming language
  • A. Firmware and software
  • A.1. Firmware code
  • RTMS.c
  • PINOUT.h
  • DATATYPES.h
  • IO.h
  • DELAYs.h
  • hwINTERFACE.h
  • drvLPS25HB.h
  • A.2. Software code
  • RTMS_DAQ.c
  • rs232.h
  • gnuplot.h
  • Abbreviations
  • References
  • Author's biography.
Microcontroller education has experienced tremendous change in recent years. This book attempts to keep pace with the most recent technology while holding an opposing attitude to the No Need to Reinvent the Wheel philosophy. The choice strategies are in agreement with the employment of today's flexible and low-cost Do-It-Yourself (DYI) microcontroller hardware, along with an embedded C programming approach able to be adapted by different hardware and software development platforms. Modern embedded C compilers employ built-in features for keeping programs short and manageable and, hence, speeding up the development process. However, those features eliminate the reusability of the source code among diverse systems. The recommended programming approach relies on the motto Code More to Learn Even More, and directs the reader toward a low-level accessibility of the microcontroller device. The examples addressed herein are designed to meet the demands of Electrical & Electronic Engineering discipline, where the microcontroller learning processes definitely bear the major responsibility. The programming strategies are in line with the two virtues of C programming language, that is, the adaptability of the source code and the low-level accessibility of the hardware system. Some accompanying material of the book can be found at http://bit.ly/mcu-files.
Book
1 online resource.
  • An Introduction to the BBC micro:bit. Meet the BBC micro:bit
  • Getting Started with the BBC micro:bit
  • Programming the BBC micro:bit
  • Coding for the BBC micro:bit. Programming Languages
  • JavaScript Blocks
  • JavaScript
  • Python
  • Advanced BBC micro:bit Projects. The Wireless BBC micro:bit
  • The BBC micro:bit and the Raspberry Pi
  • Building Circuits
  • Extending the BBC micro:bit
  • The Wearable BBC micro:bit
  • Additional Resources
  • Appendices. Appendix A: JavaScript Blocks Recipes
  • Appendix B: JavaScript Recipes
  • Appendix C: Python Recipes
  • Appendix D: Pin-Out Listing.
Book
1 online resource : illustrations.
  • Stable PID control and systematic tuning of PID gains
  • PID control in task space
  • PD control with neural compensation
  • PID control with neural compensation
  • PD control with fuzzy compensation
  • PD control with sliding mode compensation
  • PID admittance control in task space
  • PID admittance control in joint space
  • Robot trajectory generation in joint space
  • Design of upper limb exoskeletions.
Explains how to use neural PD and PID controls to reduce integration gain, and provides explicit conditions on how to select linear PID gains using proof of semi-global asymptotic stability and local asymptotic stability with a velocity observer. These conditions are applied in both task and joint spaces, with PID controllers compensated by neural networks. This is a great resource on how to combine traditional PD/PID control techniques with intelligent control. Dr. Wen Yu presents several leading-edge methods for designing neural and fuzzy compensators with high-gain velocity observers for PD control using Lyapunov stability. Proportional-integral-derivative (PID) control is widely used in biomedical and industrial robot manipulators. An integrator in a PID controller reduces the bandwidth of the closed-loop system, leads to less-effective transient performance and may even destroy stability. Many robotic manipulators use proportional-derivative (PD) control with gravity and friction compensations, but improved gravity and friction models are needed. The introduction of intelligent control in these systems has dramatically changed the face of biomedical and industrial control engineering.
Book
1 online resource (1 volume) : illustrations.
Book
1 online resource (192 pages) : 100 illustrations.
  • Cover
  • Title Page
  • Copyright Page
  • About the Author
  • Contents
  • Acknowledgments
  • 1 Introduction
  • Plug Me In!
  • History
  • What Can It Do?
  • micro:bit versus Raspberry Pi and Arduino
  • So What Is Programming?
  • Why MicroPython?
  • Summary
  • 2 Getting Started
  • MicroPython Editors
  • Online Editor
  • The Mu Editor
  • Downloading This Book’s Programs
  • Summary
  • 3 MicroPython Basics
  • Numbers
  • Variables
  • Strings
  • Converting Numbers to Strings
  • Programs
  • Looping Forever
  • for Loops
  • ifs and elses
  • More on while
  • Timer Example
  • Summary
  • 4 Functions
  • What Are Functions?
  • Parameters
  • Global Variables
  • Return Values
  • Advanced Parameters
  • Summary
  • 5 Lists and Dictionaries
  • Lists
  • Message Board Example
  • The Lowdown on Lists
  • Dictionaries
  • An Example
  • Dictionaries in Detail
  • Summary
  • 6 Writing Your Own Programs
  • Writing Software
  • State Machine Design
  • Revisiting the Timer Example
  • Debugging
  • More Python
  • Summary
  • 7 Modules and Classes
  • Built-in Modules
  • Classes and Instances
  • Inheritance
  • Making Simple Modules
  • Making a Module That Uses a Class
  • Modules from the Community
  • Summary
  • 8 The LED Display
  • Controlling Individual LEDs
  • Scrolling Text
  • Showing Text
  • Showing an Image
  • Animation
  • Racing Game
  • Summary
  • 9 micro:bit Sensors
  • Buttons Revisited
  • Gestures
  • Raw Accelerometer Data
  • Magnetometer
  • Processor Temperature
  • Touch
  • Summary
  • 10 Connecting Electronics
  • Battery Power
  • micro:bit Operating Voltage
  • GPIO Pins 0, 1, and 2
  • Power Out
  • Sound Output
  • Neopixels
  • The Edge Connector
  • Summary
  • 11 Radio and Communications
  • Basic micro:bit-to-micro:bit Communication
  • Messaging Different Users
  • Advanced Radio Settings
  • Computer-to-micro:bit Communication
  • Remote Control of Your micro:bit Using Python
  • Summary
  • 12 JavaScript Blocks Editor
  • The Editor
  • Getting Started
  • Events
  • Variables and Loops
  • Magnetometer Example
  • Summary
  • A MicroPython Reference
  • Language Contructs
  • Comparisons
  • Numbers
  • Strings
  • Lists
  • Dictionaries
  • Type Conversions
  • B Hardware
  • micro:bit Edge Connector Pinout
  • Suppliers and Manufacturers
  • Components
  • Index
  • A
  • B
  • C
  • D
  • E
  • F
  • G
  • H
  • I
  • J
  • K
  • L
  • M
  • N
  • O
  • P
  • R
  • S
  • T
  • U
  • V
  • W.
This easy-to-follow guide shows, step-by-step, how to quickly get started with programming and creating fun applications on your micro:bit. Getting Started with MicroPython begins with basic concepts and gradually progresses to more advanced techniques. You will discover how to use the micro:bit's built-in hardware, use the LED display, accept input from sensors, attach external electronics, and handle wireless communication.
Book
1 online resource (1 volume) : illustrations Digital: text file; PDF.
Book
1 online resource.
  • List of Figures xi List of Tables xxvii Preface xxix Acknowledgments xxxv Acronyms xxxvii PART I PSEUDOINVERSEBASED ZD APPROACH 1 Redundancy Resolution via Pseudoinverse and ZD Models 3 1.1 Introduction 4 1.2 Problem Formulation and ZD Models 6 1.3 ZD Applications to DifferentType Robot Manipulators 11 1.4 Chapter Summary 16 PART II INVERSE FREE SIMPLE APPROACH 2 G1 Type Scheme to JVL Inverse Kinematics 19 2.1 Introduction 20 2.2 Preliminaries and Related Work 21 2.3 Scheme Formulation 24 2.4 Computer Simulations 27 2.5 Physical Experiments 28 2.6 Chapter Summary 28 3 D1G1 Type Scheme to JAL Inverse Kinematics 33 3.1 Introduction 34 3.2 Preliminaries and Related Work 34 3.3 Scheme Formulation 37 3.4 Computer Simulations 40 3.5 Chapter Summary 44 4 Z1G1 Type Scheme to JAL Inverse Kinematics 45 4.1 Introduction 46 4.2 Problem Formulation and Z1G1 Type Scheme 46 4.3 Computer Simulations 47 4.4 Physical Experiments 52 4.5 Chapter Summary 55 PART III QP APPROACH AND UNIFICATION 5 Redundancy Resolution via QP Approach and Unification 59 5.1 Introduction 60 5.2 Robotic Formulation 61 5.3 Handling Joint Physical Limits 63 5.4 Avoiding Obstacles 64 5.5 Various Performance Indices 66 5.6 Unified QP Formulation 67 5.7 Online QP Solutions 68 5.8 Computer Simulations 73 5.9 Chapter Summary 78 PART IV ILLUSTRATIVE JVL QP SCHEMES AND PERFORMANCES 6 Varying Joint Velocity Limits Handled by QP 83 6.1 Introduction 84 6.2 Preliminaries and Problem Formulation 84 6.3 94LVI Assisted QP Solution 92 6.4 Computer Simulations and Physical Experiments 93 6.5 Chapter Summary 110 7 FeedbackAided Minimum Joint Motion 111 7.1 Introduction 112 7.2 Preliminaries and Problem Formulation 114 7.3 Computer Simulations and Physical Experiments 123 7.4 Chapter Summary 138 8 QP Based Manipulator State Adjustment 139 8.1 Introduction 140 8.2 Preliminaries and Scheme Formulation 141 8.3 QP Solution and Control of Robot Manipulator 143 8.4 Computer Simulations and Comparisons 145 8.5 Physical Experiments 155 8.6 Chapter Summary 156 PART V SELFMOTION PLANNING 9 QP Based SelfMotion Planning 161 9.1 Introduction 161 9.2 Preliminaries and QP Formulation 163 9.3 LVIAPDNN Assisted QP Solution 164 9.4 PUMA560 Based Computer Simulations 165 9.5 PA10 Based Computer Simulations 177 9.6 Chapter Summary 182 10 Pseudoinverse Method and Singularities Discussed 185 10.1 Introduction 186 10.2 Preliminaries and Scheme Formulation 187 10.3 LVIAPDNN Assisted QP Solution with Discussion 189 10.4 Computer Simulations 194 10.5 Chapter Summary 206 11 SelfMotion Planning with ZIV Constraint 209 11.1 Introduction 210 11.2 Preliminaries and Scheme Formulation 211 11.3 E47 Assisted QP Solution 215 11.4 Computer Simulations and Physical Experiments 216 11.5 Chapter Summary 225 PART VI MANIPULABILITY MAXIMIZATION 12 ManipulabilityMaximizing SMP Scheme 229 12.1 Introduction 230 12.2 Scheme Formulation 231 12.3 Computer Simulations and Physical Experiments 234 12.4 Chapter Summary 238 13 TimeVarying Coefficient Aided MM Scheme 239 13.1 Introduction 240 13.2 ManipulabilityMaximization with TimeVarying Coefficient 241 13.3 Computer Simulations and Physical Experiments 248 13.4 Chapter Summary 257 PART VII ENCODER FEEDBACK AND JOYSTICK CONTROL 14 QP Based Encoder Feedback Control 261 14.1 Introduction 261 14.2 Preliminaries and Scheme Formulation 263 14.3 Computer Simulations 268 14.4 Physical Experiments 279 14.5 Chapter Summary 283 15 QP Based Joystick Control 285 15.1 Introduction 286 15.2 Preliminaries and Hardware System 286 15.3 Scheme Formulation 288 15.4 Computer Simulations and Physical Experiments 290 15.5 Chapter Summary 295 References 297 Index 315.
  • (source: Nielsen Book Data)9781119381235 20170925
Introduces a revolutionary, quadratic-programming based approach to solving long-standing problems in motion planning and control of redundant manipulators This book describes a novel quadratic programming approach to solving redundancy resolutions problems with redundant manipulators. Known as ``QP-unified motion planning and control of redundant manipulators'' theory, it systematically solves difficult optimization problems of inequality-constrained motion planning and control of redundant manipulators that have plagued robotics engineers and systems designers for more than a quarter century. An example of redundancy resolution could involve a robotic limb with six joints, or degrees of freedom (DOFs), with which to position an object. As only five numbers are required to specify the position and orientation of the object, the robot can move with one remaining DOF through practically infinite poses while performing a specified task. In this case redundancy resolution refers to the process of choosing an optimal pose from among that infinite set. A critical issue in robotic systems control, the redundancy resolution problem has been widely studied for decades, and numerous solutions have been proposed. This book investigates various approaches to motion planning and control of redundant robot manipulators and describes the most successful strategy thus far developed for resolving redundancy resolution problems. Provides a fully connected, systematic, methodological, consecutive, and easy approach to solving redundancy resolution problemsDescribes a new approach to the time-varying Jacobian matrix pseudoinversion, applied to the redundant-manipulator kinematic controlIntroduces The QP-based unification of robots' redundancy resolutionIllustrates the effectiveness of the methods presented using a large number of computer simulation results based on PUMA560, PA10, and planar robot manipulatorsProvides technical details for all schemes and solvers presented, for readers to adopt and customize them for specific industrial applications Robot Manipulator Redundancy Resolution is must-reading for advanced undergraduates and graduate students of robotics, mechatronics, mechanical engineering, tracking control, neural dynamics/neural networks, numerical algorithms, computation and optimization, simulation and modelling, analog, and digital circuits. It is also a valuable working resource for practicing robotics engineers and systems designers and industrial researchers.
(source: Nielsen Book Data)9781119381235 20170925
Book
1 online resource.
  • Introduction.- Regulator Problem for Linear Systems with Constraints on Control and Its Increment.- Constrained Control and Rate or Increment for Linear Systems with Additivie Disturbances.- Robust Constratined Linear Regulator Problem.- Observer-Based Constrained Control.- Observer-Based Regulator Problem for WWTP with Constraints on the Control.- Regulator Problem for Linear Singular Systems with Constrained Control.- Regulation of Linear Singular Systems under Constrained Control Magnitude and Rate.- Constrained Observer-Based Control for Linear Singular Systems.- Stability and Control Synthesis for Discrete-Time Linear Systems Subject to Actuator Saturation by Output Feedback.- The Regulator Problem for Linear Systems with Asymmetric Saturations on the Control and Its Increments or Rate: An LMI Approach.- Stabilization of Unsymmetrical Saturated Control: An LMI Approach.- System Stabilization by Unsymmetrical Constrained State Feedback.- Control of a Hydrogen Reformer with Output Feedback: An LMI Approach.- l1-control Using Linear Programming for Systems with Asymmetric Bounds.- Stabilization of 2-D Continuous Systems with Multi-Delays and Saturated Control.
  • (source: Nielsen Book Data)9783319659893 20171201
This book deals with a combination of two main problems for the first time. They are saturation on control and on the rate (or increment) of the control, and the solution of unsymmetrical saturation on the control by LMIs. It treats linear systems in state space form, in both the continuous- and discrete-time domains. Necessary and sufficient conditions are derived for autonomous linear systems with constrained state increment or rate, such that the system evolves respecting incremental or rate constraints if any. A pole assignment technique is then used to solve the problem, giving stabilizing state feedback controllers that respect non-symmetrical constraints on control alone or on both control and its increment or rate. Illustrative examples show the application of these methods on academic examples or on such real plant models as the double integrator system. This problem is then extended to various others including:systems with constraints and perturbations; singular systems with constrained control; systems with unsymmetrical saturations; saturated systems with delay, and2-D systems with saturations. The solutions obtained are of two types:necessary and sufficient conditions solved with linear programming techniques; andsufficient conditions under LMIs. A new approach extends existing techniques for dealing with symmetrical saturations to take direct account of unsymmetrical saturations into account with LMIs. This tool enables the authors to obtain new results on continuous- and discrete-time systems. The book uses illustrative examples and figures and provides many comparisons with existing results. Systems theoreticians interested in multidimensional systems and practitioners working with saturated and constrained controllers will find the research and background presented in Saturated Control of Linear Systems to be of considerable interest in helping them overcome problems with their plant and in stimulating further research.
(source: Nielsen Book Data)9783319659893 20171201
Book
96 pages : illustrations ; 23 x 25 cm
SAL3 (off-campus storage)