Bio Inspired Emergent Control Of Locomotion Systems
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Bio Inspired Emergent Control Of Locomotion Systems
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Author : Mattia Frasca
language : en
Publisher: World Scientific
Release Date : 2004-06-28
Bio Inspired Emergent Control Of Locomotion Systems written by Mattia Frasca and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 2004-06-28 with Technology & Engineering categories.
This book deals with locomotion control of biologically inspired robots realized through an analog circuital paradigm as cellular nonlinear networks. It presents a general methodology for the control of bio-inspired robots and several case studies, as well as describes a new approach to motion control and the related circuit architecture.Bio-inspired Emergent Control of Locomotion Systems provides researchers with a guide to the fundamentals of the topics. Moreover, neuro-biologists and physiologists can use the book as a starting point to design artificial structures for testing their biological hypotheses on the animal model.
Bio Inspired Globally Convergent Gait Regulation For A Climbing Robot
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Author : Salomon Joseph Trujillo
language : en
Publisher: Stanford University
Release Date : 2011
Bio Inspired Globally Convergent Gait Regulation For A Climbing Robot written by Salomon Joseph Trujillo and has been published by Stanford University this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011 with categories.
The priorities of a climbing legged robot are to maintain a grasp on its climbing surface and to climb efficiently against the force of gravity. Climbing robots are especially susceptible to thermal overload during normal operation, due to the need to oppose gravity and to frequently apply internal forces for clinging. These priorities guided us to develop optimal climbing behaviors under thermal constraints. These behaviors in turn profoundly constrain the choice of gait regulation methods. We propose a novel algorithm: "travel-based" gait regulation that varies foot detachment timing, effectively modifying stride length and frequency in order to maintain gait phasing, subject to kinematic and stability constraints. A core feature of the algorithm is "travel, " a new metric that plays a similar role to relative phasing. The method results in linear equations in terms of travel, leading to straightforward tests for local and global convergence when, for example, disturbances such as foot slippage cause departures from the nominal phasing. We form recurrence maps and use eigenvalue and singular value decomposition to examine local convergence of gaits. To examine global convergence, we implemented a computational geometry technique in high-order spaces. Our travel-based algorithm benefits from a compact code size and ease of implementation. We implemented the algorithm on the RiSE and Stickybot III robots as well as a virtual hexapod in a physics simulator. We demonstrated quickly converging gaits on all platforms as well as gait transitions on Stickybot III and the virtual hexapod.
Biologically Inspired Robotics
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Author : Yunhui Liu
language : en
Publisher: CRC Press
Release Date : 2017-12-19
Biologically Inspired Robotics written by Yunhui Liu and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-12-19 with Medical categories.
Robotic engineering inspired by biology—biomimetics—has many potential applications: robot snakes can be used for rescue operations in disasters, snake-like endoscopes can be used in medical diagnosis, and artificial muscles can replace damaged muscles to recover the motor functions of human limbs. Conversely, the application of robotics technology to our understanding of biological systems and behaviors—biorobotic modeling and analysis—provides unique research opportunities: robotic manipulation technology with optical tweezers can be used to study the cell mechanics of human red blood cells, a surface electromyography sensing system can help us identify the relation between muscle forces and hand movements, and mathematical models of brain circuitry may help us understand how the cerebellum achieves movement control. Biologically Inspired Robotics contains cutting-edge material—considerably expanded and with additional analysis—from the 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO). These 16 chapters cover both biomimetics and biorobotic modeling/analysis, taking readers through an exploration of biologically inspired robot design and control, micro/nano bio-robotic systems, biological measurement and actuation, and applications of robotics technology to biological problems. Contributors examine a wide range of topics, including: A method for controlling the motion of a robotic snake The design of a bionic fitness cycle inspired by the jaguar The use of autonomous robotic fish to detect pollution A noninvasive brain-activity scanning method using a hybrid sensor A rehabilitation system for recovering motor function in human hands after injury Human-like robotic eye and head movements in human–machine interactions A state-of-the-art resource for graduate students and researchers.
Numerical Simulation Of Waves And Fronts In Inhomogeneous Solids
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Author : Arkadi Berezovski
language : en
Publisher: World Scientific
Release Date : 2008
Numerical Simulation Of Waves And Fronts In Inhomogeneous Solids written by Arkadi Berezovski and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008 with Science categories.
This book shows the advanced methods of numerical simulation of waves and fronts propagation in inhomogeneous solids and introduces related important ideas associated with the application of numerical methods for these problems. Great care has been taken throughout the book to seek a balance between the thermomechanical analysis and numerical techniques. It is suitable for advanced undergraduate and graduate courses in continuum mechanics and engineering. Necessary prerequisites for this text are basic continuum mechanics and thermodynamics. Some elementary knowledge of numerical methods for partial differential equations is also preferable.
Bioengineered And Bioinspired Systems
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Author :
language : en
Publisher:
Release Date : 2007
Bioengineered And Bioinspired Systems written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2007 with Bioengineering categories.
Aeta 2015 Recent Advances In Electrical Engineering And Related Sciences
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Author : Vo Hoang Duy
language : en
Publisher: Springer
Release Date : 2016-03-09
Aeta 2015 Recent Advances In Electrical Engineering And Related Sciences written by Vo Hoang Duy and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016-03-09 with Technology & Engineering categories.
This proceeding book consists of 10 topical areas of selected papers like: telecommunication, power systems, robotics, control system, renewable energy, power electronics, computer science and more. All selected papers represent interesting ideas and state of the art overview. Readers will find interesting papers of those areas about design and implement of dynamic positioning control system for USV, scheduling problems, motor control, backtracking search algorithm for distribution network and others. All selected papers represent interesting ideas and state of art overview. The proceeding book will also be a resource and material for practitioners who want to apply discussed problems to solve real-life problems in their challenging applications. It is also devoted to the studies of common and related subjects in intensive research fields of modern electric, electronic and related technologies. For these reasons, we believe that this proceeding book will be useful for scientists and engineers working in the above-mentioned fields of research applications.
Aeta 2016 Recent Advances In Electrical Engineering And Related Sciences
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Author : Vo Hoang Duy
language : en
Publisher: Springer
Release Date : 2016-12-02
Aeta 2016 Recent Advances In Electrical Engineering And Related Sciences written by Vo Hoang Duy and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016-12-02 with Technology & Engineering categories.
These lecture notes present selected topics concerning a wide range of electrical and electronics applications, highlighting innovative approaches and offering state-of-the-art overviews. The book is divided into 14 topical areas, including e.g. telecommunication, power systems, robotics, control systems, renewable energy, mechanical engineering, computer science and more. Readers will find revealing papers on the design and implementation of control algorithms for automobiles and electrohydraulic systems, efficient protocols for vehicular ad hoc networks and motor control, and energy-saving methods that can be applied in various fields of electrical engineering. The book offers a valuable resource for all practitioners who want to apply the topics discussed to solve real-world problems in their challenging applications. Offering insights into common and related subjects in the research fields of modern electrical, electronic and related technologies, it will also benefit all scientists and engineers working in the above-mentioned fields.
Control Of Homoclinic Chaos By Weak Periodic Perturbations
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Author : Ricardo Chac¢n
language : en
Publisher: World Scientific
Release Date : 2005
Control Of Homoclinic Chaos By Weak Periodic Perturbations written by Ricardo Chac¢n and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 2005 with Science categories.
This monograph presents a reasonably rigorous theory of a highly relevant chaos control method: suppression?enhancement of chaos by weak periodic excitations in low-dimensional, dissipative and non-autonomous systems. The theory provides analytical estimates of the ranges of parameters of the chaos-controlling excitation for suppression?enhancement of the initial chaos.The important applications of the theory presented in the book include: (1) control of chaotic escape from a potential well; (2) suppression of chaos in a driven Josephson junction; (3) control of chaotic solitons in Frenkel?Kontorova chains; (4) control of chaotic breather dynamics in perturbed sine-Gordon equations; (5) control of chaotic charged particles in electrostatic wave packets.
New Methods For Chaotic Dynamics
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Author : Sergey Vasilevich Sidorov
language : en
Publisher: World Scientific
Release Date : 2006-10-03
New Methods For Chaotic Dynamics written by Sergey Vasilevich Sidorov and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 2006-10-03 with Science categories.
This book presents a new theory on the transition to dynamical chaos for two-dimensional nonautonomous, and three-dimensional, many-dimensional and infinitely-dimensional autonomous nonlinear dissipative systems of differential equations including nonlinear partial differential equations and differential equations with delay arguments.The transition is described from the Feigenbaum cascade of period doubling bifurcations of the original singular cycle to the complete or incomplete Sharkovskii subharmonic cascade of bifurcations of stable limit cycles with arbitrary period and finally to the complete or incomplete homoclinic cascade of bifurcations.The book presents a distinct view point on the principles of formation, scenarios of occurrence and ways of control of chaotic motion in nonlinear dissipative dynamical systems. All theoretical results and conclusions of the theory are strictly proved and confirmed by numerous examples, illustrations and numerical calculations.
Robots And Lattice Automata
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Author : Georgios Ch. Sirakoulis
language : en
Publisher: Springer
Release Date : 2014-10-11
Robots And Lattice Automata written by Georgios Ch. Sirakoulis and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-10-11 with Technology & Engineering categories.
The book gives a comprehensive overview of the state-of-the-art research and engineering in theory and application of Lattice Automata in design and control of autonomous Robots. Automata and robots share the same notional meaning. Automata (originated from the latinization of the Greek word “αυτόματον”) as self-operating autonomous machines invented from ancient years can be easily considered the first steps of robotic-like efforts. Automata are mathematical models of Robots and also they are integral parts of robotic control systems. A Lattice Automaton is a regular array or a collective of finite state machines, or automata. The Automata update their states by the same rules depending on states of their immediate neighbours. In the context of this book, Lattice Automata are used in developing modular reconfigurable robotic systems, path planning and map exploration for robots, as robot controllers, synchronisation of robot collectives, robot vision, parallel robotic actuators. All chapters are written in an accessible manner and lavishly illustrated. The book will help computer and robotic scientists and engineers to understand mechanisms of decentralised functioning of robotic collectives and to design future and emergent reconfigurable, parallel and distributed robotic systems.