Essays On Mathematical Robotics
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Essays On Mathematical Robotics
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Author : John Baillieul
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
Essays On Mathematical Robotics written by John Baillieul and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-06 with Mathematics categories.
The chapters in this book present an excellent exposition of recent developments in both robotics and nonlinear control centering around "hyper-redundancy", highly oscillatory inputs, optimal control, exterior differential systems, and the use of generic loops. The principal topics covered in the book are: adaptive control for a class of nonlinear systems, event-based motion planning, nonlinear control synthesis and path planning in robotics with special emphasis on nonholonomic and "hyper-redundant" robotic systems, control design and stabilization of driftless affine control systems (of the type arising in the kinematic control of nonholonomic robotic systems), control design methods for Hamiltonian systems and exterior differential systems. The chapter covering exterior differential systems contains a detailed introduction to the use of exterior differential methods, including the Goursat and extended Goursat normal forms and their application to path planning for nonholonomic systems.
Advances In Robot Kinematics Analysis And Design
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Author : Jadran Lenarčič
language : en
Publisher: Springer Science & Business Media
Release Date : 2008-05-29
Advances In Robot Kinematics Analysis And Design written by Jadran Lenarčič and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008-05-29 with Technology & Engineering categories.
This book presents the most recent research advances in the theory, design, control and application of robotic systems, which are intended for a variety of purposes such as manipulation, manufacturing, automation, surgery, locomotion and biomechanics.
Mathematical Control Theory
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Author : John B. Baillieul
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
Mathematical Control Theory written by John B. Baillieul and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-06 with Mathematics categories.
This volume on mathematical control theory contains high quality articles covering the broad range of this field. The internationally renowned authors provide an overview of many different aspects of control theory, offering a historical perspective while bringing the reader up to the very forefront of current research.
Nonholonomic Mechanics And Control
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Author : A.M. Bloch
language : en
Publisher: Springer
Release Date : 2015-11-05
Nonholonomic Mechanics And Control written by A.M. Bloch and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-11-05 with Science categories.
This book explores connections between control theory and geometric mechanics. The author links control theory with a geometric view of classical mechanics in both its Lagrangian and Hamiltonian formulations, and in particular with the theory of mechanical systems subject to motion constraints. The synthesis is appropriate as there is a rich connection between mechanics and nonlinear control theory. The book provides a unified treatment of nonlinear control theory and constrained mechanical systems that incorporates material not available in other recent texts. The book benefits graduate students and researchers in the area who want to enhance their understanding and enhance their techniques.
Natural Locomotion In Fluids And On Surfaces
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Author : Stephen Childress
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-08-14
Natural Locomotion In Fluids And On Surfaces written by Stephen Childress and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-08-14 with Mathematics categories.
This volume developed from a Workshop on Natural Locomotion in Fluids and on Surfaces: Swimming, Flying, and Sliding which was held at the Institute for Mathematics and its Applications (IMA) at the University of Minnesota, from June 1-5, 2010. The subject matter ranged widely from observational data to theoretical mechanics, and reflected the broad scope of the workshop. In both the prepared presentations and in the informal discussions, the workshop engaged exchanges across disciplines and invited a lively interaction between modelers and observers. The articles in this volume were invited and fully refereed. They provide a representative if necessarily incomplete account of the field of natural locomotion during a period of rapid growth and expansion. The papers presented at the workshop, and the contributions to the present volume, can be roughly divided into those pertaining to swimming on the scale of marine organisms, swimming of microorganisms at low Reynolds numbers, animal flight, and sliding and other related examples of locomotion.
Codes Systems And Graphical Models
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Author : Brian Marcus
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
Codes Systems And Graphical Models written by Brian Marcus and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-06 with Computers categories.
Coding theory, system theory, and symbolic dynamics have much in common. Among the central themes in each of these subjects are the construction of state space representations, understanding of fundamental structural properties of sequence spaces, construction of input/output systems, and understanding the special role played by algebraic structure. A major new theme in this area of research is that of codes and systems based on graphical models. This volume contains survey and research articles from leading researchers at the interface of these subjects.
Atmospheric Modeling
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Author : David P. Chock
language : en
Publisher: Springer Science & Business Media
Release Date : 2002-07-31
Atmospheric Modeling written by David P. Chock and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2002-07-31 with Mathematics categories.
This volume contains refereed papers submitted by international experts who participated in the Atmospheric Modeling workshop March 15 -19, 2000 at the Institute for Mathematics and Its Applications (IMA) at the University of Minnesota. The papers cover a wide range of topics presented in the workshop. In particular, mathematical topics include a performance comparison of operator-splitting and non- splitting methods, time-stepping methods to preserve positivity and consideration of multiple timescale issues in the modeling of atmospheric chemistry, a fully 3D adaptive-grid method, impact of rid resolution on model predictions, testing the robustness of different flow fields, modeling and numerical methods in four-dimensional variational data assimilation, and parallel computing. Modeling topics include the development of an efficient self-contained global circulation-chemistry-transport model and its applications, the development of a modal aerosol model, and the modeling of the emissions and chemistry of monoterpenes that lead to the formation of secondary organic aerosols. The volume provides an excellent cross section of current research activities in atmospheric modeling.
Dynamics Of Algorithms
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Author : Rafael de la Llave
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
Dynamics Of Algorithms written by Rafael de la Llave and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-06 with Mathematics categories.
The articles collected in this volume represent the contributions presented at the IMA workshop on "Dynamics of Algorithms" which took place in November 1997. The workshop was an integral part of the 1997 -98 IMA program on "Emerging Applications of Dynamical Systems." The interaction between algorithms and dynamical systems is mutually beneficial since dynamical methods can be used to study algorithms that are applied repeatedly. Convergence, asymptotic rates are indeed dynamical properties. On the other hand, the study of dynamical systems benefits enormously from having efficient algorithms to compute dynamical objects.
Statistical Models In Epidemiology The Environment And Clinical Trials
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Author : M.Elizabeth Halloran
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
Statistical Models In Epidemiology The Environment And Clinical Trials written by M.Elizabeth Halloran and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-06 with Medical categories.
This IMA Volume in Mathematics and its Applications STATISTICAL MODELS IN EPIDEMIOLOGY, THE ENVIRONMENT,AND CLINICAL TRIALS is a combined proceedings on "Design and Analysis of Clinical Trials" and "Statistics and Epidemiology: Environment and Health. " This volume is the third series based on the proceedings of a very successful 1997 IMA Summer Program on "Statistics in the Health Sciences. " I would like to thank the organizers: M. Elizabeth Halloran of Emory University (Biostatistics) and Donald A. Berry of Duke University (Insti tute of Statistics and Decision Sciences and Cancer Center Biostatistics) for their excellent work as organizers of the meeting and for editing the proceedings. I am grateful to Seymour Geisser of University of Minnesota (Statistics), Patricia Grambsch, University of Minnesota (Biostatistics); Joel Greenhouse, Carnegie Mellon University (Statistics); Nicholas Lange, Harvard Medical School (Brain Imaging Center, McLean Hospital); Barry Margolin, University of North Carolina-Chapel Hill (Biostatistics); Sandy Weisberg, University of Minnesota (Statistics); Scott Zeger, Johns Hop kins University (Biostatistics); and Marvin Zelen, Harvard School of Public Health (Biostatistics) for organizing the six weeks summer program. I also take this opportunity to thank the National Science Foundation (NSF) and the Army Research Office (ARO), whose financial support made the workshop possible. Willard Miller, Jr.
Numerical Methods For Bifurcation Problems And Large Scale Dynamical Systems
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Author : Eusebius Doedel
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
Numerical Methods For Bifurcation Problems And Large Scale Dynamical Systems written by Eusebius Doedel and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-06 with Mathematics categories.
The Institute for Mathematics and its Applications (IMA) devoted its 1997-1998 program to Emerging Applications of Dynamical Systems. Dynamical systems theory and related numerical algorithms provide powerful tools for studying the solution behavior of differential equations and mappings. In the past 25 years computational methods have been developed for calculating fixed points, limit cycles, and bifurcation points. A remaining challenge is to develop robust methods for calculating more complicated objects, such as higher- codimension bifurcations of fixed points, periodic orbits, and connecting orbits, as well as the calcuation of invariant manifolds. Another challenge is to extend the applicability of algorithms to the very large systems that result from discretizing partial differential equations. Even the calculation of steady states and their linear stability can be prohibitively expensive for large systems (e.g. 10_3- -10_6 equations) if attempted by simple direct methods. Several of the papers in this volume treat computational methods for low and high dimensional systems and, in some cases, their incorporation into software packages. A few papers treat fundamental theoretical problems, including smooth factorization of matrices, self -organized criticality, and unfolding of singular heteroclinic cycles. Other papers treat applications of dynamical systems computations in various scientific fields, such as biology, chemical engineering, fluid mechanics, and mechanical engineering.