Theory And Applications For Control Of Aerial Robots In Physical Interaction Through Tethers
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Theory And Applications For Control Of Aerial Robots In Physical Interaction Through Tethers
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Author : Marco Tognon
language : en
Publisher: Springer Nature
Release Date : 2020-06-26
Theory And Applications For Control Of Aerial Robots In Physical Interaction Through Tethers written by Marco Tognon and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-06-26 with Technology & Engineering categories.
This book studies how autonomous aerial robots physically interact with the surrounding environment. Intended to promote the advancement of aerial physical interaction, it analyzes a particular class of aerial robots: tethered aerial vehicles. By examining specific systems, while still considering the challenges of the general problem, it will help readers acquire the knowledge and expertise needed for the subsequent development of more general methods applicable to aerial physical interaction. The formal analysis covers topics ranging from control, state estimation, and motion planning, to experimental validation. Addressing both theoretical and technical aspects, the book is intended for a broad academic and industrial readership, including undergraduate students, researchers and engineers. It can be used as a teaching reference, or as the basis for product development.
Information Technologies And Mathematical Modelling Queueing Theory And Applications
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Author : Alexander Dudin
language : en
Publisher: Springer Nature
Release Date : 2022-06-23
Information Technologies And Mathematical Modelling Queueing Theory And Applications written by Alexander Dudin and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-06-23 with Computers categories.
This book constitutes revised selected papers of the 20th International Conference on Information Technologies and Mathematical Modelling, ITMM 2021, named after A.F. Terpugov, held in Tomsk, Russia, in December 2021. Due to the COVID-19 pandemic the conference was held in a virtual mode. The 28 full papers presented in this volume were carefully reviewed and selected from 89 submissions. The conference covers various aspects of information technologies, focusing on queueing theory, stochastic processes, Markov processes, renewal theory, network performance equation and network protocols.
New Trends In Mechanism And Machine Science
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Author : Giulio Rosati
language : en
Publisher: Springer Nature
Release Date : 2024-08-09
New Trends In Mechanism And Machine Science written by Giulio Rosati and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-08-09 with Technology & Engineering categories.
This book gathers the proceedings of the 9th European Conference on Mechanism Science (EuCoMeS), which was held in Padua, Italy, on September 18–20, 2024, under the patronage of IFToMM. It presents the latest research and industrial applications in the areas of mechanism science, robotics, and dynamics. The contributions cover such topics as computational kinematics, control issues in mechanical systems, mechanisms for medical rehabilitation, mechanisms for minimally invasive techniques, cable robots, design issues for mechanisms and robots, and the teaching and history of mechanisms. Written by leading researchers and engineers and selected by means of a rigorous international peer-review process, the papers highlight numerous exciting ideas that will spur novel research directions and foster multidisciplinary collaborations.
Aerial Robotic Manipulation
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Author : Anibal Ollero
language : en
Publisher: Springer
Release Date : 2019-06-27
Aerial Robotic Manipulation written by Anibal Ollero and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-06-27 with Technology & Engineering categories.
Aerial robotic manipulation integrates concepts and technologies coming from unmanned aerial systems and robotics manipulation. It includes not only kinematic, dynamics, aerodynamics and control but also perception, planning, design aspects, mechatronics and cooperation between several aerial robotics manipulators. All these topics are considered in this book in which the main research and development approaches in aerial robotic manipulation are presented, including the description of relevant systems. In addition of the research aspects, the book also includes the deployment of real systems both indoors and outdoors, which is a relevant characteristic of the book because most results of aerial robotic manipulation have been validated only indoor using motion tracking systems. Moreover, the book presents two relevant applications: structure assembly and inspection and maintenance, which has started to be applied in the industry. The Chapters of the book will present results of two main European Robotics Projects in aerial robotics manipulation: FP7 ARCAS and H2020 AEROARMS. FP7 ARCAS defined the basic concepts on aerial robotic manipulation, including cooperative manipulation. The H2020 AEROARMS on aerial robot with multiple arms and advanced manipulation capabilities for inspection and maintenance has two general objectives: (1) development of advanced aerial robotic manipulation methods and technologies, including manipulation with dual arms and multi-directional thrusters aerial platforms; and (2) application to the inspection and maintenance.
Aerial Manipulation
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Author : Matko Orsag
language : en
Publisher: Springer
Release Date : 2017-09-19
Aerial Manipulation written by Matko Orsag and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-09-19 with Technology & Engineering categories.
This text is a thorough treatment of the rapidly growing area of aerial manipulation. It details all the design steps required for the modeling and control of unmanned aerial vehicles (UAV) equipped with robotic manipulators. Starting with the physical basics of rigid-body kinematics, the book gives an in-depth presentation of local and global coordinates, together with the representation of orientation and motion in fixed- and moving-coordinate systems. Coverage of the kinematics and dynamics of unmanned aerial vehicles is developed in a succession of popular UAV configurations for multirotor systems. Such an arrangement, supported by frequent examples and end-of-chapter exercises, leads the reader from simple to more complex UAV configurations. Propulsion-system aerodynamics, essential in UAV design, is analyzed through blade-element and momentum theories, analysis which is followed by a description of drag and ground-aerodynamic effects. The central part of the book is dedicated to aerial-manipulator kinematics, dynamics, and control. Based on foundations laid in the opening chapters, this portion of the book is a structured presentation of Newton–Euler dynamic modeling that results in forward and backward equations in both fixed- and moving-coordinate systems. The Lagrange–Euler approach is applied to expand the model further, providing formalisms to model the variable moment of inertia later used to analyze the dynamics of aerial manipulators in contact with the environment. Using knowledge from sensor data, insights are presented into the ways in which linear, robust, and adaptive control techniques can be applied in aerial manipulation so as to tackle the real-world problems faced by scholars and engineers in the design and implementation of aerial robotics systems. The book is completed by path and trajectory planning with vision-based examples for tracking and manipulation.
Pulse Voltammetry In Physical Electrochemistry And Electroanalysis
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Author : Ángela Molina
language : en
Publisher: Springer
Release Date : 2015-11-14
Pulse Voltammetry In Physical Electrochemistry And Electroanalysis written by Ángela Molina and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-11-14 with Science categories.
For the first time, the authors provide a comprehensive and consistent presentation of all techniques available in this field. They rigorously analyze the behavior of different electrochemical single and multipotential step techniques for electrodes of different geometries and sizes under transient and stationary conditions. The effects of these electrode features in studies of various electrochemical systems (solution systems, electroactive monolayers, and liquid-liquid interfaces) are discussed. Explicit analytical expressions for the current-potential responses are given for all available cases. Applications of each technique are outlined for the elucidation of reaction mechanisms. Coverage is comprehensive: normal pulse voltammetry, double differential pulse voltammetry, reverse pulse voltammetry and other triple and multipulse techniques, such as staircase voltammetry, differential staircase voltammetry, differential staircase voltcoulommetry, cyclic voltammetry, square wave voltammetry and square wave voltcoulommetry.
Disaster Robotics
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Author : Robin Murphy
language : en
Publisher: MIT Press
Release Date : 2014-02-14
Disaster Robotics written by Robin Murphy and has been published by MIT Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-02-14 with Computers categories.
This book offers the definitive guide to the theory and practice of disaster robotics. It can serve as an introduction for researchers and technologists, a reference for emergency managers, and a textbook in field robotics. Written by a pioneering researcher in the field who has herself participated in fifteen deployments of robots in disaster response and recovery, the book covers theory and practice, the history of the field, and specific missions. After a broad overview of rescue robotics in the context of emergency informatics, the book provides a chronological summary and formal analysis of the thirty-four documented deployments of robots to disasters that include the 2001 collapse of the World Trade Center, Hurricane Katrina, the 2010 Haiti earthquake, the Deepwater Horizon oil spill, the 2011 Japanese earthquake and tsunami, and numerous mining accidents. It then examines disaster robotics in the typical robot modalities of ground, air, and marine, addressing such topics as robot types, missions and tasks, and selection heuristics for each modality. Finally, the book discusses types of fieldwork, providing practical advice on matters that include collecting data and collaborating with emergency professionals. The field of disaster robotics has lacked a comprehensive overview. This book by a leader in the field, offering a unique combination of the theoretical and the practical, fills the gap.
Theory And Applications For Control And Motion Planning Of Aerial Robots In Physical Interaction With Particular Focus On Tethered Aerial Vehicles
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Author : Marco Tognon
language : en
Publisher:
Release Date : 2018
Theory And Applications For Control And Motion Planning Of Aerial Robots In Physical Interaction With Particular Focus On Tethered Aerial Vehicles written by Marco Tognon and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018 with categories.
This thesis focuses on the study of autonomous aerial robots interacting with the surrounding environment, and in particular on the design of new control and motion planning methods for such systems. Nowadays, autonomous aerial vehicles are extensively employed in many fields of application but mostly as autonomously moving sensors. On the other hand, in the recent field of aerial physical interaction, the goal is to go beyond sensing-only applications and fully exploit the aerial robots capabilities in order to interact with the environment. With the aim of achieving this goal, this thesis considers the analysis of a particular class of aerial robots interacting with the environment: tethered aerial vehicles. This work focuses on the thorough formal analysis of tethered aerial vehicles ranging from control and state estimation to motion planning. In particular, the differential flatness property of the system is investigated, finding two possible flat outputs that reveal new capabilities of such system for the physical interaction. The theoretical results were finally employed to solve the challenging problem of landing and takeoff on/from a sloped surface. In addition, moved by the interest on aerial physical interaction from A to Z, we addressed supplementary problems related to the design, control and motion planning for aerial manipulators.
Planetary Rovers
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Author : Alex Ellery
language : en
Publisher: Springer
Release Date : 2018-03-30
Planetary Rovers written by Alex Ellery and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-03-30 with Technology & Engineering categories.
This will be the only book on planetary rover development covering all aspects relevant to the design of systems
Frontiers Of Human Centered Computing Online Communities And Virtual Environments
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Author : Rae Earnshaw
language : en
Publisher: Springer Science & Business Media
Release Date : 2001-02-26
Frontiers Of Human Centered Computing Online Communities And Virtual Environments written by Rae Earnshaw 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 2001-02-26 with Computers categories.
This volume presents the results of a joint National Science Foundation and European Commission Workshop which was set up to identify the future key strategic research directions in the areas of human-centred interaction, online communities and virtual environments.