دانلود کتاب Informatics In Control, Automation And Robotics: Revised And Selected Papers From The International Conference On Informatics In Control, Automation

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Cover......Page 1
Front Matter......Page 2
Position Calculation......Page 4
Assumptions......Page 5
Stability Analysis......Page 6
Power Consumption......Page 8
Non-uniform Motion......Page 9
Simulations......Page 10
Temporal Regularisation......Page 11
Conclusions......Page 12
Invited Papers......Page 13
Description of Closed Loop Structure......Page 15
References......Page 16
Introduction......Page 17
Problem Formulation......Page 3
Discussion......Page 7
Geometric Description of Tree Structure Robots......Page 14
Computation of the Direct Dynamic Model......Page 19
Direct Dynamics of Systems with Flexible Joints Using Recursive NE......Page 23
General Form of the Dynamic Model......Page 25
Inverse Dynamic Modeling of Robots with Elastic Joints......Page 22
Calculation of the Inverse Dynamics Using Recursive NE Algorithm......Page 18
Inverse Dynamic Modeling of Parallel Robots......Page 21
Dynamic Modeling of Robots with a Mobile Base......Page 24
Recursive NE Calculation of the Inverse Dynamic Model......Page 26
Recursive Direct Dynamic Model......Page 28
Conclusions......Page 29
References......Page 30
Introduction......Page 32
EDAS Architecture......Page 34
Avatar as an Advanced HMI......Page 35
Emotive Spoken Dialogue System......Page 38
Cloud-Based Infotainment and Decision Support......Page 40
Conclusions......Page 44
References......Page 45
Introduction......Page 48
Calibration Procedure......Page 50
Data Analysis......Page 51
Registration......Page 52
Prediction Model......Page 55
Model Validation......Page 56
Conclusions......Page 58
Part I: Intelligent Control Systems and Optimization......Page 60
Introduction......Page 61
Structure of the Morphing Wing System......Page 63
Control Design and Numerical Simulation......Page 64
Experimental Validation of the SMA Actuators Control for Open Loop Architecture of the Morphing System......Page 73
SMA Actuators Control Bench Test Validation......Page 74
SMA Actuators Control Validation in Wind Tunnel Tests......Page 76
Wind Tunnel Experimental Validation of the SMA Actuators Control for Closed Loop Architecture of the Morphing System......Page 79
Conclusions......Page 83
References......Page 85
Introduction......Page 87
Model of the System......Page 88
Parameter Adaptation Algorithm......Page 90
Determination of γ......Page 92
FH vs. Linear Models in the Presence of Organic Heat......Page 94
FH vs. Linear Models in the Absence of Organic Heat......Page 95
Noise Robustness......Page 96
Software Bundle Implementation and Energy Consumption Measurements......Page 97
Conclusions......Page 98
References......Page 99
Introduction......Page 101
Protocol Composition......Page 102
Self-parametrising Systems......Page 103
Organic Network Control......Page 104
Application to Mobile Ad-Hoc Networks......Page 105
Evaluation......Page 107
The Collaboration Mechanism......Page 110
Evaluation......Page 111
References......Page 113
Introduction......Page 115
Related Work......Page 116
EM Algorithm: The Original Formulation......Page 117
EM Algorithm: Application to a Gaussians Mixture......Page 118
FASTGMM Formulation......Page 119
Parameters Initialization......Page 121
Updating Decision Thresholds......Page 122
Computational Complexity Evaluation......Page 123
Colored Real Images......Page 124
Synthetic Data......Page 125
Colored Real Images......Page 128
Limitation of the Proposed Algorithm......Page 129
References......Page 130
Introduction......Page 131
Related Work......Page 132
Observer Technique......Page 133
Structured English......Page 134
Observation Patterns Basis......Page 135
Transformation Idea......Page 136
Time Annotations......Page 137
Verification Process......Page 138
Case Study Description......Page 139
Using Patterns......Page 140
Verification......Page 142
References......Page 143
Introduction......Page 145
Preliminaries......Page 146
Agent Model......Page 147
Network Model......Page 148
Passivity of the Networked System......Page 151
Steady-State Analysis, n-gon Establishment, and Output Synchronization......Page 153
Evaluation......Page 155
Conclusions......Page 157
References......Page 158
Part II Robotics and Automation......Page 160
Introduction......Page 161
Related Work......Page 162
Regression......Page 163
Classification......Page 164
Position Estimation......Page 165
Terrain Classification......Page 167
Naive Approaches......Page 169
Dynamic Approaches......Page 172
Conclusions and Future Work......Page 175
References......Page 176
Introduction......Page 178
Nonholonomic Constraints for Wheeled Mobile Platform......Page 179
Nonholonomic Constraints for Manipulator......Page 180
Dynamics of Doubly Nonholonomic Mobile Manipulator......Page 181
Control Problem Statement......Page 182
Path Following with Desired Orientation......Page 183
Path Following without Desired Orientation......Page 187
Simulations......Page 188
References......Page 190
Introduction......Page 192
Two-Layered Imitation System......Page 194
Canonical Dynamical System Based on Fourier Series......Page 195
Simulation......Page 197
Application to Robotic Yo-Yo......Page 198
Conclusions......Page 202
References......Page 203
Introduction......Page 204
Problem Statement......Page 205
Control Design......Page 206
Description of Model Dynamics......Page 207
Stability Analysis......Page 208
An Illustrative Example......Page 215
References......Page 216
Introduction......Page 218
Methods for Reactive Grasping......Page 219
DMP Based Attractor Field......Page 220
ECVD Based Detractor Fields......Page 221
High Level DMP Controller for Grasping......Page 222
Grasping Experiments......Page 224
Grasping Experiment Procedure......Page 225
Experimental Results......Page 226
Conclusions......Page 227
Introduction......Page 231
Tracking Control of a Unicycle Robot......Page 232
State Estimator and Controller Design......Page 234
Stability Analysis......Page 236
Experimental Results......Page 239
Data Exchange over the Internet......Page 240
Experiments......Page 241
Discussion......Page 243
Introduction......Page 245
Experimental Setup and Testing......Page 247
Performance of the Drive System......Page 248
Flow Characteristics of Valve......Page 249
Static Model......Page 250
Dynamic Model......Page 251
Valve Control......Page 253
The Valve Prototype......Page 256
Conclusions and Future Developments......Page 257
Introduction......Page 259
Related Work......Page 260
Individual Learning of Concepts......Page 261
Feature Extraction and Individual Training......Page 262
Pre-analysis of Individual Concepts......Page 263
Analysis and Fusion of Individual Concepts......Page 264
Concept Acquisition and Testing......Page 266
Accuracy of the Individual and Collective Concepts......Page 269
Conclusions and Future Work......Page 270
References......Page 271
Introduction......Page 272
Feature Selection and Tracking......Page 274
Evaluation of a Background Model......Page 276
Filtering False Dynamic Points by Estimated Camera Motion......Page 277
Merging Groups......Page 278
Border Object Initialization and Tracking......Page 279
Occupancy Map......Page 280
Experimental Results and Discussions......Page 282
Conclusions......Page 284
Part III Signal Processing, Systems Modeling and Control......Page 286
Context and Motivation......Page 287
Model Description......Page 288
A Practical Suboptimal Strategy......Page 293
Linearizing Control Strategy......Page 294
A Classical Adaptive Strategy......Page 295
A Robust Strategy......Page 296
Numerical Results......Page 299
Conclusions......Page 308
Introduction......Page 310
Approach......Page 312
Optimal Control Formulation......Page 313
Optimality System......Page 314
Solution of the Optimality System......Page 315
Algorithm......Page 316
Control - Force......Page 317
Non-uniform Motion......Page 318
Temporal Regularisation......Page 320
Conclusions......Page 321
References......Page 322
Introduction......Page 324
Preliminary......Page 325
Pole Placement of Linear Time-Varying Discrete Systems......Page 326
State Observer......Page 330
Conclusions......Page 336
Introduction......Page 337
ISS Systems and Signals with Low Moving Average......Page 338
Spacecraft Models......Page 340
Controller and Observer Design......Page 341
Robustness of the Overall Formation......Page 342
Simulations......Page 346
References......Page 349
Introduction......Page 350
Problem Formulation......Page 352
Position Calculation......Page 353
Assumptions......Page 354
Stability Analysis......Page 355
Discussion......Page 356
Power Consumption......Page 357
Conclusions......Page 362
References......Page 363
Back Matter......Page 364