Robotics Books
ISTE Ltd and John Wiley & Sons Inc Flight Formation Control
Book SynopsisIn the last decade the development and control of Unmanned Aerial Vehicles (UAVs) has attracted a lot of interest. Both researchers and companies have a growing interest in improving this type of vehicle given their many civilian and military applications. This book presents the state of the art in the area of UAV Flight Formation. The coordination and robust consensus approaches are presented in detail as well as formation flight control strategies which are validated in experimental platforms. It aims at helping students and academics alike to better understand what coordination and flight formation control can make possible. Several novel methods are presented: - controllability and observability of multi-agent systems; - robust consensus; - flight formation control; - stability of formations over noisy networks; which generate solutions of guaranteed performance for UAV Flight Formation. Contents 1. Introduction, J.A. Guerrero. 2. Theoretical Preliminaries, J.A. Guerrero. 3. Multiagent Coordination Strategies, J.A. Guerrero, R. Lozano, M.W. Spong, N. Chopra. 4. Robust Control Design for Multiagent Systems with Parametric Uncertainty, J.A. Guerrero, G. Romero. 5. On Adaptive and Robust Controlled Synchronization of Networked Robotic Systems on Strongly Connected Graphs, Y.-C. Liu, N. Chopra. 6. Modeling and Control of Mini UAV, G. Flores Colunga, J.A. Guerrero, J. Escareño, R. Lozano. 7. Flight Formation Control Strategies for Mini UAVs, J.A. Guerrero. 8. Formation Based on Potential Functions, L. García, A. Dzul. 9. Quadrotor Vision-Based Control, J.E. Gomez-Balderas, J.A. Guerrero, S. SALAZAR, R. Lozano, P. Castillo. 10. Toward Vision-Based Coordination of Quadrotor Platoons, L.R. García Carrillo, J.A. Guerrero, R. Lozano. 11. Optimal Guidance for Rotorcraft Platoon Formation Flying in Wind Fields, J.A. Guerrero, Y. Bestaoui, R. Lozano. 12. Impact of Wireless Medium Access Protocol on the Quadrotor Formation Control, J.A. Guerrero, Y. Challal, P. Castillo. 13. MAC Protocol for Wireless Communications, A. Mendez, M. Panduro, O. Elizarraras, D. Covarrubias. 14. Optimization of a Scannable Pattern for Bidimensional Antenna Arrays to Provide Maximum Performance, A. Reyna, M.A. Panduro, A. Mendez.Trade Review“Overall this book delivers necessary backgrounds, basic and advanced nonlinear control algorithms and the associated challenges such as visual navigation and communication for those who are interested in studying and developing UAV formation flight strategies with guaranteed stability and performance.” (The Aeronautical Journal, 3 February 2015)Table of ContentsChapter 1. Introduction 1 J.A. GUERRERO 1.1. Motivation 1 1.2. Historical background 4 1.3. Flight control 9 1.4. Flight formation control 11 1.5. Outline of the book 13 1.6. Bibliography 15 Chapter 2. Theoretical Preliminaries 19 J.A. GUERRERO 2.1. Passivity 19 2.2. Graph theory 20 2.3. Robustness problems 21 2.4. Bibliography 25 Chapter 3. Multiagent Coordination Strategies 27 J.A. GUERRERO, R. LOZANO, M.W. SPONG, N. CHOPRA 3.1. Introduction 28 3.2. Controllability and observability of interconnections 28 3.3. Formation leader tracking 37 3.4. Time-varying trajectory tracking 40 3.5. Linear high-order multiagent consensus 44 3.6. Conclusion 49 3.7. Bibliography 50 Chapter 4. Robust Control Design of Multiagent Systems with Parametric Uncertainty 51 J.A. GUERRERO, G. ROMERO 4.1. Introduction 52 4.2. Robust control design 54 4.3. Robust stability analysis 56 4.4. Robust stability of time-delay systems 61 4.5. Application to multiagent systems 62 4.6. Conclusions 73 4.7. Bibliography 73 Chapter 5. On Adaptive and Robust Controlled Synchronization of Networked Robotic Systems on Strongly Connected Graphs 75 Y.-C. LIU, N. CHOPRA 5.1. Summary 75 5.2. Introduction 75 5.3. Problem formulation 77 5.4. Adaptive controlled synchronization on strongly connected graphs 79 5.5. Robust controlled synchronization on strongly connected graph 83 5.6. Numerical examples 87 5.7. Conclusions 93 5.8. Appendix 94 5.9. Bibliography 95 Chapter 6. Modeling and Control of Mini UAV 99 G. FLORES COLUNGA, J.A. GUERRERO, J. ESCAREÑO, R. LOZANO 6.1. Introduction 99 6.2. General model 101 6.3. Control of a mini tailsitter 103 6.4. Quad-tilting rotor convertible MAV 117 6.5. Concluding remarks 131 6.6. Bibliography 132 Chapter 7. Flight Formation Control Strategies for Mini UAVs 135 J.A. GUERRERO 7.1. Introduction 135 7.2. Formation geometry 137 7.3. Communication network 138 7.4. Dynamic model 139 7.5. Formation flying control based on coordination 142 7.6. Formation flying control based on nested saturations 148 7.7. Trajectory-tracking control 153 7.8. Simulation results 158 7.9. Conclusions 162 7.10. Bibliography 162 Chapter 8. Formation Based on Potential Functions 165 L. GARCÍA, A. DZUL 8.1. Introduction 165 8.2. Dynamical model 166 8.3. Formation control 167 8.4. Position control 170 8.5. Simulation results 183 8.6. Conclusions 189 8.7. Bibliography 189 Chapter 9. Quadrotor Vision-Based Control 191 J.E. GOMEZ-BALDERAS, J.A. GUERRERO, S. SALAZAR, R. LOZANO, P. CASTILLO 9.1. Introduction 191 9.2. Quadrotor dynamic model and control 194 9.3. Computer vision preliminaries 197 9.4. Tracking of a visual target 201 9.5. Tracking of a visual line 209 9.6. Embedded architecture 214 9.7. Experimental results 214 9.8. Conclusions 221 9.9. Bibliography 221 Chapter 10. Toward Vision-Based Coordination of Quadrotor Platoons 225 L.R. GARCÍA CARRILLO, J.A. GUERRERO, R. LOZANO 10.1. Introduction 225 10.2. Problem statement 227 10.3. Dynamic model and control of a quadrotor 228 10.4. Vision-based position estimation 229 10.5. Coordination position control of two quadrotors 235 10.6. Architecture of the experimental platforms 237 10.7. Experimental results 240 10.8. Conclusions and future work 242 10.9. Bibliography 243 Chapter 11. Optimal Guidance for Rotorcraft Platoon Formation Flying in Wind Fields 247 J.A. GUERRERO, Y. BESTAOUI, R. LOZANO 11.1. Introduction 247 11.2. Preliminaries 250 11.3. Path planning 251 11.4. Quadrotor formation control scheme 258 11.5. Quadrotor trajectory-tracking control 258 11.6. Simulation results 259 11.7. Conclusions and future work 264 11.8. Bibliography 264 Chapter 12. Impact of Wireless Medium Access Protocol on the Quadrotor Formation Control 267 J.A. GUERRERO, Y. CHALLAL, P. CASTILLO 12.1. Introduction 267 12.2. Multiquadrotor consensus 269 12.3. Multiagent consensus over wireless networks 272 12.4. Quadrotor consensus over wireless networks 275 12.5. Simulation results 278 12.6. Conclusions and future work 282 12.7. Bibliography 282 Chapter 13. MAC Protocol for Wireless Communications 285 A. MENDEZ, M. PANDURO, O. ELIZARRARAS, D. COVARRUBIAS 13.1. Introduction 285 13.2. Protocols of medium access control 287 13.3. Proposed MAC protocol 296 13.4. Experimental setup and results 299 13.5. Conclusions 300 13.6. Acknowledgments 301 13.7. Bibliography 301 Chapter 14. Optimization of a Scannable Pattern for Bidimensional Antenna Arrays to Provide Maximum Performance 305 A. REYNA, M.A. PANDURO, A. MENDEZ 14.1. Introduction 305 14.2. Design of planar antenna arrays 306 14.3. Design of concentric ring arrays 314 14.4. Discussions and open problems 319 14.5. Conclusions 320 14.6. Acknowledgments 320 14.7. Bibliography 320 List of Authors 323 Index 325
£135.80
ISTE Ltd and John Wiley & Sons Inc Medical Robotics
Book SynopsisIn this book, we present medical robotics, its evolution over the last 30 years in terms of architecture, design and control, and the main scientific and clinical contributions to the field. For more than two decades, robots have been part of hospitals and have progressively become a common tool for the clinician. Because this domain has now reached a certain level of maturity it seems important and useful to provide a state of the scientific, technological and clinical achievements and still open issues. This book describes the short history of the domain, its specificity and constraints, and mature clinical application areas. It also presents the major approaches in terms of design and control including man-machine interaction modes. A large state of the art is presented and many examples from the literature are included and thoroughly discussed. It aims to provide both a broad and summary view of this very active domain as well as keys to understanding the evolutions of the domain and to prepare for the future. An insight to clinical evaluation is also proposed, and the book is finished with a chapter on future developments for intra-body robots.Table of ContentsIntroduction xi Chapter 1. Characteristics and State of the Art 1 Etienne DOMBRE, Michel DE MATHELIN and Jocelyne TROCCAZ 1.1 Introduction 1 1.2. State of the art 7 1.3. Conclusion 42 1.4. Bibliography 42 Chapter 2. Medical Robotics in the Service of the Patient 55 Alexandre MOREAU-GAUDRY, Philippe CINQUIN 2.1. Introduction 55 2.2. A cycle of medical service growth 58 2.3. A case study: the ViKY robotic endoscope support system 64 2.4. Conclusion 67 2.5. Bibliography 67 Chapter 3. Inter-operative Sensors and Registration 69 Jocelyne TROCCAZ 3.1. Introduction 69 3.2. Intra-operative sensors 72 3.3. Principles of registration 76 3.4. Case studies 87 3.5. Discussion and conclusion 96 3.6. Bibliography 97 Chapter 4. Augmented Reality 101 Stéphane NICOLAU, Luc SOLER, Jacques MARESCAUX 4.1. Introduction101 4.2. 3D modeling of abdominal structures and pathological structures 104 4.3. 3D visualization system for planning 107 4.4. Interactive AR 108 4.5. Automatic AR 110 4.6. Taking distortions into account 122 4.7. Case Study 124 4.8. Conclusions 129 4.9. Bibliography 130 Chapter 5. Design of Medical Robots 141 Etienne DOMBRE, Philippe POIGNET and François PIERROT 5.1. Introduction 141 5.2. From the characterization of gestures to the design of robots 145 5.3. Design methodologies 157 5.4. Technological choices 165 5.5. Security 167 5.6. Conclusion 171 5.7. Bibliography 172 Chapter 6. Vision-based Control 177 Jacques GANGLOFF, Florent NAGEOTTE and Philippe POIGNET 6.1. Introduction 177 6.2. Sensors 183 6.3. Acquisition of the measurement 193 6.4. Control 216 6.5. Perspectives 224 6.6. Bibliography 225 Chapter 7. Interaction Modeling and Force Control 233 Philippe POIGNET and Bernard BAYLE 7.1. Modeling interactions during medico-surgical procedures 233 7.2. Force control 243 7.3. Force control strategies 244 7.4. Conclusion 263 7.5. Bibliography 263 Chapter 8. Tele-manipulation 269 Bernard BAYLE and Laurent BARBÉ 8.1. Introduction 269 8.2. Tele-manipulation and medical practices 271 8.3. Tele-manipulation with force feedback 278 8.4. Bibliography 298 Chapter 9. Comanipulation 303 Guillaume MOREL, Jérôme SZEWCZYK and Marie-Aude VITRANI 9.1. Introduction 303 9.2. General principles of comanipulation 309 9.3. Serial comanipulation: intelligent active instrumentation 316 9.4. Parallel comanipulation 331 9.5. A human in the loop 343 9.6. Bibliography 346 Chapter 10. Towards Intracorporeal Robotics 351 Etienne DOMBRE, Nicolas CHAILLET and Michel DE MATHELIN 10.1. Introduction 351 10.2. Mini-manipulators/tele-operated instrument holders 352 10.3. Robotized colonoscopes and autonomous capsules 357 10.4. Active catheters 362 10.5. Evolution of surgical robotics 366 10.6. Additional information 386 10.7. Bibliography 388 Conclusion 397 Notations 399 Medical Glossary 401 List of Authors 407 Index 409
£180.45
ISTE Ltd and John Wiley & Sons Inc Intracorporeal Robotics: From Milliscale to
Book SynopsisA promising long-term evolution of surgery relies on intracorporeal microrobotics. This book reviews the physical and methodological principles, and the scientific challenges to be tackled to design and control such robots. Three orders of magnitude will be considered, justified by the class of problems encountered and solutions implemented to manipulate objects and reach targets within the body: millimetric, sub-millimetric in the 10- 100 micrometer range, then in the 1-10 micrometer range. The most prominent devices and prototypes of the state of the art will be described to illustrate the benefit that can be expected for surgeons and patients. Future developments nanorobotics will also be discussed.Table of ContentsIntroduction ix Chapter 1. Intracorporeal Millirobotics 1 1.1. Introduction 1 1.2. Principles 2 1.2.1. Partially intracorporeal devices with active distal mobilities 2 1.2.2. Intracorporeal manipulators 5 1.2.3. Intracorporeal mobile devices 16 1.3. Scientific issues 20 1.3.1. Modeling 20 1.3.2. Design 24 1.3.3. Actuation and transmission 26 1.3.4. Sensing 30 1.3.5. Control 34 1.4. Examples of devices 37 1.4.1. The robotic platform of the Araknes project 39 1.4.2. A snake-like robot made of concentric super-elastic tubes 44 1.4.3. MICRON: a handheld robotized instrument for ophthalmic surgery 48 1.5. Conclusion 52 Chapter 2. Intracorporeal Microrobotics 55 2.1. Introduction 55 2.2. Novel paradigms for intracorporeal robotics 56 2.2.1. Classification of intracorporeal robots 56 2.2.2. Physical principles in use at microscale 57 2.3. Methods 66 2.3.1. Models 66 2.3.2. Design 71 2.3.3. Actuation 75 2.3.4. Sensing 80 2.3.5. Control 86 2.4. Devices 97 2.4.1. Magnetically guided catheters 97 2.4.2. Distal tip mobility for endoluminal microphonosurgery 98 2.4.3. Autonomous active capsules 102 2.4.4. Magnetically guided capsules 104 2.5. Conclusion 107 Chapter 3. In vitro Non-Contact Mesorobotics 109 3.1. Introduction 109 3.2. Principles 111 3.2.1. Introduction 111 3.2.2. Laser trapping 114 3.2.3. Electrostatic principles 118 3.3. Scientific challenges 122 3.3.1. Modeling 122 3.3.2. Design 129 3.3.3. Perception 131 3.3.4. Control 131 3.4. Experimental devices 132 3.4.1. Laser trapping 132 3.4.2. DEP systems 139 3.5. Conclusion 147 Chapter 4. Toward Biomedical Nanorobotics 149 4.1. Applicative challenges 149 4.1.1. In vitro applications 149 4.1.2. Nanoassembly for biomedical applications 150 4.1.3. In vivo applications 150 4.2. Scientific challenges 150 4.2.1. New paradigm removing frontiers between sciences 150 4.2.2. Energy sources 151 4.2.3. How far away is this future? 152 Bibliography 153 Index 183
£132.00
ISTE Ltd and John Wiley & Sons Inc Flexible Robotics: Applications to Multiscale
Book SynopsisThe objective of this book is to provide those interested in the field of flexible robotics with an overview of several scientific and technological advances in the practical field of robotic manipulation. The different chapters examine various stages that involve a number of robotic devices, particularly those designed for manipulation tasks characterized by mechanical flexibility. Chapter 1 deals with the general context surrounding the design of functionally integrated microgripping systems. Chapter 2 focuses on the dual notations of modal commandability and observability, which play a significant role in the control authority of vibratory modes that are significant for control issues. Chapter 3 presents different modeling tools that allow the simultaneous use of energy and system structuring notations. Chapter 4 discusses two sensorless methods that could be used for manipulation in confined or congested environments. Chapter 5 analyzes several appropriate approaches for responding to the specific needs required by versatile prehension tasks and dexterous manipulation. After a classification of compliant tactile sensors focusing on dexterous manipulation, Chapter 6 discusses the development of a complying triaxial force sensor based on piezoresistive technology. Chapter 7 deals with the constraints imposed by submicrometric precision in robotic manipulation. Chapter 8 presents the essential stages of the modeling, identification and analysis of control laws in the context of serial manipulator robots with flexible articulations. Chapter 9 provides an overview of models for deformable body manipulators. Finally, Chapter 10 presents a set of contributions that have been made with regard to the development of methodologies for identification and control of flexible manipulators based on experimental data. Contents 1. Design of Integrated Flexible Structures for Micromanipulation, Mathieu Grossard, Mehdi Boukallel, Stéphane Régnier and Nicolas Chaillet. 2. Flexible Structures’ Representation and Notable Properties in Control, Mathieu Grossard, Arnaud Hubert, Stéphane Régnier and Nicolas Chaillet. 3. Structured Energy Approach for the Modeling of Flexible Structures, Nandish R. Calchand, Arnaud Hubert, Yann Le Gorrec and Hector Ramirez Estay. 4. Open-Loop Control Approaches to Compliant Micromanipulators, Yassine Haddab, Vincent Chalvet and Micky Rakotondrabe. 5. Mechanical Flexibility and the Design of Versatile and Dexterous Grippers, Javier Martin Amezaga and Mathieu Grossard. 6. Flexible Tactile Sensors for Multidigital Dexterous In-hand Manipulation, Mehdi Boukallel, Hanna Yousef, Christelle Godin and Caroline Coutier. 7. Flexures for High-Precision Manipulation Robots, Reymond Clavel, Simon Henein and Murielle Richard. 8. Modeling and Motion Control of Serial Robots with Flexible Joints, Maria Makarov and Mathieu Grossard. 9. Dynamic Modeling of Deformable Manipulators, Frédéric Boyer and Ayman Belkhiri. 10. Robust Control of Robotic Manipulators with Structural Flexibilities, Houssem Halalchi, Loïc Cuvillon, Guillaume Mercère and Edouard Laroche. About the Authors Mathieu Grossard, CEA LIST, Gif-sur-Yvette, France. Nicolas Chaillet, FEMTO-ST, Besançon, France. Stéphane Régnier, ISIR, UPMC, Paris, France.Table of ContentsIntroduction xiii Mathieu GROSSARD, Stéphane RÉGNIER and Nicolas CHAILLET Chapter 1. Design of Integrated Flexible Structures for Micromanipulation 1 Mathieu GROSSARD, Mehdi BOUKALLEL, Stéphane RÉGNIER and Nicolas CHAILLET 1.1. Design and control problems for flexible structures in micromanipulation 2 1.2. Integrated design in micromechatronics 11 1.3. Example of an optimal synthesis method for flexible piezoelectric transduction structures 25 1.4. Conclusion 31 1.5. Bibliography 32 Chapter 2. Flexible Structures’ Representation and Notable Properties in Control 37 Mathieu GROSSARD, Arnaud HUBERT, Stéphane RÉGNIER and Nicolas CHAILLET 2.1. State-space representation of flexible structures 38 2.2. The concepts of modal controllability and observability 47 2.3. Reduction of models 52 2.4. Contribution of modal analysis criteria to topological optimization 56 2.5. Conclusion 68 2.6. Bibliography 69 Chapter 3. Structured Energy Approach for the Modeling of Flexible Structures 73 Nandish R. CALCHAND, Arnaud HUBERT, Yann LE GORREC and Hector RAMIREZ ESTAY 3.1. Introduction 73 3.2. Finite-dimensional systems 75 3.3. Infinite-dimensional systems 95 3.4. Conclusion 111 3.5. Bibliography 112 Chapter 4. Open-Loop Control Approaches to Compliant Micromanipulators 115 Yassine HADDAB, Vincent CHALVET and Micky RAKOTONDRABE 4.1. Introduction 115 4.2. Piezoelectric microactuators 116 4.3. Thermal microactuators 128 4.4. Conclusion 142 4.5. Bibliography 142 Chapter 5. Mechanical Flexibility and the Design of Versatile and Dexterous Grippers 145 Javier MARTIN AMEZAGA and Mathieu GROSSARD 5.1. Robotic gripper systems 146 5.2. Actuation architecture and elastic elements 153 5.3. Structural flexibility 166 5.4. Conclusion 177 5.5. Bibliography 178 Chapter 6. Flexible Tactile Sensors for Multidigital Dexterous In-hand Manipulation 181 Mehdi BOUKALLEL, Hanna YOUSEF, Christelle GODIN and Caroline COUTIER 6.1. Introduction 181 6.2. Human dexterous manipulation as a basis for robotic manipulation 182 6.3. Technologies for tactile sensing 188 6.4. A comparison of sensor solutions and sensing techniques 213 6.5. The Nail sensor 214 6.6. From the Nail sensor to tactile skin 220 6.7. From tactile skin to artificial touch system 225 6.8. Applications and signal analysis 228 6.9. Summary and conclusion 233 6.10. Bibliography 235 Chapter 7. Flexures for High-Precision Manipulation Robots 243 Reymond CLAVEL, Simon HENEIN and Murielle RICHARD 7.1. High-precision industrial robots background 243 7.2. Kinematic analysis of simple flexures 248 7.3. Design method of parallel modular kinematics for flexures 260 7.4. Example of the Legolas 5 robot design 264 7.5. Bibliography 273 Chapter 8. Modeling and Motion Control of Serial Robots with Flexible Joints 275 Maria MAKAROV and Mathieu GROSSARD 8.1. Introduction 275 8.2. Modeling 276 8.3. Identification 284 8.4. Motion control 295 8.5. Conclusion 310 8.6. Bibliography 310 Chapter 9. Dynamic Modeling of Deformable Manipulators 321 Frédéric BOYER and Ayman BELKHIRI 9.1. Introduction 321 9.2. Newton–Euler model of an elastic body 324 9.3. Kinematic model of a deformable manipulator 337 9.4. Dynamic model of a deformable manipulator 340 9.5. Example 342 9.6. Conclusion 346 9.7. Bibliography 346 Chapter 10. Robust Control of Robotic Manipulators with Structural Flexibilities 349 Houssem HALALCHI, Loïc CUVILLON, Guillaume MERCÈRE and Edouard LAROCHE 10.1. Introduction 349 10.2. LTI methodology 350 10.3. Toward an LPV methodology 359 10.4. Conclusion 379 10.5. Bibliography 379 List of Authors 383 Index 385
£145.30
Kendall/Hunt Publishing Co ,U.S. Applied Robotics Theory, Economics, and Practices for Engineering Technology Students
Book SynopsisChapters include: Robotics Economics; Robotics Glossary Terms and Definitions; Robotics Kinematics; 2D-Analytical Evaluation of the Robot’s Gripper Tool Center Point (TCP) Acceleration Using Calculus; and Calculations of the Motor Power Ratings Necessary to Power the Joints of a Robot’s Manipulator.
£77.40
Apress Unmanned Aerial Vehicles Swarm for Protecting Smart Cities
Book SynopsisChapter 1: Introduction to UAV Swarms and Smart Cities.- Chapter 2: Fundamentals of UAV Swarms.- Chapter 3: Smart Cities: Concepts and Technologies.- Chapter 4: Cloud Computing for UAV Swarms.- Chapter 5: Cybersecurity in UAV Swarm Operations.- Chapter 6: Machine Learning Applications in UAV Swarms.- Chapter 7: Surveillance and Monitoring in Smart Cities.- Chapter 8: Urban Planning and Infrastructure Management.- Chapter 9: Public Perception and Acceptance.- Chapter 10: Infrastructure Resilience and Disaster Management.- Chapter 11: International Perspectives on UAV Swarms.- Chapter 12: Real-world Deployments of UAV Swarms.- Chapter 13: Integration of IoT Devices with UAV Swarms.- Chapter 14: Smart Infrastructure for IoT and UAV Swarms.- Chapter 15: Economic Analysis of IoT and UAV Swarm Integration.- Chapter 16: Edge Computing for UAV Swarm Operations.- Chapter 17: Blockchain Applications in UAV Swarm Security.- Chapter 18: 5G Integration for Enhanced UAV Swarm Connectivity.- Chapter 19: Augmented Reality (AR) and Virtual Reality (VR) for UAV Swarm Visualization.- Chapter 20: Innovations and Future Directions in UAV Swarm for Protecting Smart Cities.
£46.74
