Robotics Books

Book SynopsisA basic problem in computer vision is to understand the structure of a real world scene given several images of it. Techniques for solving this problem are taken from projective geometry and photogrammetry. Here, the authors cover the geometric principles and their algebraic representation in terms of camera projection matrices, the fundamental matrix and the trifocal tensor. The theory and methods of computation of these entities are discussed with real examples, as is their use in the reconstruction of scenes from multiple images. The new edition features an extended introduction covering the key ideas in the book (which itself has been updated with additional examples and appendices) and significant new results which have appeared since the first edition. Comprehensive background material is provided, so readers familiar with linear algebra and basic numerical methods can understand the projective geometry and estimation algorithms presented, and implement the algorithms directly frTrade Review'I am very positive about this book. The authors have succeeded very well in describing the main techniques in mainstream multiple view geometry, both classical and modern, in a clear and consistent way.' Computing Reviews'… a book which is timely, extremely thorough and commendably clear … Overall, the approach is masterly … The authors have managed to present the very essence of the subject in a way which the most subtle ideas seem natural and straightforward. I have never seen such a clear exploration of the geometry of vision. I would wholeheartedly recommend this book. It deserves to be in the library of every serious researcher in the field of computer vision.' Journal of Robotica'The new edition features an extended introduction covering the key ideas in the book (which itself have been updated with additional examples and appendices) and significant new results which have appeared since the first edition. Comprehensive background material is provided, so readers familiar with linear algebra and basic numerical methods can understand the projective geometry and estimation algorithms presented, and implement the algorithms directly from the book.' Zentralblatt MATHTable of Contents1. Introduction - a tour of multiple view geometry; Part 0. The Background: Projective Geometry, Transformations and Estimation: 2. Projective geometry and transformations of 2D; 3. Projective geometry and transformations of 3D; 4. Estimation - 2D projective transforms; 5. Algorithm evaluation and error analysis; Part I. Camera Geometry and Single View Geometry: 6. Camera models; 7. Computation of the camera matrix; 8. More single view geometry; Part II. Two-View Geometry: 9. Epipolar geometry and the fundamental matrix; 10. 3D reconstruction of cameras and structure; 11. Computation of the fundamental matrix F; 12. Structure computation; 13. Scene planes and homographies; 14. Affine epipolar geometry; Part III. Three-View Geometry: 15. The trifocal tensor; 16. Computation of the trifocal tensor T; Part IV. N -View Geometry: 17. N-linearities and multiple view tensors; 18. N-view computational methods; 19. Auto-calibration; 20. Duality; 21. Chirality; 22. Degenerate configurations; Part V. Appendices: Appendix 1. Tensor notation; Appendix 2. Gaussian (normal) and chi-squared distributions; Appendix 3. Parameter estimation. Appendix 4. Matrix properties and decompositions; Appendix 5. Least-squares minimization; Appendix 6. Iterative Estimation Methods; Appendix 7. Some special plane projective transformations; Bibliography; Index.

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Book SynopsisLiving with Robots recounts a foundational shift in robotics, from artificial intelligence to artificial empathy, and foreshadows an inflection point in human evolution. As robots engage with people in socially meaningful ways, social robotics probes the nature of the human emotions that social robots are designed to emulate.Trade ReviewOffers insight into problems raised by advances in robotics and artificial intelligence that will be faced by future societies. Throughout the book, the authors provide a conceptual framework for thinking about possible scenarios of human–robot interactions, most extensively with regard to our relationships with social robots… Living with Robots will meet various expectations, uniting the intellectual depth of a carefully documented academic treatise with the pleasure of a casual page-turner. Those in search of cultural erudition are provided with myriad references to books and movies, and those with a taste for technical novelty are treated to fascinating descriptions of the most hi-tech social robots. -- Paula Quinon * Science *A thoughtful and engaging discussion about an emerging area in applied ethics—social robotics… A timely and well-written volume that addresses many contemporary and future moral questions regarding how we treat artificial intelligence. -- William Simkulet * Library Journal *A very substantial philosophical study. * Philosophie Magazine *One should not lose sight of the prospective and speculative aspect of the research and ideas of Dumouchel and Damiano. But their work is nevertheless remarkably profound and intelligent, and it provides us, as do all serious inquiries into robotics, with a better understanding of ourselves, especially the social aspect of our minds. Even if one might doubt that social robots could ever decipher the incredible complexity of our feelings and adapt to them, this project nevertheless represents a fascinating step, less in robotics itself than in the quest for the human mind to understand itself. * Le Temps *Living with Robots is a convincing reflection on the increasing presence of robots in society. Designed to operate in an environment shaped and occupied by humans, robots are the new actors in a technical, social, and cultural transformation. The book offers a distinctive and fruitful approach to social robotics through different theoretical frameworks, analyzing the implications of interactions between humans and robots, between humans via robots, and between robots themselves. -- Zaven Paré, Rio de Janeiro State UniversityLiving with Robots is a timely and fascinating examination of social robots that exist in the real world, have bodies, and interact with human beings. While addressing the practical functions of social robots, at its heart the book is deeply philosophical. The authors invite us to reflect on the nature of human beings, mind, and sociability, as well as the human–robot dynamics of emotional relationships. This gives rise to novel and important engagement with moral and political questions, from quality of life to military applications. -- Takanori Shibata, National Institute of Advanced Industrial Science and Technology[Dumouchel and Damiano’s] book takes us on a detailed tour of the philosophy of artificial intelligence (AI)—especially as it applies to robots intended to build social relationships with humanity. This is a work of serious scholarship, with arguments about identity, authority, autonomy and what is termed ‘artificial empathy’ presented with reference to a range of example systems. Kant, Descartes, Hobbes and other philosophical heavyweights get the exposure you might expect, but when set alongside the views of such disparate players as psychologist Jean Piaget and science-fiction writer Algis Budrys the analysis offers considerable breadth…If we are to build a robust, appropriate ethical structure around the next generation of technical development—some combination of deep learning, artificial intelligence, robotics and artificial empathy—we need to understand that managing the impact of these technologies is far too important to be left to those who are enthusiastically engaged in producing them. This book is both a comprehensive, engaging review of philosophical thought and a warning to anyone who thinks that the integration of robotics into our society is about technology alone. -- John Gilbey * Times Higher Education *

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Book SynopsisTrade Review"Co-Winner of the AIP Science Communication Book Award, American Institute of Physics""Longlisted for the Young Adult Science Book Award, AAAS/Subaru SB&F Prize for Excellence in Science Books""Finalist for the AAAS/Subaru SB&F Prizes for Excellence in Science Books, Young Adult Science Books""One of Inverse's Best Science Books of 2018"

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Book SynopsisTHE PERFECT INTRODUCTION TO AI FROM THE PRESENTER OF THE 2023 ROYAL INSTITUTION CHRISTMAS LECTURE''I propose to consider the question, ''Can machines think?'' Alan Turing (1950)Part of the ALL-NEW Ladybird Expert series.This book is for everyone living in the age of Artificial Intelligence. And this is an accessible and authoritative introduction to one of the most important conversations of our time . . . Written by computer scientist Michael Wooldridge, Artificial Intelligence chronicles the development of intelligent machines, from Turing''s dream of machines that think, to today''s digital assistants like Siri and Alexa. AI is not something that awaits us in the future. Inside you''ll learn how we have come to rely on embedded AI software and what a world of ubiquitous AI might look like.What''s inside?- The British mathematician Alan Turing- Can machines ''understand''?<Trade ReviewThe artwork is gloriously retro, echoing the original Ladybird house style but containing completely up to date information. * Shiny New Books *

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Book SynopsisKai-Fu Lee (Author) Kai-Fu Lee is the CEO of Sinovation Ventures and New York Times bestselling author of AI Superpowers. Lee was formerly the president of Google China and a senior executive at Microsoft, SGI, and Apple. Co-chair of the Artificial Intelligence Council at the World Economic Forum, he has a bachelor's degree from Columbia and a PhD from Carnegie Mellon. Lee's numerous honors include being named to the Time 100 and Wired 25 Icons lists.Chen Qiufan (Author) Chen Qiufan (aka Stanley Chan) is an award-winning author, translator, creative producer, and curator. He is the president of the World Chinese Science Fiction Association. His works include Waste Tide, Future Diseases, and The Algorithm for Life. The founder of Thema Mundi, a content development studio, he lives in Beijing and Shanghai.

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Book SynopsisThis volume includes a timeline of important events, a glossary of terms, descriptions and statistics of robot labs and companies around the world, and a helpful bibliography of primary and secondary sources for further research.Trade ReviewConcise and direct to the point, Nocks' technography on the robot offers a rich overview of the systems we understand as robotic. It summarizes the 30-some-year-long history of a plethora of ideas, experiments, and implementations that have found their places in our everyday lives. Choice What distinguishes this book from others is its attempt to cover the long history of robots, as well as to take the time to explain how many of the technologies actually work. -- Peter Asaro IsisTable of ContentsAcknowledgmentsIntroductionTimelinePart I: Ancestors1. Between Ritual, Myth, and Machine: Robot Ancestors2. Automata to AutomationPart II: The Early Years3. Into the Factory: The First Robots4. Smarter Machines: Artificial Intelligence and RoboticsPart III: Growth of the Field5. Getting Around: Perception, Locomotion, and Power6. Robots among Us: The Latest DevelopmentsConclusionGlossary of TermsFurther ReadingIndex

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Book SynopsisExamines real-world implementations of service automation technologies using Robotic Process Automation and Cognitive Automation tools. Using case studies, this newest, detailed research finds that RPA adoptions are accelerating, maturing, & scaling in global enterprise. It covers multiple industries, applications, and shared services.

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Book SynopsisRobotic Process Automation will continue its exponential growth over the next five years. This book brings a new focus on RPA's strategic potential: the innovations made possible and how to deliver through effective sourcing stakeholder-buy-in, governance, change management, and capability development practices.Table of ContentsChapter 1: Robotic Process Automation: The Diffusion of Innovation Challenge Chapter 2: Becoming Strategic with RPA Chapter 3: Start Right: RPA Sourcing, Platform and Total Value Chapter 4: Institutionalise Fast: Gaining Stakeholder Buy-In and Governance Chapter 5: Institutionalise Fast: Change Management and Capability Development Chapter 6: On The Maturity Path: Institutionalise and Innovate Chapter 7: In Their Own Words: Manufacturing, Retail and Telecommunications Chapter 8: In Their Own Words: Financial, Insight, Health and Business Services

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Book SynopsisArtificial intelligence (AI) is increasingly impacting many aspects of peopleâs lives across the globe, from relatively mundane technology to more advanced digital systems that can make their own decisions. While AI has great potential, it also holds great peril depending on how it is designed and used. AI for Diversity questions how AI technology can lead to inclusion or exclusion for diverse groups in society. The way data is selected, trained, used, and embedded into societies can have unfortunate consequences unless we critically investigate the dangers of systems left unchecked, and can lead to misogynistic, homophobic, racist, ageist, transphobic, or ableist outcomes. This book encourages the reader to take a step back to see how AI is impacting diverse groups of people and how diversity-awareness strategies can impact AI.Trade Review"The book is written in a really approachable way for non-specialists and will engage introductory and interdisciplinary audiences. The sections on gender and queering AI are particularly strong, and the book is a highly worthy and important contribution for those chapters alone." --Ashley Shew, Associate Professor, Virginia TechTable of Contents1.Opening the Black Box of AI. 2. Gendered AI: performativity, expectations, and sexism. 3. Queering AI: gender expression, identity, and binaries. 4. AI and Race: recognition, bias, and systemic issues. 5. Bodies and AI: Health, ageing, and disabilities. 6. AI and Class: socioeconomic issues reproduced by technology. 7. Intersectionality and Responsible AI.

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Book SynopsisArtificial intelligence (AI) is increasingly impacting many aspects of people's lives across the globe, from relatively mundane technology to more advanced digital systems that can make their own decisions. While AI has great potential, it also holds great peril depending on how it is designed and used. AI for Diversity questions how AI technology can lead to inclusion or exclusion for diverse groups in society. The way data is selected, trained, used, and embedded into societies can have unfortunate consequences unless we critically investigate the dangers of systems left unchecked, and can lead to misogynistic, homophobic, racist, ageist, transphobic, or ableist outcomes. This book encourages the reader to take a step back to see how AI is impacting diverse groups of people and how diversity-awareness strategies can impact AI.Trade Review"The book is written in a really approachable way for non-specialists and will engage introductory and interdisciplinary audiences. The sections on gender and queering AI are particularly strong, and the book is a highly worthy and important contribution for those chapters alone." --Ashley Shew, Associate Professor, Virginia TechTable of Contents1.Opening the Black Box of AI. 2. Gendered AI: performativity, expectations, and sexism. 3. Queering AI: gender expression, identity, and binaries. 4. AI and Race: recognition, bias, and systemic issues. 5. Bodies and AI: Health, ageing, and disabilities. 6. AI and Class: socioeconomic issues reproduced by technology. 7. Intersectionality and Responsible AI.

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Book SynopsisSince prehistoric times, humans have invented ways to simplify daily activities to improve productivity. The most recent milestone in this journey is robotic process automation (RPA), helping to build software robots that can be leveraged to automate mundane and repetitive tasks that can be labor-intensive and prone to errors. In recent years, RPA has been integrated with emerging artificial intelligence (AI) and machine learning (ML) technologies to create what is referred to as intelligent automation (IA), emulating human actions and decision-making abilities. This book addresses the critical questions about the rise, usage, and future of IA practices.This book is structured by general personas considered as its primary target audience, ranging from: Early-stage practitioners seeking to learn effective management of IA programs Established IA practitioners seeking to drive maturity and scale Business leaders seeking to understand how to drive busiTrade ReviewTestimonials "Intelligent Automation has emerged as a critical discipline for businesses seeking to improve operational efficiency and reduce toil. Co-authored by industry and academic experts, this book promises to offer practical guidance and valuable insights rooted in real-world experience and cutting-edge research. It covers topics such as citizen-led development initiatives, the strategic use of automation platforms, and the role of AI and ML, including the latest Generative AI technologies. Additionally, it provides actionable advice on aligning automation initiatives with organizational culture and business objectives. This book is a valuable resource for anyone aspiring to become a leader in the field of Intelligent Automation." Rama Akkiraju, VP, Enterprise Automation and AI, NVIDIA "With a profound historical understanding and unparalleled insight into AI and intelligent automation, Shail Khiyara is a true thought leader. The chapters contributed by Shail in this book offer a masterful blend of in-depth knowledge, historical context, and forward-thinking insight. As a speaker, Shail is engaging and enlightening, transforming complex concepts into relatable narratives." Darren Atkins, CIO, The Royal Free London NHS (UK National Health Service) "With automation being such a critical and transformative component of the future of business, this book could not have come at a better time. There's a fundamental shortage of talent of those who deeply understand automation capabilities and how to appropriately apply them to business solutions. This book is a tremendous resource for anyone who is looking to upskill, reskill, or simply learn more about intelligent automation." Wendy Batchelder, SVP & Chief Data Officer, Salesforce "I’ve been in the intelligent automation space for almost 6 years and have had the opportunity to work with many of the Fortune 500. We’ve partnered with them to operationalize large scale intelligent automation programs that deliver hard dollars back to their balance sheet and transformed their business processes for the future of work. The release of this book is very timely, many organizations struggle with successfully scaling their IA programs. With the acceleration of AI, this will only become more complex and organizations who have an automation first mindset will set themselves apart from their competition. This is why bridging the gap between business and academia is crucial in ensuring the future talent of work supports this demand." Emmanuel R. Galan, Regional Vice President – MEU West, UiPath "This book is a must-read for EDUCATORS AND EXECUTIVES ALIKE who have an interest in learning more about Automation and how it will affect businesses and the global economy. There is no doubt that RPA and Intelligent Automation have gathered pace and steam over the last few years, and this book captures the opportunity from a practical perspective. The contributors to this book have real firsthand experience at implementation and have shared their candid journeys and experiences. I hope you enjoy this as much as I did." Ray Grady, former CEO Conexiom "Companies today all know they have to automate. They have to improve cost measurement, speed, productivity, and go-to-market strategies – while freeing employees from mundane, repetitive tasks. It’s all about combining the best of human creativity and the power of digital technology. Embrace it… as it’s going to happen, and no better book to tell you how!" Adrian Jones, CEO and Co-Founder, personar.ai "The subject matter, Robotic Process Automation, and Intelligent Automation, of this book is very timely. The authors provide a very readable book for both practitioners and academicians. The chapters are broken down such that one could choose a specific chapter that is more applicable to one’s area of interest. The authors present numerous topics that organizations can implement to remain competitive. This book has something to offer for everyone." Dr. Gerald Kohers, Department Chair - Management, Marketing, and Information Systems, Sam Houston State University "In my Celonis experience working with Bobby Jutley on Process Mining opportunities at HP, I have observed that Bobby is a highly effective change agent in digital transformation and Automation for the Company. He is quick to identify and promote opportunities, and his strong ability to collaborate across IT and the business sets him apart from most people in the business process automation space. His attention to detail and sense of urgency is key to transforming insights to value for HP." Susan Lucero, Global Account Manager, Celonis "With our IA journey, we learned it is important to integrate process discovery, mining, and automation to solve the right problem. Technology is becoming more simpler (with little or no coding), which is so important to have robust planning: from business drivers to governance strategy, in order to achieve the organization’s digital transformation outcomes. This book bridges theory with real examples to help practitioners plan their organization’s IA strategy." Emilie Ly, Senior Director, BPM & RPA, VMware "Intelligent automation, and especially Robotic Process Automation, requires building a bridge between business needs and the application of technology and academic thinking to solve tom orrow's challenges today. This book provides a clear and concise view of how to learn and adopt Intelligent Automation and expands our vision of how this new industrial revolution is already impacting our schools and businesses. The success of any company is always marked by creating competitive advantages. Intelligent automation provides a gateway to create value within our community, customer base, and future workforce." Antonio Marin - CIO, USMed-Equip, LLC. "Gigaforce clients were skeptical about implementing RPA in their Subrogation and Recovery department, but it has exceeded their expectations. Implementing intelligent automation for business processes has been a game-changer. We have saved time, reduced errors and costs, and improved our client’s overall efficiency. Our client team members can now focus on more strategic tasks requiring human expertise in recovery and subrogation. This book presents how to establish, scale, and manage intelligent automation practices. " Rajeev Rawat, Co-Founder and CPO, Gigaforce Inc. "The authors do an awesome job of describing in this book how Intelligent Automation is the next evolutionary step for achieving sustainable competitive advantage! Intelligent Automation integrates Robotic Process Automation (RPA), Artificial Intelligence (AI) and Machine Learning (ML) by automating business workflows to advance business processes. This book is a fantastic reference for academics, students, and researchers, but it provides an even stronger guide for the practitioner trying to achieve and sustain a competitive advantage in today’s global automated business world." Dr. Gary L Stading, Professor of Supply Chain Management, Texas A&M University - Texarkana "Bobby Jutley brings his expertise and real-world experience to light as he succinctly summarizes the technological and organizational aspects of Process Discovery while highlighting the fact that Process Discovery excellence has rapidly become a strategic weapon and critical success factor in prioritizing digital transformation opportunities and creating competitive advantage by driving quality, speed, and agility into every aspect of the business." Ramey Stevens, Global Account Executive, UiPath "RPA has been one of the most critical capabilities in his technology toolbox. Paul says that without RPA, "most CIOs and business leaders simply would not have been able to advance digital transformation at the pace necessitated. Digital transformation requires a comprehensive suite of tools and capabilities, and RPA fits in perfectly." Paul Walsh, SVP of Digital Technology and Operations at Sony Interactive Entertainment Testimonials "Intelligent Automation has emerged as a critical discipline for businesses seeking to improve operational efficiency and reduce toil. Co-authored by industry and academic experts, this book promises to offer practical guidance and valuable insights rooted in real-world experience and cutting-edge research. It covers topics such as citizen-led development initiatives, the strategic use of automation platforms, and the role of AI and ML, including the latest Generative AI technologies. Additionally, it provides actionable advice on aligning automation initiatives with organizational culture and business objectives. This book is a valuable resource for anyone aspiring to become a leader in the field of Intelligent Automation." Rama Akkiraju, VP, Enterprise Automation and AI, NVIDIA "With a profound historical understanding and unparalleled insight into AI and intelligent automation, Shail Khiyara is a true thought leader. The chapters contributed by Shail in this book offer a masterful blend of in-depth knowledge, historical context, and forward-thinking insight. As a speaker, Shail is engaging and enlightening, transforming complex concepts into relatable narratives." Darren Atkins, CIO, The Royal Free London NHS (UK National Health Service) "With automation being such a critical and transformative component of the future of business, this book could not have come at a better time. There's a fundamental shortage of talent of those who deeply understand automation capabilities and how to appropriately apply them to business solutions. This book is a tremendous resource for anyone who is looking to upskill, reskill, or simply learn more about intelligent automation." Wendy Batchelder, SVP & Chief Data Officer, Salesforce "I’ve been in the intelligent automation space for almost 6 years and have had the opportunity to work with many of the Fortune 500. We’ve partnered with them to operationalize large scale intelligent automation programs that deliver hard dollars back to their balance sheet and transformed their business processes for the future of work. The release of this book is very timely, many organizations struggle with successfully scaling their IA programs. With the acceleration of AI, this will only become more complex and organizations who have an automation first mindset will set themselves apart from their competition. This is why bridging the gap between business and academia is crucial in ensuring the future talent of work supports this demand." Emmanuel R. Galan, Regional Vice President – MEU West, UiPath "This book is a must-read for EDUCATORS AND EXECUTIVES ALIKE who have an interest in learning more about Automation and how it will affect businesses and the global economy. There is no doubt that RPA and Intelligent Automation have gathered pace and steam over the last few years, and this book captures the opportunity from a practical perspective. The contributors to this book have real firsthand experience at implementation and have shared their candid journeys and experiences. I hope you enjoy this as much as I did." Ray Grady, former CEO Conexiom "Companies today all know they have to automate. They have to improve cost measurement, speed, productivity, and go-to-market strategies – while freeing employees from mundane, repetitive tasks. It’s all about combining the best of human creativity and the power of digital technology. Embrace it… as it’s going to happen, and no better book to tell you how!" Adrian Jones, CEO and Co-Founder, personar.ai "The subject matter, Robotic Process Automation, and Intelligent Automation, of this book is very timely. The authors provide a very readable book for both practitioners and academicians. The chapters are broken down such that one could choose a specific chapter that is more applicable to one’s area of interest. The authors present numerous topics that organizations can implement to remain competitive. This book has something to offer for everyone." Dr. Gerald Kohers, Department Chair - Management, Marketing, and Information Systems, Sam Houston State University "In my Celonis experience working with Bobby Jutley on Process Mining opportunities at HP, I have observed that Bobby is a highly effective change agent in digital transformation and Automation for the Company. He is quick to identify and promote opportunities, and his strong ability to collaborate across IT and the business sets him apart from most people in the business process automation space. His attention to detail and sense of urgency is key to transforming insights to value for HP." Susan Lucero, Global Account Manager, Celonis "With our IA journey, we learned it is important to integrate process discovery, mining, and automation to solve the right problem. Technology is becoming more simpler (with little or no coding), which is so important to have robust planning: from business drivers to governance strategy, in order to achieve the organization’s digital transformation outcomes. This book bridges theory with real examples to help practitioners plan their organization’s IA strategy." Emilie Ly, Senior Director, BPM & RPA, VMware "Intelligent automation, and especially Robotic Process Automation, requires building a bridge between business needs and the application of technology and academic thinking to solve tom orrow's challenges today. This book provides a clear and concise view of how to learn and adopt Intelligent Automation and expands our vision of how this new industrial revolution is already impacting our schools and businesses. The success of any company is always marked by creating competitive advantages. Intelligent automation provides a gateway to create value within our community, customer base, and future workforce." Antonio Marin - CIO, USMed-Equip, LLC. "Gigaforce clients were skeptical about implementing RPA in their Subrogation and Recovery department, but it has exceeded their expectations. Implementing intelligent automation for business processes has been a game-changer. We have saved time, reduced errors and costs, and improved our client’s overall efficiency. Our client team members can now focus on more strategic tasks requiring human expertise in recovery and subrogation. This book presents how to establish, scale, and manage intelligent automation practices. " Rajeev Rawat, Co-Founder and CPO, Gigaforce Inc. "The authors do an awesome job of describing in this book how Intelligent Automation is the next evolutionary step for achieving sustainable competitive advantage! Intelligent Automation integrates Robotic Process Automation (RPA), Artificial Intelligence (AI) and Machine Learning (ML) by automating business workflows to advance business processes. This book is a fantastic reference for academics, students, and researchers, but it provides an even stronger guide for the practitioner trying to achieve and sustain a competitive advantage in today’s global automated business world." Dr. Gary L Stading, Professor of Supply Chain Management, Texas A&M University - Texarkana "Bobby Jutley brings his expertise and real-world experience to light as he succinctly summarizes the technological and organizational aspects of Process Discovery while highlighting the fact that Process Discovery excellence has rapidly become a strategic weapon and critical success factor in prioritizing digital transformation opportunities and creating competitive advantage by driving quality, speed, and agility into every aspect of the business." Ramey Stevens, Global Account Executive, UiPath "RPA has been one of the most critical capabilities in his technology toolbox. Paul says that without RPA, "most CIOs and business leaders simply would not have been able to advance digital transformation at the pace necessitated. Digital transformation requires a comprehensive suite of tools and capabilities, and RPA fits in perfectly." Paul Walsh, SVP of Digital Technology and Operations at Sony Interactive Entertainment Table of ContentsAuthor Testimonials. Foreword. Acknowledgements. Editors. Contributors. Introduction. Chapter 1 Introduction: The RPA Big Bang. Chapter 2 The Value of Business Process Discovery. Chapter 3 Future of Work: Automation and Implications for Academia and Business. Chapter 4 Intelligent Automation Accessibility and Applicability. Chapter 5 Technology Only Does Not Yield Success: Humble Culture Drives Success in IA. Chapter 6 Intelligent Automation Implementation in Business. Chapter 7 Challenges Scaling IA – The Race to IA Takes Off. Chapter 8 Intelligent Automation Unleashes Diversity and New Ways of Learning. Chapter 9 Automation Is Here to Stay. Chapter 10 Periscope into the Future. ACRONYMS. REFERENCES. INDEX.

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Book SynopsisThis book enables readers to interrogate the technical, rhetorical, theoretical, and socio-ethical challenges and opportunities involved in the development and adoption of augmentation technologies and artificial intelligence. The core of our human experience and identity is forever affected by the rise of augmentation technologies that enhance human capability or productivity. These technologies can add cognitive, physical, sensory, and emotional enhancements to the body or environment. This book demonstrates the benefits, risks, and relevance of emerging augmentation technologies such as braincomputer interaction devices for cognitive enhancement; robots marketed to improve human social interaction; wearables that extend human senses, augment creative abilities, or overcome physical limitations; implantables that amplify intelligence or memory; and devices, AI generators, or algorithms for emotional augmentation. It allows scholars and professionals to understand the impactTrade Review"Augmentation Technologies and Artificial Intelligence in Technical Communication: Designing Ethical Futures is a must-read for every technical communication professional who anticipates working alongside or communicating about augmentation technologies and artificial intelligence. Drawing on their extensive research and project experience with these technologies, co-authors Ann Hill Duin and Isabel Pedersen guide researchers, instructors and practicing professionals in the field through this emerging technology ecosystem, raise awareness of the affordances, benefits, and ethical dilemmas posed by these technologies, and explore specific applications of augmentation technologies and AI in the work of technical communicators, in teaching, and in influencing the future direction of the field. This is an ideal book for a textbook or for a study group on these technologies." — Saul Carliner, Concordia University, Canada."With this book, Duin and Pedersen provide an essential resource for those who work and study in the many areas of augmentation technology (AT) and artificial intelligence (AI). They bring technical & professional communication (TPC) firmly into this field. The authors have organized the rich landscape of resources in AT and AI to date—taxonomies, standards, policies, definitions, examples, and applications. They include ethical elements that are also critical to that landscape—human rights, accountability, security, safety, transparency, and explainability. In other words, this book is a repository of resources and a touchstone for future work in AT and AI . . . for TPC professionals as well as others working in the field." — Dr. Pam Estes Brewer, Mercer University, USA.Table of ContentsSection 1: Understand (rhetorics of) Augmentation Technologies 1. Augmentation Technologies and AI – An Ethical Design Futures Framework 2. Dimensions, Scope, and Classification for Augmentation Technologies 3. Agency, Affordances, and Enculturation of Augmentation Technologies Section 2: Build Literacies 4. Competencies, Design Considerations, and New Roles for Work with Augmentation Technologies and AI 5. Socio-ethical Consequences and Design Futures Section 3: Design Ethical Futures 6. Pedagogical Direction for Cultivating Augmentation Technology and AI Literacies 7. Professional Direction for Human-AI Interaction 8. Strategic and Tactical Approaches to Designing Ethical Futures for Augmentation Technologies and AI

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Book SynopsisTelepresence: Actual and Virtual explores the history of telepresence from the 1948 developments of masterslave manipulation, through to current telepresence technology used in space, undersea, surgery and telemedicine, operations in nuclear and other hazardous environments, policing and surveillance, agriculture, construction, mining, warehousing, education, amusement, social media, and other contexts. It also describes the various operator hand and body controls and the corresponding telerobotic actuation of robotic hands, arms, and locomotion. This book reviews the sensing and control technology, its history and likely future, and discusses the many research and policy issues that are raised. The book also takes up key questions relating to social and ethical issues, given that a person's mechanical reach is becoming unlimited, enabling one to perform mischievous or harmful acts without identification, and what that portends for future developments in telepresence, includiTable of Contents1. EARLY HISTORY OF ROBOTIC TELEPRESENCE AND VIRTUAL REALITY. 2. ELEMENTS OF THE TECHNOLOGY. 3. WHAT IS TELEPRESENCE? WHAT IS REALITY?. 4. APPLICATIONS. 5. CHALLENGES FOR ROBOTIC TELEPRESENCE AND VIRTUAL REALITY. APPENDIX 1. RESPONSES TO POLLING. APPENDIX 2. BIBLIOGRAPHY.

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Book SynopsisThis handbook covers smart manufacturing development, processing, modifications, and applications. It provides a complete understanding of the recent advancements in smart manufacturing through its various enabling manufacturing technologies, and how industries and organizations can find the needed information on how to implement smart manufacturing towards sustainability of manufacturing practices.Handbook of Smart Manufacturing: Forecasting the Future of Industry 4.0 covers all related advances in manufacturing such as the integration of reverse engineering with smart manufacturing, industrial internet of things (IIoT), and artificial intelligence approaches, including Artificial Neural Network, Markov Decision Process, and Heuristics Methodology. It offers smart manufacturing methods like 4D printing, micro-manufacturing, and processing of smart materials to assist the biomedical industries in the fabrication of human prostheses and implants. The handbook goes on to discusTable of Contents1. Smart Manufacturing and Industry 4.0: State-of-the-Art Review. 2. Study And Analysis Of Iot (Industry 4.0): A Review. 3. Recent advances in Cybersecurity in Smart Manufacturing Systems in the Industry. 4. Integration of Circular Supply Chain and Industry 4.0 to Enhance Smart Manufacturing Adoption. 5. Artificial Intelligence with Additive Manufacturing. 6. Robotic additive manufacturing vision towards smart manufacturing and envisage the trend with patent landscape. 7. Smart Materials for Smart Manufacturing. 8. Smart Biomaterials in Industry and Healthcare. 9. Ferroelectric polymer composites and evaluation of their properties. 10. 4D print today and envisaging the trend with patent landscape for versatile applications. 11. Investigating the work generation potential of SMA wire actuator. 12. Troubleshooting on the sample preparation during Fused Deposition Modelling. 13. Hybrid Additive Manufacturing Technologies. 14. Smart Manufacturing Using 4d Printing. 15. Developments in 4D Printing and Associated Smart Materials. 16. Role of smart manufacturing systems in improving electric vehicle production. 17. Safety management with application of Internet of Things, Artificial Intelligence and Machine Learning for Industry 4.0 environment.

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Book SynopsisBy proposing and forming a mobile manipulator for modern multi-floor buildings, A Robotic Framework for the Mobile Manipulator: Theory and Application helps readers visualize an end-to-end workflow for making a robot system work in a targeted environment. From a product-oriented viewpoint, this book is considered as a bridge from theories to real products, in which robotic software modules and the robotic system integration are mainly concerned. In the end, readers will have an overview of how to build and integrate various single robotic modules to execute a list of designed tasks in the real world, as well as how to make a robot system work independently, without human interventions. With references and execution guidelines provided at the end of each chapter, the book will be a useful tool for developers and researchers looking to expand their knowledge about the robotics and the robotic software.

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Book SynopsisTwo of the biggest design problems in Artificial Intelligenceare how to build robots that behave in line with human values and how to stop them ever going rogue. One under-explored solution to these alignment and control problems might be to examine how these are already addressed in the design of humans.Looking closely at the human blueprint, it contains a suite of capacities that are so clumsy they have generally been kept away from AI. It was assumed that robots with features like emotions and intuition, that made mistakes and looked for meaning and purpose, would not workas well as robots without this kind of code. But on considering why all these irrational properties are there, it seems that they emerge from the source code of soul. Because it is actually this junk' code that makes us human and promotes the kind of reciprocal altruism that keeps humanity alive and thriving.Robot Souls looks at developments in AI and reviews the emergence of ideas of consciTrade Review"Many people have a sense of unease about the direction in which AI is taking us. This is more than a worry about losing jobs or online content, although these are symptoms. This is a sense that something more fundamental is wrong—that the way programmers and designers understand ‘intelligence’ is itself awry.With her extraordinary ability to bridge the arts and sciences, Eve Poole not only diagnoses what is wrong, but offers an entirely novel suggestion about how to put it right. Rather than throwing up her hands in horror, Poole offers a way out of the nightmare: stop stripping out all that makes us most human—like emotions and mistakes—and put our ‘junk code’ into the programming. If it has been good enough for human survival, it is good enough for AI.Robot Souls is a brilliant book that wears its breadth of learning lightly and makes a complex subject seem simply. It is funny, readable, and important. It upends the fundamental presuppositions of AI and puts the enterprise on a new, more human, foundation."Linda Woodhead, F.D.Maurice Professor King’s College London, UK"In Robot Souls, Eve Poole advances what is a provocative—even heretical—idea: our AIs and robots not only can have souls; we need them to have souls. In developing this groundbreaking proposal, Poole not only provides a much-needed critical examination of human exceptionalism but uses this opportunity to develop an innovative conceptualization of soul as the messy but necessary “junk code” of consciousness. More than a report concerning the current and future state-of-the-art, this remarkable and thoroughly engaging book is a soul-searching meditation on the nature of the soul, the significance it has had for our own self-image as human beings, and the fact that we now are and must learn to be responsible for the souls of those artifacts that have been created in our image."David J. Gunkel, Northern Illinois University, USA"What does it mean that humans are endowed with souls? Could souls be the markers of our distinctiveness from intelligent machines, or might robots also acquire them? These questions are critical in the context of the ongoing artificial intelligence revolution, and Eve Poole's 'Robot Souls' engages them directly and skillfully at the interface between science and religion. Her 'junk code' proposal represents a bold and exciting hypothesis, making us rethink what we deem most important about being human."Marius Dorobantu, the Vrije Universiteit Amsterdam, the NetherlandsTable of Contents1. What is AI? 1.1. Is AI Conscious? 1.2. Robots 1.3. Inventing AI 1.4. Deep Learning 1.5. Reinforcement Learning 1.6. Bayesian AI 1.7. The Turing Test 2. How Should We Relate to AI? 2.1. How Should We Treat AI? 2.2. Regulation 2.3. Legal Status 2.4. Audit 2.5. Asimov 2.0 3. Will AI Replace Us? 3.1. Our Obsolescence Problem 3.2. The 12 Dooms 3.3. Distinctiveness 3.4 Materialism 3.5 Free Will and the Rule of Law 4. What Is Consciousness? 4.1. Mind 4.2. Consciousness 4.3. Qualia 5. How Do We Know? 5.1. How We Know Things 5.2. Thinking Styles 5.3 Types of Intelligence 6. The Soul 6.1. History of the Soul 6.2. Mapping Soul to Consciousness 7. Junk Code 7.1 Junk Code? 7.2. Emotions 7.3. Mistakes 7.4. Storytelling 7.5. Sixth Sense 7.6. Uncertainty 7.7. Free Will 7.8. Meaning 7.9. Community 8. Cultivating Soul 8.1. Cultivating Junk Code 8.2. Emotions 8.3. Mistakes 8.4. Storytelling 8.5. Sixth Sense 8.6. Uncertainty 8.7. Free Will 8.8. Meaning 9. Programming in Humanity 9.1. Why Bother? 9.2. Parenting 9.3. Gender 9.4 Coding Soul? 9.5. Emotions 9.6. Mistakes 9.7. Storytelling 9.8. Sixth Sense 9.9. Uncertainty 9.10. Free Will 9.11. Meaning 9.12. Robot Manifesto 10. Eucatastrophe 10.1. Changing Our Minds 10.2. Happily Ever After? Appendix. Glossary. References. Index.

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Book SynopsisAn Introduction to Universal Artificial Intelligence provides the formal underpinning of what it means for an agent to act intelligently in an unknown environment. First presented in Universal Algorithmic Intelligence (Hutter, 2000), UAI offers a framework in which virtually all AI problems can be formulated, and a theory of how to solve them. UAI unifies ideas from sequential decision theory, Bayesian inference, and algorithmic information theory to construct AIXI, an optimal reinforcement learning agent that learns to act optimally in unknown environments. AIXI is the theoretical gold standard for intelligent behavior.The book covers both the theoretical and practical aspects of UAI. Bayesian updating can be done efficiently with context tree weighting, and planning can be approximated by sampling with Monte Carlo tree search. It provides algorithms for the reader to implement, and experimental results to compare against. These algorithms are used to approxi

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Book SynopsisIn todayâs rapidly evolving industrial landscape, robotics has become essential for meeting the demands of large-scale production. Parallel robots, with their closed-loop kinematic structures, offer unmatched precision, rigidity, and load-bearing capabilities, making them indispensable for tasks requiring high accuracy and efficiency. This book explores the unique advantages of parallel robots, providing a comprehensive resource for engineers, researchers, and students interested in mastering their design, analysis, and control.Building on the success of its first edition, this second edition has been extensively restructured and updated to reflect over a decade of progress in robotics. Features expanded chapters on dynamics, new sections on simulation and calibration Detailed exploration of control techniques, ranging from introductory linear methods to advanced force control With nearly 45% updated references, the text ensures readers are equipped with cutting-edge knowledge. This book is both a comprehensive guide and a gateway to innovation, providing detailed insights into the design, simulation, calibration, and control of parallel robots. Whether you are a newcomer to robotics or an experienced professional, this text equips you with the knowledge to harness the full potential of parallel robots, helping you stay ahead in the dynamic field of industrial automation.

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Book SynopsisThe Cambridge Handbooks on Construction Robotics series focuses on the implementation of automation and robot technology to renew the construction industry. Robot-Oriented Design introduces the design, innovation and management methodologies that are key to the realization and implementation of the advanced concepts and technologies presented in the subsequent volumes.Table of Contents1. Advanced construction and building technology; 2. The structure of this volume; 3. The role of complementarity of products, organization, information, and machine technology; 4. Introduction of relevant terms, concepts, and technologies; 5. Complex products in other industries and relevance of fixed-site/ONM technology; 6. Synchronization of organization, building structure, and manufacturing technology by robot-oriented design; 7. Utilizing innovation science to develop and deploy automated/robotic systems in construction; 8. Competitive advantage by coadapting and taking products and manufacturing systems further.

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Book SynopsisEssentials of Machine Olfaction and Taste This book provides a valuable information source for olfaction and taste which includes a comprehensive and timely overview of the current state of knowledge of use for olfaction and taste machines Presents original, latest research in the field, with an emphasis on the recent development of human interfacingCovers the full range of artificial chemical senses including olfaction and taste, from basic through to advanced levelTimely project in that mobile robots, olfactory displays and odour recorders are currently under research, driven by commercial demandTable of ContentsPreface xi About the Contributors xiii 1 Introduction to Essentials of Machine Olfaction and Tastes 1Takamichi Nakamoto 2 Physiology of Chemical Sense and its Biosensor Application 3Ryohei Kanzaki, Kei Nakatani, Takeshi Sakurai, Nobuo Misawa and Hidefumi Mitsuno 2.1 Introduction 3 2.2 Olfaction and Taste of Insects 4 2.2.1 Olfaction 4 2.2.1.1 Anatomy of Olfaction 4 2.2.1.2 Signal Transduction of Odor Signals 6 2.2.1.3 Molecular Biology of Olfaction 7 2.2.2 Taste 8 2.2.2.1 Anatomy of Taste 8 2.2.2.2 Molecular Biology and Signal Transduction of Taste 9 2.3 Olfaction and Taste of Vertebrate 11 2.3.1 Olfaction 11 2.3.1.1 Anatomy of Olfaction 11 2.3.1.2 Transduction of Odor Signals 12 2.3.1.3 Molecular Biology of Olfaction 15 2.3.2 Taste 17 2.3.2.1 Anatomy of Taste 17 2.3.2.2 Transduction of Taste Signals 18 2.3.2.3 Molecular Biology of Taste 20 2.4 Cell‐Based Sensors and Receptor‐Based Sensors 21 2.4.1 Tissue‐Based Sensors 23 2.4.2 Cell‐Based Sensors 26 2.4.3 Receptor‐Based Sensors 30 2.4.3.1 Production of Odorant Receptors 34 2.4.3.2 Immobilization of Odorant Receptors 35 2.4.3.3 Measurement from Odorant Receptors 36 2.4.4 Summary of the Biosensors 41 2.5 Future Prospects 42 References 43 3 Large‐Scale Chemical Sensor Arrays for Machine Olfaction 49Mara Bernabei, Simone Pantalei and Krishna C. Persaud 3.1 Introduction 49 3.2 Overview of Artificial Olfactory Systems 50 3.3 Common Sensor Technologies Employed in Artificial Olfactory Systems 53 3.3.1 Metal‐Oxide Gas Sensors 53 3.3.2 Piezoelectric Sensors 54 3.3.3 Conducting Polymer Sensors 55 3.4 Typical Application of “Electronic Nose” Technologies 58 3.5 A Comparison between Artificial and the Biological Olfaction Systems 58 3.6 A Large‐Scale Sensor Array 59 3.6.1 Conducting Polymers 60 3.6.2 Sensor Interrogation Strategy 62 3.6.3 Sensor Substrate 64 3.7 Characterization of the Large‐Scale Sensor Array 68 3.7.1 Pure Analyte Study: Classification and Quantification Capability 69 3.7.2 Binary Mixture Study: Segmentation and Background Suppression Capability 75 3.7.3 Polymer Classes: Testing Broad and Overlapping Sensitivity, High Level of Redundancy 76 3.7.4 System Robustness and Long‐Term Stability 77 3.8 Conclusions 79 Acknowledgment80 References 80 4 Taste Sensor: Electronic Tongue with Global Selectivity 87Kiyoshi Toko, Yusuke Tahara, Masaaki Habara, Yoshikazu Kobayashi and Hidekazu Ikezaki 4.1 Introduction 87 4.2 Electronic Tongues 90 4.3 Taste Sensor 92 4.3.1 Introduction 92 4.3.2 Principle 93 4.3.3 Response Mechanism 93 4.3.4 Measurement Procedure 97 4.3.5 Sensor Design Techniques 98 4.3.6 Basic Characteristics 103 4.3.6.1 Threshold 106 4.3.6.2 Global Selectivity 106 4.3.6.3 High Correlation with Human Sensory Scores 108 4.3.6.4 Definition of Taste Information 109 4.3.6.5 Detection of Interactions between Taste Substances 110 4.3.7 Sample Preparation 111 4.3.8 Analysis 112 4.4 Taste Substances Adsorbed on the Membrane 116 4.5 Miniaturized Taste Sensor 117 4.6 Pungent Sensor 122 4.7 Application to Foods and Beverages 124 4.7.1 Introduction 124 4.7.2 Beer 124 4.7.3 Coffee 127 4.7.4 Meat 132 4.7.5 Combinatorial Optimization Technique for Ingredients and Qualities Using a GA 134 4.7.5.2 Ga 134 4.7.5.3 Constrained Nonlinear Optimization 137 4.7.6 For More Effective Use of “Taste Information” 137 4.7.6.1 Key Concept 138 4.7.6.2 Taste Attributes or Qualities become Understandable and Translatable When They Are Simplified 138 4.7.6.3 Simplification of Large Numbers of Molecules into a Couple of Taste Qualities Allows Mathematical Optimization 140 4.7.6.4 Summary 141 4.8 Application to Medicines 141 4.8.1 Introduction 141 4.8.2 Bitterness Evaluation of APIs and Suppression Effect of Formulations 141 4.8.3 Development of Bitterness Sensor for Pharmaceutical Formulations 143 4.8.3.1 Sensor Design 143 4.8.3.2 Prediction of Bitterness Intensity and Threshold 144 4.8.3.3 Applications to Orally Disintegrating Tablets 146 4.8.3.4 Response Mechanism to APIs 154 4.8.4 Evaluation of Poorly Water‐Soluble Drugs 156 4.9 Perspectives 160 References 163 5 Pattern Recognition 175Saverio De Vito, Matteo Falasconi and Matteo Pardo 5.1 Introduction 175 5.2 Application Frameworks and Their Challenges 176 5.2.1 Common Challenges 176 5.2.2 Static In‐Lab Applications 177 5.2.3 On‐Field Applications 178 5.3 Unsupervised Learning and Data Exploration 180 5.3.1 Feature Extraction: Static and Dynamic Characteristics 180 5.3.2 Exploratory Data Analysis 184 5.3.3 Cluster Analysis 189 5.4 Supervised Learning 190 5.4.1 Classification: Detection and Discrimination of Analytes and Mixtures of Volatiles 192 5.4.2 Regression: Machine Olfaction Quantification Problems and Solutions 196 5.4.3 Feature Selection 200 5.5 Advanced Topics 202 5.5.1 System Instability Compensation 202 5.5.2 Calibration Transfer 208 5.6 Conclusions 210 References 211 6 Using Chemical Sensors as “Noses” for Mobile Robots 219Hiroshi Ishida, Achim J. Lilienthal, Haruka Matsukura, Victor Hernandez Bennetts and Erik Schaffernicht 6.1 Introduction 219 6.2 Task Descriptions 220 6.2.1 Definitions of Tasks 220 6.2.2 Characteristics of Turbulent Chemical Plumes 222 6.3 Robots and Sensors 224 6.3.1 Sensors for Gas Detection 224 6.3.2 Airflow Sensing 225 6.3.3 Robot Platforms 226 6.4 Characterization of Environments 226 6.5 Case Studies 230 6.5.1 Chemical Trail Following 230 6.5.2 Chemotactic Search versus Anemotactic Approach 232 6.5.3 Attempts to Improve Gas Source Localization Robots 236 6.5.4 Flying, Swimming, and Burrowing Robots 238 6.5.5 Gas Distribution Mapping 239 6.6 Future Prospective 241 Acknowledgment242 References 242 7 Olfactory Display and Odor Recorder 247Takamichi Nakamoto 7.1 Introduction 247 7.2 Principle of Olfactory Display 247 7.2.1 Olfactory Display Device 248 7.2.2 Olfactory Display Related to Spatial Distribution of Odor 250 7.2.3 Temporal Intensity Change of Odor 251 7.2.3.1 Problem of Smell Persistence 251 7.2.3.2 Olfactory Display Using Inkjet Device 254 7.2.4 Multicomponent Olfactory Display 256 7.2.4.1 Mass Flow Controller 256 7.2.4.2 Automatic Sampler 256 7.2.4.3 Solenoid Valve 258 7.2.4.4 Micropumps and Surface Acoustic Wave Atomizer 260 7.2.5 Cross Modality Interaction 261 7.3 Application of Olfactory Display 263 7.3.1 Entertainment 263 7.3.2 Olfactory Art 265 7.3.3 Advertisement 266 7.3.4 Medical Field 266 7.4 Odor Recorder 267 7.4.1 Background of Odor Recorder 267 7.4.2 Principle of Odor Recorder 268 7.4.3 Mixture Quantification Method 271 7.5.1 Odor Approximation 274 7.5.2 MIMO Feedback Method 276 7.5.3 Method to Increase Number of Odor Components 278 7.5.3.1 SVD Method 278 7.5.3.2 Two‐Level Quantization Method 280 7.5.4 Dynamic Method 283 7.5.4.1 Real‐Time Reference Method 284 7.5.4.2 Concurrent Method 287 7.5.5 Mixture Quantification Using Huge Number of Odor Candidates 289 7.6 Exploration of Odor Components 292 7.6.1 Introduction of Odor Components 292 7.6.2 Procedure for Odor Approximation 293 7.6.3 Simulation of Odor Approximation 295 7.6.4 Experiment on Essential Oil Approximation 297 7.6.5 Comparison of Distance Measure 301 7.6.6 Improvement of Odor Approximation 303 7.7 Teleolfaction 305 7.7.1 Concept of Teleolfaction 305 7.7.2 Implementation of Teleolfaction System 306 7.7.3 Experiment on Teleolfaction 307 7.8 Summary 308 References 309 8 Summary and Future Perspectives 315Takamichi Nakamoto Index 317

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Book SynopsisA comprehensive review of the principles and dynamics of robotic systems Dynamics and Control of Robotic Systems offers a systematic and thorough theoretical background for the study of the dynamics and control of robotic systems. The authorsnoted experts in the fieldhighlight the underlying principles of dynamics and control that can be employed in a variety of contemporary applications. The book contains a detailed presentation of the precepts of robotics and provides methodologies that are relevant to realistic robotic systems. The robotic systems represented include wide range examples from classical industrial manipulators, humanoid robots to robotic surgical assistants, space vehicles, and computer controlled milling machines. The book puts the emphasis on the systematic application of the underlying principles and show how the computational and analytical tools such as MATLAB, Mathematica, and Maple enable students to focus on robotics' principles and theory. Dynamics and ConTable of ContentsPreface xiii Acknowledgment xv About the Companion Website xvii 1 Introduction 1 1.1 Motivation 1 1.2 Origins of Robotic Systems 5 1.3 General Structure of Robotic Systems 7 1.4 Robotic Manipulators 9 1.4.1 Typical Structure of Robotic Manipulators 9 1.4.2 Classification of Robotic Manipulators 11 1.4.2.1 Classification by Motion Characteristics 11 1.4.2.2 Classification by Degrees of Freedom 12 1.4.2.3 Classification by Driver Technology and Drive Power 12 1.4.2.4 Classification by Kinematic Structure 12 1.4.2.5 Classification by Workspace Geometry 14 1.4.3 Examples of Robotic Manipulators 14 1.4.3.1 Cartesian Robotic Manipulator 15 1.4.3.2 Cylindrical Robotic Manipulator 16 1.4.3.3 SCARA Robotic Manipulator 16 1.4.3.4 Spherical Robotic Manipulator 17 1.4.3.5 PUMA Robotic Manipulator 18 1.4.4 Spherical Wrist 18 1.4.5 Articulated Robot 20 1.5 Mobile Robotics 20 1.5.1 Humanoid Robots 20 1.5.2 Autonomous Ground Vehicles 22 1.5.3 Autonomous Air Vehicles 23 1.5.4 Autonomous Marine Vehicles 25 1.6 An Overview of Robotics Dynamics and Control Problems 26 1.6.1 Forward Kinematics 27 1.6.2 Inverse Kinematics 28 1.6.3 Forward Dynamics 28 1.6.4 Inverse Dynamics and Feedback Control 29 1.6.5 Dynamics and Control of Robotic Vehicles 30 1.7 Organization of the Book 31 1.8 Problems for Chapter 1 33 2 Fundamentals of Kinematics 35 2.1 Bases and Coordinate Systems 35 2.1.1 N-Tuples and M × N Arrays 35 2.1.2 Vectors, Bases and Frames 39 2.1.2.1 Vectors 40 2.1.2.2 Bases and Frames 41 2.2 Rotation Matrices 49 2.3 Parameterizations of Rotation Matrices 52 2.3.1 Single Axis Rotations 52 2.3.2 Cascades of Rotation Matrices 56 2.3.2.1 Cascade Rotations about Moving Axes 56 2.3.2.2 Cascade Rotations about Fixed Axes 57 2.3.3 Euler Angles 57 2.3.3.1 The 3-2-1 Yaw-Pitch-Roll Euler Angles 58 2.3.3.2 The 3-1-3 Precession-Nutation-Spin Euler Angles 62 2.3.4 Axis Angle Parameterization 65 2.4 Position, Velocity, and Acceleration 68 2.5 Angular Velocity and Angular Acceleration 77 2.5.1 Angular Velocity 77 2.5.2 Angular Acceleration 83 2.6 Theorems of Kinematics 84 2.6.1 Addition of Angular Velocities 84 2.6.2 Relative Velocity 87 2.6.3 Relative Acceleration 88 2.6.4 Common Coordinate Systems 91 2.6.4.1 Cartesian Coordinates 91 2.6.4.2 Cylindrical Coordinates 92 2.6.4.3 Spherical Coordinates 94 2.7 Problems for Chapter 2, Kinematics 96 2.7.1 Problems on N-tuples and M × N Arrays 96 2.7.2 Problems on Vectors, Bases, and Frames 97 2.7.3 Problems on Rotation Matrices 98 2.7.4 Problems on Position, Velocity, and Acceleration 102 2.7.5 Problems on Angular Velocity 104 2.7.6 Problems on the Theorems of Kinematics 104 2.7.6.1 Problems on the Addition of Angular Velocities 104 2.7.7 Problems on Relative Velocity and Acceleration 105 2.7.8 Problems on Common Coordinate Systems 108 3 Kinematics of Robotic Systems 109 3.1 Homogeneous Transformations and Rigid Motion 109 3.2 Ideal Joints 115 3.2.1 The Prismatic Joint 116 3.2.2 The Revolute Joint 117 3.2.3 Other Ideal Joints 119 3.3 The Denavit–Hartenberg Convention 121 3.3.1 Kinematic Chains and Numbering in the DH Convention 121 3.3.2 Definition of Frames in the DH Convention 123 3.3.3 Homogeneous Transforms in the DH Convention 124 3.3.4 The DH Procedure 127 3.3.5 Angular Velocity and Velocity in the DH Convention 133 3.4 Recursive O(N) Formulation of Forward Kinematics 138 3.4.1 Recursive Calculation of Velocity and Angular Velocity 140 3.4.2 Efficiency and Computational Cost 143 3.4.3 Recursive Calculation of Acceleration and Angular Acceleration 147 3.5 Inverse Kinematics 160 3.5.1 Solvability 160 3.5.2 Analytical Methods 163 3.5.2.1 Algebraic Methods 163 3.5.2.2 Geometric Methods 174 3.5.3 Optimization Methods 176 3.5.4 Inverse Velocity Kinematics 184 3.5.4.1 Singularity 185 3.6 Problems for Chapter 3, Kinematics of Robotic Systems 186 3.6.1 Problems on Homogeneous Transformations 186 3.6.2 Problems on Ideal Joints and Constraints 188 3.6.3 Problems on the DH Convention 188 3.6.4 Problems on Angular Velocity and Velocity for Kinematic Chains 190 3.6.5 Problems on Inverse Kinematics 195 4 Newton–Euler Formulations 197 4.1 Linear Momentum of Rigid Bodies 197 4.2 Angular Momentum of Rigid Bodies 203 4.2.1 First Principles 203 4.2.2 Angular Momentum and Inertia 208 4.2.3 Calculation of the Inertia Matrix 214 4.2.3.1 The Inertia Rotation Transformation Law 214 4.2.3.2 Principal Axes of Inertia 218 4.2.3.3 The Parallel Axis Theorem 221 4.2.3.4 Symmetry and Inertia 224 4.3 The Newton–Euler Equations 229 4.4 Euler’s Equation for a Rigid Body 233 4.5 Equations of Motion for Mechanical Systems 235 4.5.1 The General Strategy 235 4.5.2 Free Body Diagrams 236 4.6 Structure of Governing Equations: Newton–Euler Formulations 258 4.6.1 Differential Algebraic Equations (DAEs) 258 4.6.2 Ordinary Differential Equations (ODEs) 260 4.7 Recursive Newton–Euler Formulations 262 4.8 Recursive Derivation of the Equations of Motion 271 4.9 Problems for Chapter 4, Newton–Euler Equations 274 4.9.1 Problems on Linear Momentum 274 4.9.2 Problems on the Center of Mass 277 4.9.3 Problems on the Inertia Matrix 279 4.9.4 Problems on Angular Momentum 281 4.9.5 Problems on the Newton–Euler Equations 282 5 Analytical Mechanics 285 5.1 Hamilton’s Principle 285 5.1.1 Generalized Coordinates 285 5.1.2 Functionals and the Calculus of Variations 288 5.1.3 Hamilton’s Principle for Conservative Systems 292 5.1.4 Kinetic Energy for Rigid Bodies 299 5.2 Lagrange’s Equations for Conservative Systems 303 5.3 Hamilton’s Extended Principle 307 5.3.1 Virtual Work Formulations 307 5.4 Lagrange’s Equations for Robotic Systems 322 5.4.1 Natural Systems 322 5.4.2 Lagrange’s Equations and the Denavit–Hartenberg Convention 326 5.5 Constrained Systems 329 5.6 Problems for Chapter 5, Analytical Mechanics 334 5.6.1 Problems on Hamilton’s Principle 334 5.6.2 Problems on Lagrange’s Equations 337 5.6.3 Problems on Hamilton’s Extended Principle 339 5.6.4 Problems on Constrained Systems 345 6 Control of Robotic Systems 347 6.1 The Structure of Control Problems 347 6.1.1 Setpoint and Tracking Feedback Control Problems 348 6.1.2 Open Loop and Closed Loop Control 349 6.1.3 Linear and Nonlinear Control 349 6.2 Fundamentals of Stability Theory 350 6.3 Advanced Techniques of Stability Theory 357 6.4 Lyapunov’s Direct Method 358 6.5 The Invariance Principle 361 6.6 Dynamic Inversion or Computed Torque Control 366 6.7 Approximate Dynamic Inversion and Uncertainty 376 6.8 Controllers Based on Passivity 389 6.9 Actuator Models 393 6.9.1 Electric Motors 393 6.9.2 Linear Actuators 400 6.10 Backstepping Control and Actuator Dynamics 404 6.11 Problems for Chapter 6, control of Robotic Systems 407 6.11.1 Problems on Gravity Compensation and PD Setpoint Control 407 6.11.2 Problems on Computed Torque Tracking Control 412 6.11.3 Problems on Dissipativity Based Tracking Control 413 7 Image Based Control of Robotic Systems 415 7.1 The Geometry of Camera Measurements 415 7.1.1 Perspective Projection and Pinhole Camera Models 415 7.1.2 Pixel Coordinates and CCD Cameras 418 7.1.3 The Interaction Matrix 419 7.2 Image Based Visual Servo Control 423 7.2.1 Control Synthesis and Closed Loop Equations 424 7.2.2 Calculation of Initial Conditions 427 7.3 Task Space Control 441 7.4 Task Space and Visual Control 447 7.5 Problems for Chapter 7 459 A Appendix 465 A.1 Fundamentals of Linear Algebra 465 A.1.1 Solution of Matrix Equations 467 A.1.2 Linear Independence and Rank 468 A.1.3 Invertibility and Rank 470 A.1.4 Least Squares Approximation 470 A.1.5 Rank Conditions and the Interaction Matrix 475 A.2 The Algebraic Eigenvalue Problem 475 A.2.1 Self-adjoint Matrices 476 A.2.2 Jordan Canonical Form 478 A.3 Gauss Transformations and LU Factorizations 479 References 485 Index 489

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Book SynopsisTable of ContentsPreface xv About the Companion Website xix 1 Fundamentals 1 1.1 Introduction 1 1.2 What Is a Robot? 2 1.3 Classification of Robots 3 1.4 What Is Robotics? 3 1.5 History of Robotics 3 1.6 Advantages and Disadvantages of Robots 4 1.7 Robot Components 5 1.8 Robot Degrees of Freedom 7 1.9 Robot Joints 9 1.10 Robot Coordinates 9 1.11 Robot Reference Frames 11 1.12 Programming Modes 12 1.13 Robot Characteristics 13 1.14 Robot Workspace 13 1.15 Robot Languages 14 1.16 Robot Applications 17 1.17 Other Robots and Applications 23 1.18 Collaborative Robots 28 1.19 Social Issues 29 1.20 Summary 30 References 30 Problems 32 2 Kinematics of Serial Robots: Position Analysis 35 2.1 Introduction 35 2.2 Robots as Mechanisms 35 2.3 Conventions 37 2.4 Matrix Representation 37 2.4.1 Representation of a Point in Space 37 2.4.2 Representation of a Vector in Space 38 2.4.3 Representation of a Frame at the Origin of a Fixed-Reference Frame 40 2.4.4 Representation of a Frame Relative to a Fixed Reference Frame 41 2.4.5 Representation of a Rigid Body 42 2.5 Homogeneous Transformation Matrices 45 2.6 Representation of Transformations 46 2.6.1 Representation of a Pure Translation 46 2.6.2 Representation of a Pure Rotation about an Axis 47 2.6.3 Representation of Combined Transformations 50 2.6.4 Transformations Relative to the Current (Moving) Frame 52 2.6.5 Mixed Transformations Relative to Rotating and Reference Frames 53 2.7 Inverse of Transformation Matrices 54 2.8 Forward and Inverse Kinematics of Robots 59 2.9 Forward and Inverse Kinematic Equations: Position 60 2.9.1 Cartesian (Gantry, Rectangular) Coordinates 60 2.9.2 Cylindrical Coordinates 61 2.9.3 Spherical Coordinates 63 2.9.4 Articulated Coordinates 65 2.10 Forward and Inverse Kinematic Equations: Orientation 65 2.10.1 Roll, Pitch, Yaw (RPY) Angles 65 2.10.2 Euler Angles 68 2.10.3 Articulated Joints 70 2.11 Forward and Inverse Kinematic Equations: Position and Orientation 70 2.12 Denavit-Hartenberg Representation of Forward Kinematic Equations of Robots 70 2.13 The Inverse Kinematic Solution of Robots 84 2.13.1 General Solution for Articulated Robot Arms 86 2.14 Inverse Kinematic Programming of Robots 89 2.15 Dual-Arm Cooperating Robots 91 2.16 Degeneracy and Dexterity 92 2.16.1 Degeneracy 92 2.16.2 Dexterity 93 2.17 The Fundamental Problem with the Denavit-Hartenberg Representation 93 2.18 Design Projects 95 2.18.1 Stair-Climbing Robot 96 2.18.2 A 3-DOF Robot 96 2.18.3 A 3-DOF Mobile Robot 98 2.19 Summary 99 References 99 Problems 99 3 Robot Kinematics with Screw-Based Mechanics 111 3.1 Introduction 111 3.2 What Is a Screw? 111 3.3 Rotation about a Screw Axis 112 3.4 Homogenous Transformations about a General Screw Axis 115 3.5 Successive Screw-Based Transformations 119 3.6 Forward and Inverse Position Analysis of an Articulated Robot 120 3.7 Design Projects 127 3.8 Summary 127 Additional Reading 128 Problems 128 4 Kinematics Analysis of Parallel Robots 133 4.1 Introduction 133 4.2 Physical Characteristics of Parallel Robots 134 4.3 The Denavit-Hartenberg Approach vs. the Direct Kinematic Approach 139 4.4 Forward and Inverse Kinematics of Planar Parallel Robots 140 4.4.1 Kinematic Analysis of a 3-RPR Planar Parallel Robot 141 4.4.2 Kinematic Analysis of a 3-RRR Planar Parallel Robot 143 4.5 Forward and Inverse Kinematics of Spatial Parallel Robots 147 4.5.1 Kinematic Analysis of a Generic 6-6 Stewart-Gough Platform 147 4.5.2 Kinematic Analysis of a Generic 6-3 Stewart-Gough Platform 152 4.5.3 Kinematic Analysis of a 3-Axis RSS-Type Parallel Robot 154 4.5.4 Kinematic Analysis of a 4-Axis RSS-Type Parallel Robot 160 4.5.5 Kinematic Analysis of a 3-Axis PSS-Type Parallel Robot 167 4.6 Other Parallel Robot Configurations 169 4.7 Design Projects 169 4.8 Summary 170 References 170 Problems 170 5 Differential Motions and Velocities 173 5.1 Introduction 173 5.2 Differential Relationships 173 5.3 The Jacobian 174 5.4 Differential versus Large-Scale Motions 176 5.5 Differential Motions of a Frame versus a Robot 177 5.6 Differential Motions of a Frame 178 5.6.1 Differential Translations 178 5.6.2 Differential Rotations about Reference Axes 178 5.6.3 Differential Rotation about a General Axis q 179 5.6.4 Differential Transformations of a Frame 181 5.7 Interpretation of the Differential Change 182 5.8 Differential Changes between Frames 183 5.9 Differential Motions of a Robot and Its Hand Frame 185 5.10 Calculation of the Jacobian 185 5.11 How to Relate the Jacobian and the Differential Operator 188 5.12 The Inverse Jacobian 191 5.13 Calculation of the Jacobian with Screw-Based Mechanics 197 5.14 The Inverse Jacobian for the Screw-Based Method 206 5.15 Calculation of the Jacobians of Parallel Robots 206 5.15.1 The Jacobian of a Planar 3-RRR Parallel Robot 207 5.15.2 The Jacobian of a Generic 6-6 Stewart-Gough Parallel Robot 208 5.16 Design Projects 210 5.16.1 The 3-DOF Robot 210 5.16.2 The 3-DOF Mobile Robot 210 5.17 Summary 210 References 211 Problems 211 6 Dynamic and Force Analysis 219 6.1 Introduction 219 6.2 Lagrangian Mechanics: A Short Overview 220 6.3 Effective Moments of Inertia 229 6.4 Dynamic Equations for Multiple-DOF Robots 229 6.4.1 Kinetic Energy 229 6.4.2 Potential Energy 234 6.4.3 The Lagrangian 234 6.4.4 Robot’s Equations of Motion 234 6.5 Static Force Analysis of Robots 239 6.6 Transformation of Forces and Moments between Coordinate Frames 242 6.7 Design Project 244 6.8 Summary 244 References 244 Problems 245 7 Trajectory Planning 247 7.1 Introduction 247 7.2 Path vs. Trajectory 247 7.3 Joint-Space vs. Cartesian-Space Descriptions 248 7.4 Basics of Trajectory Planning 249 7.5 Joint-Space Trajectory Planning 252 7.5.1 Third-Order Polynomial Trajectory Planning 252 7.5.2 Fifth-Order Polynomial Trajectory Planning 255 7.5.3 Linear Segments with Parabolic Blends 257 7.5.4 Linear Segments with Parabolic Blends and Via Points 259 7.5.5 Higher-Order Trajectories 260 7.5.6 Other Trajectories 263 7.6 Cartesian-Space Trajectories 263 7.7 Continuous Trajectory Recording 267 7.8 Design Project 268 7.9 Summary 269 References 269 Problems 269 8 Motion Control Systems 273 8.1 Introduction 273 8.2 Basic Components and Terminology 273 8.3 Block Diagrams 274 8.4 System Dynamics 274 8.5 Laplace Transform 278 8.6 Inverse Laplace Transform 281 8.6.1 Partial Fraction Expansion When F(s) Involves Only Distinct Poles 281 8.6.2 Partial Fraction Expansion When F(s) Involves Repeated Poles 282 8.6.3 Partial Fraction Expansion When F(s) Involves Complex Conjugate Poles 283 8.7 Transfer Functions 285 8.8 Block Diagram Algebra 288 8.9 Characteristics of First-Order Transfer Functions 290 8.10 Characteristics of Second-Order Transfer Functions 292 8.11 Characteristic Equation: Pole/Zero Mapping 294 8.12 Steady-State Error 296 8.13 Root Locus Method 298 8.14 Proportional Controllers 303 8.15 Proportional-Plus-Integral Controllers 306 8.16 Proportional-Plus-Derivative Controllers 308 8.17 Proportional-Integral-Derivative Controller (PID) 311 8.18 Lead and Lag Compensators 313 8.19 Bode Diagram and Frequency-Domain Analysis 313 8.20 Open-Loop vs. Closed-Loop Applications 314 8.21 Multiple-Input and Multiple-Output Systems 314 8.22 State-Space Control Methodology 316 8.23 Digital Control 320 8.24 Nonlinear Control Systems 322 8.25 Electromechanical Systems Dynamics: Robot Actuation and Control 323 8.26 Design Projects 326 8.27 Summary 327 References 327 Problems 327 9 Actuators and Drive Systems 331 9.1 Introduction 331 9.2 Characteristics of Actuating Systems 331 9.2.1 Nominal Characteristics – Weight, Power-to-Weight Ratio, Operating Pressure, Voltage, and Others 331 9.2.2 Stiffness vs. Compliance 332 9.2.3 Use of Reduction Gears 332 9.3 Comparison of Actuating Systems 335 9.4 Hydraulic Actuators 335 9.5 Pneumatic Devices 337 9.6 Electric Motors 338 9.6.1 Fundamental Differences Between AC- and DC-Type Motors 339 9.6.2 DC Motors 341 9.6.3 AC Motors 344 9.6.4 Brushless DC Motors 345 9.6.5 Direct-Drive Electric Motors 346 9.6.6 Servomotors 346 9.6.7 Stepper Motors 347 9.7 Microprocessor Control of Electric Motors 360 9.7.1 Pulse Width Modulation 361 9.7.2 Direction Control of DC Motors with an H-Bridge 363 9.8 Magnetostrictive Actuators 364 9.9 Shape-Memory Type Metals 364 9.10 Electroactive Polymer Actuators (EAPs) 364 9.11 Speed Reduction 365 9.12 Other Systems 367 9.13 Design Projects 367 9.14 Summary 370 References 371 Problems 372 10 Sensors 375 10.1 Introduction 375 10.2 Sensor Characteristics 375 10.3 Sensor Utilization 377 10.4 Position Sensors 378 10.4.1 Potentiometers 378 10.4.2 Encoders 379 10.4.3 Linear Variable Differential Transformer (LVDT) 382 10.4.4 Resolvers 383 10.4.5 (Linear) Magnetostrictive Displacement Transducer (LMDT or MDT) 383 10.4.6 Hall-effect Sensors 384 10.4.7 Global Positioning System (GPS) 384 10.4.8 Other Devices 385 10.5 Velocity Sensors 385 10.5.1 Encoders 385 10.5.2 Tachometers 385 10.5.3 Differentiation of Position Signal 386 10.6 Acceleration Sensors 386 10.7 Force and Pressure Sensors 386 10.7.1 Piezoelectric 386 10.7.2 Force-Sensing Resistor 386 10.7.3 Strain Gauge 387 10.7.4 Antistatic Foam 388 10.8 Torque Sensors 388 10.9 Microswitches 389 10.10 Visible Light and Infrared Sensors 389 10.11 Touch and Tactile Sensors 390 10.12 Proximity Sensors 391 10.12.1 Magnetic Proximity Sensors 391 10.12.2 Optical Proximity Sensors 391 10.12.3 Ultrasonic Proximity Sensors 392 10.12.4 Inductive Proximity Sensors 392 10.12.5 Capacitive Proximity Sensors 393 10.12.6 Eddy Current Proximity Sensors 393 10.13 Range Finders 393 10.13.1 Ultrasonic Range Finders 394 10.13.2 Light-Based Range Finders 395 10.14 Sniff Sensors 396 10.15 Vision Systems 396 10.16 Voice-Recognition Devices 396 10.17 Voice Synthesizers 397 10.18 Remote Center Compliance (RCC) Device 397 10.19 Design Project 400 10.20 Summary 400 References 401 11 Image Processing and Analysis with Vision Systems 403 11.1 Introduction 403 11.2 Basic Concepts 403 11.2.1 Image Processing vs. Image Analysis 403 11.2.2 Two- and Three-Dimensional Image Types 403 11.2.3 The Nature of an Image 404 11.2.4 Acquisition of Images 405 11.2.5 Digital Images 405 11.2.6 Frequency Domain vs. Spatial Domain 406 11.3 Fourier Transform and Frequency Content of a Signal 406 11.4 Frequency Content of an Image: Noise and Edges 409 11.5 Resolution and Quantization 410 11.6 Sampling Theorem 412 11.7 Image-Processing Techniques 415 11.8 Histograms of Images 415 11.9 Thresholding 418 11.10 Spatial Domain Operations Convolution Mask 419 11.11 Connectivity 424 11.12 Noise Reduction 426 11.12.1 Neighborhood Averaging with Convolution Masks 427 11.12.2 Image Averaging 428 11.12.3 Frequency Domain 429 11.12.4 Median Filters 429 11.13 Edge Detection 430 11.14 Sharpening an Image 436 11.15 Hough Transform 437 11.16 Segmentation 440 11.17 Segmentation by Region Growing and Region Splitting 441 11.18 Binary Morphology Operations 444 11.18.1 Thickening Operation 446 11.18.2 Dilation 446 11.18.3 Erosion 447 11.18.4 Skeletonization 447 11.18.5 Open Operation 448 11.18.6 Close Operation 448 11.18.7 Fill Operation 448 11.19 Gray Morphology Operations 449 11.19.1 Erosion 449 11.19.2 Dilation 449 11.20 Image Analysis 449 11.21 Object Recognition by Features 450 11.21.1 Basic Features Used for Object Identification 450 11.21.2 Moments 451 11.21.3 Template Matching 456 11.21.4 Discrete Fourier Descriptors 456 11.21.5 Computed Tomography (CT) 457 11.22 Depth Measurement with Vision Systems 457 11.22.1 Scene Analysis vs. Mapping 457 11.22.2 Range Detection and Depth Analysis 458 11.22.3 Stereo Imaging 458 11.22.4 Scene Analysis with Shading and Sizes 459 11.23 Specialized Lighting 459 11.24 Image Data Compression 460 11.24.1 Intraframe Spatial Domain Techniques 460 11.24.2 Interframe Coding 461 11.24.3 Compression Techniques 461 11.25 Color Images 462 11.26 Heuristics 462 11.27 Applications of Vision Systems 462 11.28 Design Project 463 11.29 Summary 464 References 464 Problems 465 12 Fuzzy Logic Control 475 12.1 Introduction 475 12.2 Fuzzy Control: What Is Needed 476 12.3 Crisp Values vs. Fuzzy Values 476 12.4 Fuzzy Sets: Degrees of Truth and Membership 477 12.5 Fuzzification 477 12.6 Fuzzy Inference Rules 480 12.7 Defuzzification 481 12.7.1 Center of Gravity Method 481 12.7.2 Mamdani Inference Method 481 12.8 Simulation of a Fuzzy Logic Controller 485 12.9 Applications of Fuzzy Logic in Robotics 487 12.10 Design Project 488 12.11 Summary 489 References 489 Problems 490 Appendix A 491 Appendix B 499 Index 501

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Book SynopsisA comprehensive exploration of the control schemes of human-robot interactions InHuman-Robot Interaction Control Using Reinforcement Learning,an expert team of authors deliversa concise overview of human-robot interaction control schemes and insightful presentations of novel, model-free and reinforcement learning controllers. The book begins with a brief introduction to state-of-the-art human-robot interaction control and reinforcement learning before moving on to describe the typical environment model. The authors also describe some of the most famous identification techniques for parameter estimation. Human-Robot Interaction Control Using Reinforcement Learningoffers rigorous mathematical treatments and demonstrations that facilitate the understanding of control schemes and algorithms.It also describes stability and convergence analysis of human-robot interaction control and reinforcement learning based control. The authorsalsodiscussadvanTable of ContentsAuthor Biographies xi List of Figures xiii List of Tables xvii Preface xix Part I Human-robot Interaction Control 1 1 Introduction 3 1.1 Human-Robot Interaction Control 3 1.2 Reinforcement Learning for Control 6 1.3 Structure of the Book 7 References 10 2 Environment Model of Human-Robot Interaction 17 2.1 Impedance and Admittance 17 2.2 Impedance Model for Human-Robot Interaction 21 2.3 Identification of Human-Robot Interaction Model 24 2.4 Conclusions 30 References 30 3 Model Based Human-Robot Interaction Control 33 3.1 Task Space Impedance/Admittance Control 33 3.2 Joint Space Impedance Control 36 3.3 Accuracy and Robustness 37 3.4 Simulations 39 3.5 Conclusions 42 References 44 4 Model Free Human-Robot Interaction Control 45 4.1 Task-Space Control Using Joint-Space Dynamics 45 4.2 Task-Space Control Using Task-Space Dynamics 52 4.3 Joint Space Control 53 4.4 Simulations 54 4.5 Experiments 55 4.6 Conclusions 68 References 71 5 Human-in-the-loop Control Using Euler Angles 73 5.1 Introduction 73 5.2 Joint-Space Control 74 5.3 Task-Space Control 79 5.4 Experiments 83 5.5 Conclusions 92 References 94 Part II Reinforcement Learning for Robot Interaction Control 97 6 Reinforcement Learning for Robot Position/Force Control 99 6.1 Introduction 99 6.2 Position/Force Control Using an Impedance Model 100 6.3 Reinforcement Learning Based Position/Force Control 103 6.4 Simulations and Experiments 110 6.5 Conclusions 117 References 117 7 Continuous-Time Reinforcement Learning for Force Control 119 7.1 Introduction 119 7.2 K-means Clustering for Reinforcement Learning 120 7.3 Position/Force Control Using Reinforcement Learning 124 7.4 Experiments 130 7.5 Conclusions 136 References 136 8 Robot Control in Worst-Case Uncertainty Using Reinforcement Learning 139 8.1 Introduction 139 8.2 Robust Control Using Discrete-Time Reinforcement Learning 141 8.3 Double Q-Learning with k-Nearest Neighbors 144 8.4 Robust Control Using Continuous-Time Reinforcement Learning 150 8.5 Simulations and Experiments: Discrete-Time Case 154 8.6 Simulations and Experiments: Continuous-Time Case 161 8.7 Conclusions 170 References 170 9 Redundant Robots Control Using Multi-Agent Reinforcement Learning 173 9.1 Introduction 173 9.2 Redundant Robot Control 175 9.3 Multi-Agent Reinforcement Learning for Redundant Robot Control 179 9.4 Simulations and experiments 183 9.5 Conclusions 187 References 189 10 Robot H2 Neural Control Using Reinforcement Learning 193 10.1 Introduction 193 10.2 H2 Neural Control Using Discrete-Time Reinforcement Learning 194 10.3 H2 Neural Control in Continuous Time 207 10.4 Examples 219 10.5 Conclusion 229 References 229 11 Conclusions 233 A Robot Kinematics and Dynamics 235 A.1 Kinematics 235 A.2 Dynamics 237 A.3 Examples 240 References 246 B Reinforcement Learning for Control 247 B.1 Markov decision processes 247 B.2 Value functions 248 B.3 Iterations 250 B.4 TD learning 251 Reference 258 Index 259

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Book SynopsisCyberPhysicalHuman Systems A comprehensive edited volume exploring the latest in the interactions between cyberphysical systems and humans In CyberPhysicalHuman Systems: Fundamentals and Applications, a team of distinguished researchers delivers a robust and up-to-date volume of contributions from leading researchers on CyberPhysicalHuman Systems, an emerging class of systems with increased interactions between cyberphysical, and human systems communicating with each other at various levels across space and time, so as to achieve desired performance related to human welfare, efficiency, and sustainability. The editors have focused on papers that address the power of emerging CPHS disciplines, all of which feature humans as an active component during cyber and physical interactions. Articles that span fundamental concepts and methods to various applications in engineering sectors of transportation, robotics, and healthcare and general socio-technical systemTable of ContentsA Note from the Series Editor xvii About the Editors xviii List of Contributors xix Introduction xxvii Part I Fundamental Concepts and Methods 1 1 Human-in-the-Loop Control and Cyber–Physical–Human Systems: Applications and Categorization 3 Tariq Samad 1.1 Introduction 3 1.2 Cyber + Physical + Human 4 1.2.1 Cyberphysical Systems 5 1.2.2 Physical–Human Systems 6 1.2.3 Cyber–Human Systems 6 1.3 Categorizing Human-in-the-Loop Control Systems 6 1.3.1 Human-in-the-Plant 8 1.3.2 Human-in-the-Controller 8 1.3.3 Human–Machine Control Symbiosis 10 1.3.4 Humans-in-Multiagent-Loops 11 1.4 A Roadmap for Human-in-the-Loop Control 13 1.4.1 Self- and Human-Driven Cars on Urban Roads 13 1.4.2 Climate Change Mitigation and Smart Grids 14 1.5 Discussion 15 1.5.1 Other Ways of Classifying Human-in-the-Loop Control 15 1.5.2 Modeling Human Understanding and Decision-Making 16 1.5.3 Ethics and CPHS 18 1.6 Conclusions 19 Acknowledgments 19 References 20 2 Human Behavioral Models Using Utility Theory and Prospect Theory 25 Anuradha M. Annaswamy and Vineet Jagadeesan Nair 2.1 Introduction 25 2.2 Utility Theory 26 2.2.1 An Example 27 2.3 Prospect Theory 27 2.3.1 An Example: CPT Modeling for SRS 30 2.3.1.1 Detection of CPT Effects via Lotteries 32 2.3.2 Theoretical Implications of CPT 33 2.3.2.1 Implication I: Fourfold Pattern of Risk Attitudes 34 2.3.2.2 Implication II: Strong Risk Aversion Over Mixed Prospects 36 2.3.2.3 Implication III: Effects of Self-Reference 37 2.4 Summary and Conclusions 38 Acknowledgments 39 References 39 3 Social Diffusion Dynamics in Cyber–Physical–Human Systems 43 Lorenzo Zino and Ming Cao 3.1 Introduction 43 3.2 General Formalism for Social Diffusion in CPHS 45 3.2.1 Complex and Multiplex Networks 45 3.2.2 General Framework for Social Diffusion 46 3.2.3 Main Theoretical Approaches 48 3.3 Modeling Decision-Making 49 3.3.1 Pairwise Interaction Models 49 3.3.2 Linear Threshold Models 52 3.3.3 Game-Theoretic Models 53 3.4 Dynamics in CPHS 55 3.4.1 Social Diffusion in Multiplex Networks 56 3.4.2 Co-Evolutionary Social Dynamics 58 3.5 Ongoing Efforts Toward Controlling Social Diffusion and Future Challenges 62 Acknowledgments 63 References 63 4 Opportunities and Threats of Interactions Between Humans and Cyber–Physical Systems – Integration and Inclusion Approaches for Cphs 71 Frédéric Vanderhaegen and Victor Díaz Benito Jiménez 4.1 CPHS and Shared Control 72 4.2 “Tailor-made” Principles for Human–CPS Integration 73 4.3 “All-in-one” based Principles for Human–CPS Inclusion 74 4.4 Dissonances, Opportunities, and Threats in a CPHS 76 4.5 Examples of Opportunities and Threats 79 4.6 Conclusions 85 References 86 5 Enabling Human-Aware Autonomy Through Cognitive Modeling and Feedback Control 91 Neera Jain, Tahira Reid, Kumar Akash, Madeleine Yuh, and Jacob Hunter 5.1 Introduction 91 5.1.1 Important Cognitive Factors in HAI 92 5.1.2 Challenges with Existing CPHS Methods 93 5.1.3 How to Read This Chapter 95 5.2 Cognitive Modeling 95 5.2.1 Modeling Considerations 95 5.2.2 Cognitive Architectures 97 5.2.3 Computational Cognitive Models 98 5.2.3.1 ARMAV and Deterministic Linear Models 99 5.2.3.2 Dynamic Bayesian Models 99 5.2.3.3 Decision Analytical Models 100 5.2.3.4 POMDP Models 102 5.3 Study Design and Data Collection 103 5.3.1 Frame Research Questions and Identify Variables 104 5.3.2 Formulate Hypotheses or Determine the Data Needed 105 5.3.2.1 Hypothesis Testing Approach 105 5.3.2.2 Model Training Approach 105 5.3.3 Design Experiment and/or Study Scenario 107 5.3.3.1 Hypothesis Testing Approach 107 5.3.3.2 Model Training Approach 107 5.3.4 Conduct Pilot Studies and Get Initial Feedback; Do Preliminary Analysis 108 5.3.5 A Note about Institutional Review Boards and Recruiting Participants 109 5.4 Cognitive Feedback Control 109 5.4.1 Considerations for Feedback Control 110 5.4.2 Approaches 111 5.4.2.1 Heuristics-Based Planning 111 5.4.2.2 Measurement-Based Feedback 112 5.4.2.3 Goal-Oriented Feedback 112 5.4.2.4 Case Study 112 5.4.3 Evaluation Methods 113 5.5 Summary and Opportunities for Further Investigation 113 5.5.1 Model Generalizability and Adaptability 114 5.5.2 Measurement of Cognitive States 114 5.5.3 Human Subject Study Design 114 References 115 6 Shared Control with Human Trust and Workload Models 125 Murat Cubuktepe, Nils Jansen, and Ufuk Topcu 6.1 Introduction 125 6.1.1 Review of Shared Control Methods 126 6.1.2 Contribution and Approach 127 6.1.3 Review of IRL Methods Under Partial Information 128 6.1.3.1 Organization 129 6.2 Preliminaries 129 6.2.1 Markov Decision Processes 129 6.2.2 Partially Observable Markov Decision Processes 130 6.2.3 Specifications 130 6.3 Conceptual Description of Shared Control 131 6.4 Synthesis of the Autonomy Protocol 132 6.4.1 Strategy Blending 132 6.4.2 Solution to the Shared Control Synthesis Problem 133 6.4.2.1 Nonlinear Programming Formulation for POMDPs 133 6.4.2.2 Strategy Repair Using Sequential Convex Programming 134 6.4.3 Sequential Convex Programming Formulation 135 6.4.4 Linearizing Nonconvex Problem 135 6.4.4.1 Linearizing Nonconvex Constraints and Adding Slack Variables 135 6.4.4.2 Trust Region Constraints 136 6.4.4.3 Complete Algorithm 136 6.4.4.4 Additional Specifications 136 6.4.4.5 Additional Measures 137 6.5 Numerical Examples 137 6.5.1 Modeling Robot Dynamics as POMDPs 138 6.5.2 Generating Human Demonstrations 138 6.5.3 Learning a Human Strategy 139 6.5.4 Task Specification 139 6.5.5 Results 140 6.6 Conclusion 140 Acknowledgments 140 References 140 7 Parallel Intelligence for CPHS: An ACP Approach 145 Xiao Wang, Jing Yang, Xiaoshuang Li, and Fei-Yue Wang 7.1 Background and Motivation 145 7.2 Early Development in China 147 7.3 Key Elements and Framework 149 7.4 Operation and Process 151 7.4.1 Construction of Artificial Systems 152 7.4.2 Computational Experiments in Parallel Intelligent Systems 152 7.4.3 Closed-Loop Optimization Based on Parallel Execution 153 7.5 Applications 153 7.5.1 Parallel Control and Intelligent Control 154 7.5.2 Parallel Robotics and Parallel Manufacturing 156 7.5.3 Parallel Management and Intelligent Organizations 157 7.5.4 Parallel Medicine and Smart Healthcare 158 7.5.5 Parallel Ecology and Parallel Societies 160 7.5.6 Parallel Economic Systems and Social Computing 161 7.5.7 Parallel Military Systems 163 7.5.8 Parallel Cognition and Parallel Philosophy 164 7.6 Conclusion and Prospect 165 References 165 Part II Transportation 171 8 Regularities of Human Operator Behavior and Its Modeling 173 Aleksandr V. Efremov 8.1 Introduction 173 8.2 The Key Variables in Man–Machine Systems 174 8.3 Human Responses 177 8.4 Regularities of Man–Machine System in Manual Control 180 8.4.1 Man–Machine System in Single-loop Compensatory System 180 8.4.2 Man–Machine System in Multiloop, Multichannel, and Multimodal Tasks 185 8.4.2.1 Man–Machine System in the Multiloop Tracking Task 185 8.4.2.2 Man–Machine System in the Multichannel Tracking Task 187 8.4.2.3 Man–Machine System in Multimodal Tracking Tasks 188 8.4.2.4 Human Operator Behavior in Pursuit and Preview Tracking Tasks 191 8.5 Mathematical Modeling of Human Operator Behavior in Manual Control Task 194 8.5.1 McRuer’s Model for the Pilot Describing Function 194 8.5.1.1 Single-Loop Compensatory Model 194 8.5.1.2 Multiloop and Multimodal Compensatory Model 197 8.5.2 Structural Human Operator Model 197 8.5.3 Pilot Optimal Control Model 199 8.5.4 Pilot Models in Preview and Pursuit Tracking Tasks 201 8.6 Applications of the Man–Machine System Approach 202 8.6.1 Development of Criteria for Flying Qualities and PIO Prediction 203 8.6.1.1 Criteria of FQ and PIO Prediction as a Requirement for the Parameters of the Pilot-Aircraft System 203 8.6.1.2 Calculated Piloting Rating of FQ as the Criteria 205 8.6.2 Interfaces Design 206 8.6.3 Optimization of Control System and Vehicle Dynamics Parameters 210 8.7 Future Research Challenges and Visions 213 8.8 Conclusion 214 References 215 9 Safe Shared Control Between Pilots and Autopilots in the Face of Anomalies 219 Emre Eraslan, Yildiray Yildiz, and Anuradha M. Annaswamy 9.1 Introduction 219 9.2 Shared Control Architectures: A Taxonomy 221 9.3 Recent Research Results 222 9.3.1 Autopilot 224 9.3.1.1 Dynamic Model of the Aircraft 224 9.3.1.2 Advanced Autopilot Based on Adaptive Control 225 9.3.1.3 Autopilot Based on Proportional Derivative Control 228 9.3.2 Human Pilot 228 9.3.2.1 Pilot Models in the Absence of Anomaly 228 9.3.2.2 Pilot Models in the Presence of Anomaly 229 9.3.3 Shared Control 230 9.3.3.1 SCA1: A Pilot with a CfM-Based Perception and a Fixed-Gain Autopilot 231 9.3.3.2 SCA2: A Pilot with a CfM-Based Decision-Making and an Advanced Adaptive Autopilot 232 9.3.4 Validation with Human-in-the-Loop Simulations 232 9.3.5 Validation of Shared Control Architecture 1 234 9.3.5.1 Experimental Setup 234 9.3.5.2 Anomaly 235 9.3.5.3 Experimental Procedure 235 9.3.5.4 Details of the Human Subjects 236 9.3.5.5 Pilot-Model Parameters 237 9.3.5.6 Results and Observations 237 9.3.6 Validation of Shared Control Architecture 2 240 9.3.6.1 Experimental Setup 241 9.3.6.2 Anomaly 241 9.3.6.3 Experimental Procedure 242 9.3.6.4 Details of the Human Subjects 243 9.3.6.5 Results and Observations 244 9.4 Summary and Future Work 246 References 247 10 Safe Teleoperation of Connected and Automated Vehicles 251 Frank J. Jiang, Jonas Mårtensson, and Karl H. Johansson 10.1 Introduction 251 10.2 Safe Teleoperation 254 10.2.1 The Advent of 5G 258 10.3 CPHS Design Challenges in Safe Teleoperation 259 10.4 Recent Research Advances 261 10.4.1 Enhancing Operator Perception 261 10.4.2 Safe Shared Autonomy 264 10.5 Future Research Challenges 267 10.5.1 Full Utilization of V2X Networks 267 10.5.2 Mixed Autonomy Traffic Modeling 268 10.5.3 5G Experimentation 268 10.6 Conclusions 269 References 270 11 Charging Behavior of Electric Vehicles 273 Qing-Shan Jia and Teng Long 11.1 History, Challenges, and Opportunities 274 11.1.1 The History and Status Quo of EVs 274 11.1.2 The Current Challenge 276 11.1.3 The Opportunities 277 11.2 Data Sets and Problem Modeling 278 11.2.1 Data Sets of EV Charging Behavior 278 11.2.1.1 Trend Data Sets 279 11.2.1.2 Driving Data Sets 279 11.2.1.3 Battery Data Sets 279 11.2.1.4 Charging Data Sets 279 11.2.2 Problem Modeling 281 11.3 Control and Optimization Methods 284 11.3.1 The Difficulty of the Control and Optimization 284 11.3.2 Charging Location Selection and Routing Optimization 285 11.3.3 Charging Process Control 286 11.3.4 Control and Optimization Framework 287 11.3.4.1 Centralized Optimization 287 11.3.4.2 Decentralized Optimization 288 11.3.4.3 Hierarchical Optimization 288 11.3.5 The Impact of Human Behaviors 289 11.4 Conclusion and Discussion 289 References 290 Part III Robotics 299 12 Trust-Triggered Robot–Human Handovers Using Kinematic Redundancy for Collaborative Assembly in Flexible Manufacturing 301 S. M. Mizanoor Rahman, Behzad Sadrfaridpour, Ian D. Walker, and Yue Wang 12.1 Introduction 301 12.2 The Task Context and the Handover 303 12.3 The Underlying Trust Model 304 12.4 Trust-Based Handover Motion Planning Algorithm 305 12.4.1 The Overall Motion Planning Strategy 305 12.4.2 Manipulator Kinematics and Kinetics Models 305 12.4.3 Dynamic Impact Ellipsoid 306 12.4.4 The Novel Motion Control Approach 307 12.4.5 Illustration of the Novel Algorithm 308 12.5 Development of the Experimental Settings 310 12.5.1 Experimental Setup 310 12.5.1.1 Type I: Center Console Assembly 310 12.5.1.2 Type II: Hose Assembly 311 12.5.2 Real-Time Measurement and Display of Trust 311 12.5.2.1 Type I: Center Console Assembly 311 12.5.2.2 Type II: Hose Assembly 313 12.5.2.3 Trust Computation 313 12.5.3 Plans to Execute the Trust-Triggered Handover Strategy 314 12.5.3.1 Type I Assembly 314 12.5.3.2 Type II Assembly 314 12.6 Evaluation of the Motion Planning Algorithm 315 12.6.1 Objective 315 12.6.2 Experiment Design 315 12.6.3 Evaluation Scheme 315 12.6.4 Subjects 316 12.6.5 Experimental Procedures 316 12.6.5.1 Type I Assembly 317 12.6.5.2 Type II Assembly 317 12.7 Results and Analyses, Type I Assembly 318 12.8 Results and Analyses, Type II Assembly 322 12.9 Conclusions and Future Work 323 Acknowledgment 324 References 324 13 Fusing Electrical Stimulation and Wearable Robots with Humans to Restore and Enhance Mobility 329 Thomas Schauer, Eduard Fosch-Villaronga, and Juan C. Moreno 13.1 Introduction 329 13.1.1 Functional Electrical Stimulation 330 13.1.2 Spinal Cord Stimulation 331 13.1.3 Wearable Robotics (WR) 332 13.1.4 Fusing FES/SCS and Wearable Robotics 334 13.2 Control Challenges 335 13.2.1 Feedback Approaches to Promote Volition 336 13.2.2 Principles of Assist-as-Needed 336 13.2.3 Tracking Control Problem Formulation 336 13.2.4 Co-operative Control Strategies 337 13.2.5 EMG- and MMG-Based Assessment of Muscle Activation 344 13.3 Examples 345 13.3.1 A Hybrid Robotic System for Arm Training of Stroke Survivors 345 13.3.2 First Certified Hybrid Robotic Exoskeleton for Gait Rehabilitation Settings 347 13.3.3 Body Weight-Supported Robotic Gait Training with tSCS 348 13.3.4 Modular FES and Wearable Robots to Customize Hybrid Solutions 348 13.4 Transfer into Daily Practice: Integrating Ethical, Legal, and Societal Aspects into the Design 350 13.5 Summary and Outlook 352 Acknowledgments 353 Acronyms 353 References 354 14 Contemporary Issues and Advances in Human–Robot Collaborations 365 Takeshi Hatanaka, Junya Yamauchi, Masayuki Fujita, and Hiroyuki Handa 14.1 Overview of Human–Robot Collaborations 365 14.1.1 Task Architecture 366 14.1.2 Human–Robot Team Formation 368 14.1.3 Human Modeling: Control and Decision 369 14.1.4 Human Modeling: Other Human Factors 371 14.1.5 Industrial Perspective 372 14.1.6 What Is in This Chapter 375 14.2 Passivity-Based Human-Enabled Multirobot Navigation 376 14.2.1 Architecture Design 377 14.2.2 Human Passivity Analysis 379 14.2.3 Human Workload Analysis 381 14.3 Operation Support with Variable Autonomy via Gaussian Process 383 14.3.1 Design of the Operation Support System with Variable Autonomy 385 14.3.2 User Study 388 14.3.2.1 Operational Verification 388 14.3.2.2 Usability Test 390 14.4 Summary 391 Acknowledgments 393 References 393 Part IV Healthcare 401 15 Overview and Perspectives on the Assessment and Mitigation of Cognitive Fatigue in Operational Settings 403 Mike Salomone, Michel Audiffren, and Bruno Berberian 15.1 Introduction 403 15.2 Cognitive Fatigue 404 15.2.1 Definition 404 15.2.2 Origin of Cognitive Fatigue 404 15.2.3 Effects on Adaptive Capacities 406 15.3 Cyber–Physical System and Cognitive Fatigue: More Automation Does Not Imply Less Cognitive Fatigue 406 15.4 Assessing Cognitive Fatigue 409 15.4.1 Subjective Measures 409 15.4.2 Behavioral Measures 410 15.4.3 Physiological Measurements 410 15.5 Limitations and Benefits of These Measures 412 15.6 Current and Future Solutions and Countermeasures 412 15.6.1 Physiological Computing: Toward Real-Time Detection and Adaptation 412 15.7 System Design and Explainability 414 15.8 Future Challenges 415 15.8.1 Generalizing the Results Observed in the Laboratory to Ecological Situations 415 15.8.2 Determining the Specificity of Cognitive Fatigue 415 15.8.3 Recovering from Cognitive Fatigue 417 15.9 Conclusion 418 References 419 16 Epidemics Spread Over Networks: Influence of Infrastructure and Opinions 429 Baike She, Sebin Gracy, Shreyas Sundaram, Henrik Sandberg, Karl H. Johansson, andPhilipE.Paré 16.1 Introduction 429 16.1.1 Infectious Diseases 429 16.1.2 Modeling Epidemic Spreading Processes 430 16.1.3 Susceptible–Infected–Susceptible (SIS) Compartmental Models 431 16.2 Epidemics on Networks 432 16.2.1 Motivation 432 16.2.2 Modeling Epidemics over Networks 433 16.2.3 Networked Susceptible–Infected–Susceptible Epidemic Models 434 16.3 Epidemics and Cyber–Physical–Human Systems 436 16.3.1 Epidemic and Opinion Spreading Processes 437 16.3.2 Epidemic and Infrastructure 438 16.4 Recent Research Advances 439 16.4.1 Notation 439 16.4.2 Epidemic and Opinion Spreading Processes 440 16.4.2.1 Opinions Over Networks with Both Cooperative and Antagonistic Interactions 440 16.4.2.2 Coupled Epidemic and Opinion Dynamics 441 16.4.2.3 Opinion-Dependent Reproduction Number 443 16.4.2.4 Simulations 444 16.4.3 Epidemic Spreading with Shared Resources 445 16.4.3.1 The Multi-Virus SIWS Model 445 16.4.3.2 Problem Statements 447 16.4.3.3 Analysis of the Eradicated State of a Virus 448 16.4.3.4 Persistence of a Virus 449 16.4.3.5 Simulations 449 16.5 Future Research Challenges and Visions 450 References 451 17 Digital Twins and Automation of Care in the Intensive Care Unit 457 J. Geoffrey Chase, Cong Zhou, Jennifer L. Knopp, Knut Moeller, Balázs Benyo, Thomas Desaive, Jennifer H. K. Wong, Sanna Malinen, Katharina Naswall, Geoffrey M. Shaw, Bernard Lambermont, and Yeong S. Chiew 17.1 Introduction 457 17.1.1 Economic Context 458 17.1.2 Healthcare Context 459 17.1.3 Technology Context 460 17.1.4 Overall Problem and Need 460 17.2 Digital Twins and CPHS 461 17.2.1 Digital Twin/Virtual Patient Definition 461 17.2.2 Requirements in an ICU Context 463 17.2.3 Digital Twin Models in Key Areas of ICU Care and Relative to Requirements 464 17.2.4 Review of Digital Twins in Automation of ICU Care 466 17.2.5 Summary 467 17.3 Role of Social-Behavioral Sciences 467 17.3.1 Introduction 467 17.3.2 Barriers to Innovation Adoption 467 17.3.3 Ergonomics and Codesign 468 17.3.4 Summary (Key Takeaways) 469 17.4 Future Research Challenges and Visions 470 17.4.1 Technology Vision of the Future of CPHS in ICU Care 470 17.4.2 Social-Behavioral Sciences Vision of the Future of CPHS in ICU Care 471 17.4.3 Joint Vision of the Future and Challenges to Overcome 473 17.5 Conclusions 473 References 474 Part V Sociotechnical Systems 491 18 Online Attention Dynamics in Social Media 493 Maria Castaldo, Paolo Frasca, and Tommaso Venturini 18.1 Introduction to Attention Economy and Attention Dynamics 493 18.2 Online Attention Dynamics 494 18.2.1 Collective Attention Is Limited 494 18.2.2 Skewed Attention Distribution 495 18.2.3 The Role of Novelty 496 18.2.4 The Role of Popularity 496 18.2.5 Individual Activity Is Bursty 499 18.2.6 Recommendation Systems Are the Main Gateways for Information 500 18.2.7 Change Is the Only Constant 500 18.3 The New Challenge: Understanding Recommendation Systems Effect in Attention Dynamics 501 18.3.1 Model Description 502 18.3.2 Results and Discussion 503 18.4 Conclusion 505 Acknowledgments 505 References 505 19 Cyber–Physical–Social Systems for Smart City 511 Gang Xiong, Noreen Anwar, Peijun Ye, Xiaoyu Chen, Hongxia Zhao, Yisheng Lv, Fenghua Zhu, Hongxin Zhang, Xu Zhou, and Ryan W. Liu 19.1 Introduction 511 19.2 Social Community and Smart Cities 513 19.2.1 Smart Infrastructure 513 19.2.2 Smart Energy 515 19.2.3 Smart Transportation 515 19.2.4 Smart Healthcare 517 19.3 CPSS Concepts, Tools, and Techniques 518 19.3.1 CPSS Concepts 518 19.3.2 CPSS Tools 519 19.3.3 CPSS Techniques 520 19.3.3.1 IoT in Smart Cities 520 19.3.3.2 Big Data in Smart Cities 525 19.4 Recent Research Advances 528 19.4.1 Recent Research Advances of CASIA 528 19.4.2 Recent Research in European Union 531 19.4.3 Future Research Challenges and Visions 533 19.5 Conclusions 537 Acknowledgments 538 References 538 Part VI Concluding Remarks 543 20 Conclusion and Perspectives 545 Anuradha M. Annaswamy, Pramod P. Khargonekar, Françoise Lamnabhi-Lagarrigue, and Sarah K. Spurgeon 20.1 Benefits to Humankind: Synthesis of the Chapters and their Open Directions 545 20.2 Selected Areas for Current and Future Development in CPHS 547 20.2.1 Driver Modeling for the Design of Advanced Driver Assistance Systems 547 20.2.2 Cognitive Cyber–Physical Systems and CPHS 547 20.2.3 Emotion–Cognition Interactions 548 20.3 Ethical and Social Concerns: Few Directions 549 20.3.1 Frameworks for Ethics 550 20.3.2 Technical Approaches 550 20.4 Afterword 551 References 551 Index 555

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Book SynopsisBehavior Trees (BTs) provide a way to structure the behavior of an artificial agent such as a robot or a non-player character in a computer game. Traditional design methods, such as finite state machines, are known to produce brittle behaviors when complexity increases, making it very hard to add features without breaking existing functionality. BTs were created to address this very problem, and enables the creation of systems that are both modular and reactive. Behavior Trees in Robotics and AI: An Introduction provides a broad introduction as well as an in-depth exploration of the topic, and is the first comprehensive book on the use of BTs.This book introduces the subject of BTs from simple topics, such as semantics and design principles, to complex topics, such as learning and task planning. For each topic, the authors provide a set of examples, ranging from simple illustrations to realistic complex behaviors, to enable the reader Table of Contents1. What are Behavior Trees? 2. How Behavior Trees Generalize and Relate to Earlier Ideas 3. Design principles 4. Extensions of Behavior Trees 5. Analysis of Efficiency, Safety, and Robustness 6. Formal Analysis of How Behavior Trees Generalize Earlier Ideas 7. Behavior Trees and Automated Planning 8. Behavior Trees and Machine Learning 9. Stochastic Behavior Trees 10. Concluding Remarks

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Book SynopsisNonlinear Control Techniques for Electro-Hydraulic Actuators in Robotics Engineering meets the needs of those working in advanced electro-hydraulic controls for modern mechatronic and robotic systems. The non-linear EHS control methods covered are proving to be more effective than traditional controllers, such as PIDs. The control strategies given address parametric uncertainty, unknown external load disturbance, single-rod actuator characteristics, and control saturation. Theoretical and experimental validations are explained, and examples provided. Based on the authors'' cutting-edge research, this work is an important resource for engineers, researchers, and students working in EHS.Table of ContentsIntroduction. Model Construction of Electro-Hydraulic Control System 7. Linear PID Control Design. Robust Control Method 41. Output Feedback Control Method. Parametric Adaptive Control Method 91.

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Book SynopsisInfrastructure Robotics Illuminating resource presenting commonly used robotic methodologies and technologies, with recent developments and clear application examples across different project types Infrastructure Robotics presents state-of-the-art research in infrastructure robotics and key methodologies that enable the development of intelligent robots for operation in civil infrastructure environments, describing sensing, perception, localization, map building, environmental and operation awareness, motion and task planning, design methodologies, robot assistance paradigms, and physical human-robot collaboration. The text also presents many case studies of robotic systems developed for real-world applications in maintaining various civil infrastructures, including steel bridges, tunnels, underground water mains, underwater structures, and sewer pipes. In addition, later chapters discuss lessons learned in deployment of intelligent robots in practical applic

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Book SynopsisROBOTIC PROCESS AUTOMATION Presenting the latest technologies and practices in this ever-changing field, this groundbreaking new volume covers the theoretical challenges and practical solutions for using robotics across a variety of industries, encompassing many disciplines, including mathematics, computer science, electrical engineering, information technology, mechatronics, electronics, bioengineering, and command and software engineering. Robotics is the study of creating devices that can take the place of people and mimic their behaviors. Mechanical engineering, electrical engineering, information engineering, mechatronics, electronics, bioengineering, computer engineering, control engineering, software engineering, mathematics, and other subjects are all included in robotics. Robots can be employed in a variety of scenarios and for a variety of objectives, but many are now being used in hazardous areas (such as radioactive material inspection, bomb detection, and deactivation), maTable of ContentsPreface xix 1 A Comprehensive Study on Cloud Computing and its Security Protocols and Performance Enhancement Using Artificial Intelligence 1Srinivasa Rao Gundu, Charanarur Panem and J. Vijaylaxmi 1.1 Introduction 2 1.2 Aim of the Study 2 1.3 Architecture of Cloud Computing 3 1.4 The Impact of Cloud Computing on Business 4 1.5 The Benefits of Cloud Computing on Business 5 1.6 Generic Security Protocol Features 5 1.7 Cloud Computing Security Protocol Design 6 1.8 AI Based Cloud Security 12 1.9 Various Neuronal Network Architectures and Their Types 14 1.10 Conclusion 15 2 The Role of Machine Learning and Artificial Intelligence in Detecting the Malicious Use of Cyber Space 19Charanarur Panem, Srinivasa Rao Gundu and J. Vijaylaxmi 2.1 Introduction 20 2.2 Aim of the Study 21 2.3 Motivation for the Study 21 2.4 Detecting the Dark Web 23 2.5 Preventing the Dark Web 24 2.6 Recommendations 28 2.7 Conclusion 30 3 Advanced Rival Combatant LIDAR-Guided Directed Energy Weapon Application System Using Hybrid Machine Learning 33Srinivasa Rao Gundu, Charanarur Panem, J. Vijaylaxmi and Aishvarya Dave 3.1 Introduction 34 3.2 Aim of the Study 35 3.3 Motivation for the Study 35 3.4 Nature of LASERS 37 3.5 Ongoing Laser Weapon Projects 38 3.6 Directed Energy Weapons (DEWs) 39 3.7 LIDAR Guided LASER Weapon System (LaWS) 3.8 Methodology 41 3.9 Conclusion 44 4 An Impact on Strategical Advancement and Its Analysis of Training the Autonomous Unmanned Aerial Vehicles in Warfare [Theme - RPA and Machine Learning] 47Srinivasa Rao Gundu, Charanarur Panem and J. Vijaylaxmi 4.1 Introduction 48 4.2 Aim of the Study 49 4.3 Motivation for the Study 50 4.4 Supervised and Unsupervised Machine Learning for UAVs 50 4.5 Unsupervised Solution 54 4.6 Conclusion 57 4.7 Scope for the Future Work 58 5 FLASH: Web-Form's Logical Analysis & Session Handling Automatic Form Classification and Filling on Surface and Dark Web 61Ashwini Dalvi, Viraj Thakkar, Smit Moradiya, Aditya Vedpathak, Irfan Siddavatam, Fark Kazi and S.G. Bhirud 5.1 Introduction 62 5.2 Literature Review 63 5.3 How FLASH Offers Better Results 75 5.4 Methodology 75 5.5 Results 84 5.6 Limitations and Future Work 96 5.7 Conclusion 97 6 Performance Analysis of Terahertz Microstrip Antenna Designs: A Review 101Ram Krishan 6.1 Introduction 101 6.2 Microstrip Antenna Design 103 6.3 Challenges of Terahertz Antenna Development 105 6.4 Antenna Performance Attributes 106 6.5 Comparative Analysis of Microstrip THZ Antennas 107 6.6 Conclusion 109 7 Smart Antenna for Home Automation Systems 113Manish Varun Yadav and Swati Varun Yadav 7.1 Introduction 114 7.2 Home Automation Antenna Geometry and Robotics Process Automation 115 7.3 Results for Home Automation Smart Antenna 118 7.4 Conclusion 121 8 Special Military Application Antenna for Robotics Process Automation 125Manish Varun Yadav and Swati Varun Yadav 8.1 Introduction 126 8.2 Special Military Application Antenna for Robotics Process Automation 127 8.3 Results for Special Military Application Antenna 130 8.4 Conclusion 136 9 Blockchain Based Humans-Agents Interactions/Human-Robot Interactions: A Systematic Literature Review and Research Agenda 139Faizal Kureshi, Dhaval Makwana, Umesh Bodkhe, Sudeep Tanwar and Pooja Chaturvedi 9.1 Introduction 139 9.2 Conceptual Foundation 143 9.3 Motivation 147 9.4 Blockchain and Robotics Overview 148 9.5 Human-Robot Interaction 149 9.6 Applications of HRI 153 9.7 Transactions between Robots and Human Beings 156 9.8 Escrow Services 158 9.9 Challenges for HRI 159 9.10 Discussion and Future Work 161 9.11 Conclusion 163 10 Secured Automation in Business Processes 167Ambika N. 10.1 Introduction 168 10.2 Literature Survey 169 10.3 Background 174 10.4 Proposed Model 175 10.5 Analysis of the Work 177 10.6 Conclusion 178 11 Future of Business Organizations Based on Robotic Process Automation: A Review 181P. William, Sonal C. Bhangale, Harshal P. Varade and Santosh Kumar Sharma 11.1 Introduction 182 11.2 Literature Review 182 11.3 Technology: A Need of Robotic Process Automation 185 11.4 Business Enterprise 186 11.5 Conclusion and Future Scope 186 12 Comparative Overview of FER Methods for Human-Robot Interaction Using Review Analysis 189Jitendra Sheetlani, Mohit Kadwal, Sumanshu Sharma, Sanat Jain and Shrikant Telang 12.1 Introduction 190 12.2 FER Method Review Based Analysis 191 12.4 Conclusion 194 13 Impact of Artificial Intelligence on Medical Science Post Covid 19 Pandemic 197Yash Aryaman and Amit Kumar Tyagi 13.1 Introduction 198 13.2 Types of AI Relevant to Healthcare 198 13.3 Diagnosis and Treatment Application 201 13.4 Limitation of Artificial Intelligence in Medical Science 203 13.5 The Future of AI in Healthcare 205 13.6 Conclusion 206 14 Revolutionizing Modern Automated Technology with WEB 3.0 211Shishir Shrivastava and Amit Kumar Tyagi 14.1 Introduction 211 14.2 What is WEB 3.0: Definitions 212 14.3 Features & Characteristics 213 14.4 Implementation 215 14.5 Inventions around Modern Technology 218 14.6 Conclusion 221 15 The Role of Artificial Intelligence, Blockchain, and Internet of Things in Next Generation Machine Based Communication 225R. Harish, Sanjana Chelat Menon and Amit Kumar Tyagi 15.1 Introduction 226 15.2 Blockchain 227 15.3 Internet of Things 229 15.4 Convergence of Blockchain, Internet of Things, and Artificial Intelligence 231 15.5 Block Chain for Vehicular IoT 235 15.6 Convergence of IoT with Cyber-Physical Systems 236 15.7 Conclusion 238 16 Robots, Cyborgs, and Modern Society: Future of Society 5.0 243Shashank Sharma, Sanjana Chelat Menon and Amit Kumar Tyagi 16.1 Introduction 244 16.2 Comparing Humans, Cyborgs, and Robots 244 16.3 Some Philosophical Aspects 246 16.4 Reproduction or Replication 246 16.5 Future of our Society 247 16.6 Implications 252 16.7 Conclusion 254 17 Security and Privacy of Blockchain-Based Robotics System 259Pratham Jaiswal and Amit Kumar Tyagi 17.1 Introduction 260 17.2 Security and Privacy Concerns 262 17.3 Security and Privacy Requirements 263 17.4 Consensus Algorithms 265 17.5 Privacy and Security Techniques 270 17.6 Conclusion 272 18 Digital Footprints: Opportunities and Challenges for Online Robotic Technologies 275Sudhir Kumar Rathi, Pritam Prasad Lata, Nitin Soni, Sanat Jain and Shrikant Telang 18.1 Introduction 276 18.2 Proposed Methodology 282 18.3 Conclusion 282 19 SOCIAL MEDIA: The 21st Century's Latest Addiction Detracted Using Robotic Technology 285Sudhir Kumar Rathi, Pritam Prasad Lata and Nitin Soni 19.1 Introduction 286 19.2 Proposed Methodology 286 19.3 Importance and Value of Internet 287 19.4 Effects of Online Addiction on Society 288 19.4.1 Positive Effects of Social Media 289 19.4.2 Negative Effects of Social Media 291 19.5 Challenges to Reduce Social Media Addiction 292 19.6 Challenges Future Impact of Social Media Addiction on Youth 293 19.7 Conclusion 294 20 Future of Digital Work Force in Robotic Process Automation 297P. William, Vishal M. Tidake, Sandip R. Thorat and Apurv Verma 20.1 Introduction 298 20.2 Robotic Process Automation 301 20.3 Robotic Process Automation Operations 303 20.4 RPA-Operating Model Design 305 20.5 Who is Who in RPA Business? 306 20.6 Conclusion 311 21 Evolutionary Survey on Robotic Process Automation and Artificial Intelligence: Industry 4.0 315P. William, Siddhartha Choubey, Abha Choubey and Gurpreet Singh Chhabra 21.1 Introduction 316 21.2 Robotic Process Automation 316 21.3 Artificial Intelligence and Industry 4.0 317 21.4 RPA Tools with IA Support 318 21.5 RPA Tools with IA Support 321 21.6 Conclusions 323 22 Advanced Method of Polygraphic Substitution Cipher Using an Automation System for Non-Invertible Matrices Key 329Devendra Kuril, Manoj Dhawan and Gourav Shrivastava 22.1 Introduction 330 22.2 Significance of Advanced Methods of a Polygraphic Substitution Cipher 331 22.3 Related Work 332 22.4 Proposed Methodology 334 22.5 Exploration 336 22.6 Conclusions 337 23 Intelligence System and Internet of Things (IoT) Based Smart Manufacturing Industries 339Vinod Mahor, Sadhna Bijrothiya, Ankita Singh, Mandakini Ingle and Divyani Joshi 23.1 Introduction 340 23.2 Development of Artificial Intelligence 340 23.3 AI Evolution from Intelligent Manufacturing to Smart Manufacturing 343 23.4 IM and SM Comparison 346 23.5 Further Smart Manufacturing Development for Industry 4.0 349 23.6 Conclusion 351 24 E-Healthcare Systems Based on Blockchain Technology with Privacy 355Vinod Mahor and Sadhna Bijrothiya 24.1 Introduction 355 24.2 Blockchains in Healthcare 357 24.3 Regulations and EHR Privacy 359 24.4 Issues with Migration 360 24.5 Blockchains: Unified or Multiple 362 24.6 Formation of a Unanimity 365 24.7 Access Control & Users 367 24.8 Conclusion 368 25 An Intelligent Machine Learning System Based on Blockchain for Smart Health Care 371Vinod Mahor, Rahul Choudhary, Sadhna Bijrothiya, Jitendra Jatav and Harsh Dubey 25.1 Introduction 371 25.2 Review of Literature 372 25.3 Use of Blockchain in the Healthcare System 373 25.4 Machine Learning Algorithms in the Medical Industry 378 25.5 Blockchain and Artificial Intelligence Solutions 379 25.6 Conclusions 380 26 Industry 4.0 Uses Robotic Methodology in Mechanization Based on Artificial Intelligence 383Vinod Mahor and Sadhna Bijrothiya 26.1 Introduction 384 26.2 Mechanization of Robotic Processes 384 26.3 Industry 4.0 and Artificial Intelligence 385 26.4 RPM Outfits that Sustenance Artificial Intelligence 386 26.5 Discussion 390 26.6 Conclusions 392 27 RPA Using UiPATH in the Context of Next Generation Automation 395Shadab Pasha Khan and Rehan Khan 27.1 Introduction 395 27.2 Traditional Approach vs RPA Approach 396 27.3 Related Work 397 27.4 Applications of RPA 398 27.5 Intelligent Process Automation 405 27.6 RPA and Blockchain 411 27.7 Implementation 413 27.8 Conclusion 419 References 419 About the Editors 423 Index 425

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Book SynopsisMachine Learning Applications Practical resource on the importance of Machine Learning and Deep Learning applications in various technologies and real-world situations Machine Learning Applications discusses methodological advancements of machine learning and deep learning, presents applications in image processing, including face and vehicle detection, image classification, object detection, image segmentation, and delivers real-world applications in healthcare to identify diseases and diagnosis, such as creating smart health records and medical imaging diagnosis, and provides real-world examples, case studies, use cases, and techniques to enable the reader's active learning. Composed of 13 chapters, this book also introduces real-world applications of machine and deep learning in blockchain technology, cyber security, and climate change. An explanation of AI and robotic applications in mechanical design is also discussed, including robot-assisted surgeries, security, and space explor

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Book SynopsisIf you've ever wondered whether you have what it takes to be the ultimate human-machine hero, then this book is for you.Trade Review"Back in the sixties, when I first dreamed up the concept of Iron Man, I thought, 'What if a man had a suit of armor, like the knights of old - but modern armor that housed all sorts of miniaturized, technical weaponry? Such a man would seem to be the ultimate superhero.' At first, I didn't give much thought to what that suit of armor might mean to the man inside - how it might affect his body and/or his brain and subtly blur the line between human and machine. But now, almost 40 years later, E. Paul Zehr has tackled that very subject. Inventing Iron Man is his fascinating vision of the real life implications of my original concept." (Stan Lee, comic icon and creator of Iron Man) "E. Paul Zehr, surely one of the coolest of professors, has done something interesting, enlightening, and maybe just a bit quixotic; he has built a bridge between the fantasy science of superhero comics and the eyes-front innovations of real-life technological innovators." (Dennis O'Neil, Iron Man writer and editor)"Table of ContentsForeword, by Warren EllisPreface: The Stark Reality of RoboticsPart I: It's More Than Skin Deep: Tony learns to live inside a suit of iron1. Origins of the Iron Knight: Bionics, Robotic Armor, and Anthropomorphic Suits2. Building the Body with Biology: When the Man of Metal Needs to Muscle In3. Accessing the Brain of the Armored Avenger: Can We Connect the Cranium to a Computer?The First De cades of Iron: "He Lives! He Walks! He Conquers!"Part II: Use It or Lose It: Will time tarnish the Golden Avenger?4. Multitasking and the Metal Man: How Much Can Iron Man's Mind Manage?5. Softening Up a Superhero: Why the Man with a Suit of Iron Could Get a Jelly Belly6. Brain Drain: Will Tony's Gray Matter Give Way?The Next De cades of Iron: "I Can Envision the Future"Part III: Armored Avenger in Action: If we build it, what will come?7. Trials and Tribulations of the Tin Man: What Happens When the Human Machine Breaks Down8. Visions of the Vitruvian Man: Is Invention Really Only One Part Inspiration?9. Deal or No Deal? Could Iron Man Exist?Appendix: Ten Momentous Moments of the Metal ManBibliographyIndex

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Book SynopsisRather than asking us to suspend disbelief, Robots in Space demands that we accept facts as they evolve.Trade ReviewEntertaining reading. Commercial Dispatch Excellent, eye-opening, horizon-broadening reading! Highly recommended. Choice Noted space historians... breathe new life into the subject by examining its history as well as its possible future. They call for a new vision of human spaceflight-a 'transhuman' program that takes into account current trends in robotics, artificial intelligence, genetic engineering and other fields that are rapidly changing the nature of both humans and machines. Air and Space Magazine This short volume manages to capture the history of U.S. space flight, to explain the underpinnings of U.S. space policy and to plot out the possibilities for our future in space in a style that most anyone can enjoy. -- Andrew McMichael Park City Daily News A timely and thought-provoking read, no matter what side of the humans vs. robots debate one is on. Highly recommended for anyone with an interest in where our species is ultimately headed in space. Liftoff Should interest any intelligent reader with an interest in the history and future of space exploration, whatever technology is applied. Its mix of historical background and social context, entirely due to the authors' long experience, takes the reader well beyond the usual issues of technical challenge and budget limitations, while numerous selected quotations accentuate the human element. -- Mark Williamson Space Times An examination of the history of the various arguments for sending humans and machines into space, and their relative merits. It is an authoritative, detailed look at how these arguments evolved and what the future of humans and robots in space might hold. -- Jeff Foust Space Review A remarkably well-written and lucid book... about the ongoing debate within the American civil space agency between proponents of human spaceflight and those who advocate robotic or 'unmanned' spaceflight. -- Capt Bryce G. Poole, USAF Air and Space Power JournalTable of ContentsAcknowledgmentsIntroduction: A False Dichotomy1. The Human/ Robot Debate2. Human Spaceflight in Popular Culture3. Promoting the Human Dimension4. Robotic Spaceflight in Popular Culture5. The New Space Race6. Interstellar Flight and the Human Future in Space7. Homo sapiens, Transhumanism, and the Postbiological Universe8. An Alternative Paradigm?Appendix: Inaequate WordsNotesIndex

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