Robotics Books

Book Synopsis

Read more less

Book Synopsis

Read more less

Book SynopsisClassical optimization methodologies fall short in very large and complex domains. In this book is suggested a different approach to optimization, an approach which is based on the 'blind' and heuristic mechanisms of evolution and population genetics. The genetic approach to optimization introduces a new philosophy to optimization in general, but particularly to engineering. By introducing the ‘genetic’ approach to robot trajectory generation, much can be learned about the adaptive mechanisms of evolution and how these mechanisms can solve real world problems. It is suggested further that optimization at large may benefit greatly from the adaptive optimization exhibited by natural systems when attempting to solve complex optimization problems, and that the determinism of classical optimization models may sometimes be an obstacle in nonlinear systems.This book is unique in that it reports in detail on an application of genetic algorithms to a real world problem, and explains the considerations taken during the development work. Futhermore, it addresses robotics in two new aspects: the optimization of the trajectory specification which has so far been done by human operators and has not received much attention for both automation and optimization, and the introduction of a heuristic strategy to a field predominated by deterministic strategies.

Read more less

Book SynopsisRecently, there has been considerable research interest in neural network control of robots, and satisfactory results have been obtained in solving some of the special issues associated with the problems of robot control in an “on-and-off” fashion. This book is dedicated to issues on adaptive control of robots based on neural networks. The text has been carefully tailored to (i) give a comprehensive study of robot dynamics, (ii) present structured network models for robots, and (iii) provide systematic approaches for neural network based adaptive controller design for rigid robots, flexible joint robots, and robots in constraint motion. Rigorous proof of the stability properties of adaptive neural network controllers is provided. Simulation examples are also presented to verify the effectiveness of the controllers, and practical implementation issues associated with the controllers are also discussed.

Read more less

Book SynopsisRobots are being used in increasingly complicated and demanding tasks, often in environments that are complex or even hostile. Underwater, space and volcano exploration are just some of the activities that robots are taking part in, mainly because the environments that are being explored are dangerous for humans. Robots can also inhabit dynamic environments, for example to operate among humans, not just in factories, but also taking on more active roles. Recently, for instance, they have made their way into the home entertainment market. Given the variety of situations that robots will be placed in, learning becomes increasingly important.Robot learning is essentially about equipping robots with the capacity to improve their behaviour over time, based on their incoming experiences. The papers in this volume present a variety of techniques. Each paper provides a mini-introduction to a subfield of robot learning. Some also give a fine introduction to the field of robot learning as a whole. There is one unifying aspect to the work reported in the book, namely its interdisciplinary nature, especially in the combination of robotics, computer science and biology. This approach has two important benefits: first, the study of learning in biological systems can provide robot learning scientists and engineers with valuable insights into learning mechanisms of proven functionality and versatility; second, computational models of learning in biological systems, and their implementation in simulated agents and robots, can provide researchers of biological systems with a powerful platform for the development and testing of learning theories.

Read more less

Book SynopsisThis volume aims to provide a reference to the development of robotic intelligence, built upon Semantic Computing, in terms of 'action' to realize the 'context' and 'intention' formulated by Semantics Computing during the 'thinking' or reasoning process. It addresses three core areas:

Read more less

Book SynopsisTHIS BOOK is the fully revised and updated second edition of 'Consciousness and Robot Sentience'. With lots of new material, it will provide new insights into artificial intelligence (AI) and machine consciousness, beyond materials published in the first edition. The organization of this book has been streamlined for better clarity and continuity of the lines of arguments.The perspective of AI has been added to this edition. It is shown that contemporary AI has a hidden problem, which prevents it from becoming a true intelligent agent. A self-evident solution to this problem is given in this book.This solution is surprisingly connected with the concepts of qualia, the mind-body problem and consciousness. These are the hard problems of consciousness that so far have been without viable solution. Unfortunately, the solution to the hidden problem of AI cannot be satisfactorily implemented, unless the phenomena of qualia and consciousness are first understood. In this book an explanation of consciousness is presented, one that rejects material and immaterial substances, dualism, panpsychism, emergence and metaphysics. What remains is obvious. This explanation excludes consciousness in digital computers, but allows the artificial creation of consciousness in one natural-like way, by associative non-computational neural networks.The proof of a theory calls for empirical verification. In this case, the proof could be in the form of a sentient robot. This book describes a step towards this in the form of the author's small experimental robot XCR-1. This robot has evolved through the years, and has now new cognitive abilities, which are described.

Read more less

Book SynopsisFLINS, an acronym introduced in 1994 and originally for Fuzzy Logic and Intelligent Technologies in Nuclear Science, is now extended into a well-established international research forum to advance the foundations and applications of computational intelligence for applied research in general and for complex engineering and decision support systems.The principal mission of FLINS is bridging the gap between machine intelligence and real complex systems via joint research between universities and international research institutions, encouraging interdisciplinary research and bringing multidiscipline researchers together.FLINS 2020 is the fourteenth in a series of conferences on computational intelligence systems.

Read more less

Book SynopsisThis book is a comprehensive collection and practical guide on robotics derived from the author's research in robotics since 1988. The Chinese edition of this book has sold over 300,000 copies, and is one of the best-selling books on robotics in China.The book covers the core technology of robotics, including the basic theories and techniques of robot manipulator, mobile robots to focus on location navigation, and intelligent control underpinned by artificial intelligence and deep learning. Several case studies from national research projects in China are also included to help readers understand the theoretical foundations of robotics and related application developments. This book is a valuable reference for undergraduate and graduate students of robotics courses.

Read more less

Book Synopsis

Read more less

Book Synopsis

Read more less

Book SynopsisThis book focuses on the topology theory of mechanisms developed by the authors and provides a systematic method for the topology design of robot mechanisms.The main original theoretical contributions of this book include:A. Three basic concepts· The “geometrical constraint type of axes” is introduced as the third element of the topological structure of a mechanism. When it is combined with the other two elements, the kinematic pair and the connection of links, the symbolic expression of the topological structure is independent of the motion positions (except for the singularity positions) and the fixed coordinate system (Chapter 2).· The position and orientation characteristic (POC) set is used to describe the POC of the relative motion between any two links. The POC set, derived from the unit vector set of the velocity of a link, is only depend on the topological structure of a mechanism. Therefore, it is also independent of the motion positions and the fixed coordinate system (Chapter 3).· The single open chain (SOC) unit is the base unit of the topological structure used to develop the four basic equations of the mechanism topology (Chapters 2, 4–6).B. The mechanism composition principle based on the SOC unitsThis book proposes a mechanism composition principle, based on the SOC units, to establish a systematic theory for the unified modeling of the topology, kinematics, and dynamics of mechanisms based on the SOC units (Chapter 7).C. Four basic equations• The POC equation of serial mechanisms with 10 symbolic operation rules (Chapter 4).• The POC equation of parallel mechanisms with 14 symbolic operation rules (Chapter 5).• The general DOF formula for spatial mechanisms (Chapter 6).• The coupling degree formula for the Assur kinematic chain (Chapter 7).D. One systematic method for the topology design of robot mechanisms (Chapters 8–10)Based on the three basic concepts and the four basic equations addressed above, this book puts forward a systematic method for the topology design of parallel mechanisms, which is fundamentally different from all existing methods. Its main characteristics are as follows:• The design process includes two stages: the first is structure synthesis, which derives many structure types; the second involves the performance analysis, classification and optimization of structure types derived from the first stage.• The design operation is independent of the motion positions and the fixed coordinate system. Therefore, the proposed method is essentially a geometrical method, which ensures the full-cycle DOF and the generality of geometric conditions of mechanism existence. • Each individual design step follows an explicit formula or the guidelines for design criteria, making the operation simple, feasible and reproducible. In addition, the topology design of the SCARA PMs is studied in detail to demonstrate the proposed method (Chapter 10).Table of ContentsIntroduction.- Topological structure of mechanisms and mathematical representation.- Position and orientation characteristic of mechanisms and mathematical representation.- Topological structure equations of mechanisms.- General DOF formula of mechanisms.- Composition principle and topological structure characteristics of mechanisms.- General method for topological structure synthesis of mechanisms.- Topological structure design of 3-DOF parallel mechanisms.- Topological structure design of 4-DOF parallel mechanisms.- Topological structure design of 5-DOF parallel mechanisms.- Topological structure design of 6-DOF parallel mechanisms.- Conclusion.

Read more less

Book SynopsisThe goal of this textbook is to equip readers with as structured knowledge of soft robotics as possible. Seeking to overcome the limitations of conventional robots by making them more flexible, gentle and adaptable, soft robotics has become one of the most active fields over the last decade. Soft robotics is also highly interdisciplinary, bringing together robotics, computer science, material science, biology, etc. After the introduction, the content is divided into three parts: Design of Soft Robots; Soft Materials; and Autonomous Soft Robots. Part I addresses soft mechanisms, biological mechanisms, and soft manipulation & locomotion. In Part II, the basics of polymer, biological materials, flexible & stretchable sensors, and soft actuators are discussed from a materials science standpoint. In turn, Part III focuses on modeling & control of continuum bodies, material intelligence, and information processing using soft body dynamics. In addition, the latest research results and cutting-edge research are highlighted throughout the book. Written by a team of researchers from highly diverse fields, the work offers a valuable textbook or technical guide for all students, engineers and researchers who are interested in soft robotics.Table of ContentsChapter 1: Introduction.- Chapter 2: Soft Mechanisms.- Chapter 3: Biological Mechanisms.- Chapter 4: Soft Manipulation and Locomotion.- Chapter 5: Basics of Polymer.- Chapter 6: Biological Material.- Chapter 7: Flexible and Stretchable Sensors.- Chapter 8: Soft Actuators.- Chapter 9: Modeling and Control of Continuum Body.- Chapter 10: Material Intelligence.- Chapter 11: Information Processing using Soft Body Dynamics.

Read more less

Book SynopsisThis two-volume set (CCIS 1700-1701) constitutes the refereed proceedings from the 7th International Symposium on Artificial Intelligence, ISAIR 2022, held in Shanghai, China, in October 2022.The 67 presented papers were thoroughly reviewed and selected from 285 submissions. The volumes present the state-of-the-art contributions on the cognitive intelligence, computer vision, multimedia, Internet of Things, robotics, and related applications.Table of ContentsBrain Modeling for Surgical Training on the Basis of Unity 3D.- Motion Saliency Detection Based on Drosophila Vision-inspired Model.- Exploring the Potential of Facial Physiological Signature on Happiness Detection.- Research on Matching Mechanism and Route Planning of Intercity Carpool.- Predicting Stock Market Index Further Trends based on The One-dimensional Convolutional Neural Network.- Image Undistortion and Stereo Rectification Based on Central Ray-Pixel Models.- GGM-Net: Gradient Constraint on Multi-Category Brain MRI Segmentation.- Linear split attention for Pavement Crack Detection.- Information Acquisition and Feature Extraction of Motor Imagery EEG.- MLRA-Net: A Multi-scale Transformer and CNNs Network for Stroke Lesion Segmentation.- Lightweight 3D Point Cloud Classification Network.- Unsupervised Domain Adaptive Image Semantic Segmentation Based on Convolutional Fine-grained Discriminant and Entropy Minimization.- Ensemble of Classification and Matching Models with Alpha-Refine for UAV Tracking.- LayoutLM-Critic: Multimodal Language Model for Text Error Correction of Optical Character Recognition.- Blind Image Deblurring via Fast Local Extreme Intensity Prior.- STRDD: Scene Text Removal with Diffusion Probabilistic Models.- Geometry-Aware Network for Table Structure Recognition in Wild.- A Differential Evolution Algorithm with Adaptive Population Size Reduction Strategy.- A Semi-supervised Road Segmentation Method for Remote Sensing Image Based on SegFormer.- Cross-Layer Feature Attention Module for Multi-Scale Object Detection.- Interact-Pose Datasets for 2D Human Pose Estimation in Multi-Person Interaction Scene.- Multimodal Breast Cancer Diagnosis Based on Multi-level Fusion Network.- Behavior Control of Cooperative Vehicle Infrastructure System in Container Terminals Based on Q-learning.- Backdoor Attack Against Deep Learning-based Autonomous Driving with Fogging.- A Study on Japanese Text Multi-Classification with ALBERT-TextCNN.- Part based Face Stylization via Multiple Generative Adversarial Networks.- Network Intrusion Detection Method Based on Optimized Multiclass Support Vector Machine.- Face Recognition Based on Inverted Residual Network in Complex Environment of Mine.- Comprehensive Optimization for Non-Coal Objects Recognition on Conveyor Belt Based on Deep Learning.- Automated Cobb Angle Measurement using MVIE-Net Combined with Vertebral Segmentation and Landmarks Detection.- Neuromorphic Computing Model Evoked by Audio Vision for Patrol Robot.- Emotion-Sentence-DistilBERT: A Sentence-BERT-based Distillation Model for Text Emotion Classification.- Gait Recognition for Laboratory Safety Management Based on Human Body Pose Model.- Use Active Learning to Construct Japanese Emoji Emotion Database.- Target-driven Autonomous Robot Exploration in Mappless Indoor Environments Through Deep Reinforcement Learning.- Background Subtraction Based on Visual Saliency.- Image Rectification of Industrial Equipment Nameplate Based on Progressive Probabilistic Hough Transform.

Read more less

Book SynopsisToday, the development of robots is making steady advances. In particular, the Robot Operating System (ROS) offers a unified platform that greatly facilitates the development of robots and has become a new hotspot for learning and application in the field of robotics research.This book introduces readers to the key technologies and development methods for ROS-based intelligent robots. Covering both the development history of robots and various aspects of programming robots, it offers effective support for beginners.The book is divided into three parts, the first of which introduces the basics of robots, including their definition, development, composition, and key technologies. In turn, the second part covers the hardware and software components and the implementation of functions such as vision, speech, grasping, and autonomous navigation. These functions need to work together to provide user-friendlier and more intelligent service. The third part shows how to develop robots with different functions in different application scenarios.Combining theoretical and practical aspects, with a strong focus on application, this work can be used as a reference book for robotics-related courses. Moreover, it will benefit all readers who are interested in intelligent robot development, sharing essential insights into developing service robots based on ROS.Trade Review“The book is an effective tutorial for using ROS. So embark on reading it if you intend to adopt ROS, either by delivering your software or for using available software on your robot.” (G. Gini, Computing Reviews, July 17, 2023)Table of ContentsChapter 1 Introduction to Robots.- Chapter 2 Getting Started with ROS.- Chapter 3 The framework of ROS.- Chapter 4 Programming with ROS.- Chapter 5 Introduction to Turtlebot Robot .- Chapter 6 Robot Vision: Theory and Implementation.- Chapter 7 Advanced Robot Vision.- Chapter 8 Robot Autonomous Navigation: Theory and Implementation.- Chapter 9 Robot Speech: Theory and Implementation.- Chapter 10 Robotic Hands, Grasping and Manipulation.- Chapter 11 Case 1: Long command recognition and multi-task execution.- Chapter 12 Case 2: Follow and assist the user.- Chapter 13 Case 3: Restaurant scenario: wave hand to order food.

Read more less

Book SynopsisTomorrow's robots, which includes the humanoid robot, can perform task like tutoring children, working as tour guides, driving humans to and from work, do the family shopping etc. Tomorrow's robots will enhance lives in ways we never dreamed possible. No time to attend the decisive meeting on Asian strategy? Let your robot go for you and make the decisions. Not feeling well enough to go to the clinic? Let Dr Robot come to you, make a diagnosis, and get you the necessary medicine for treatment. No time to coach the soccer team this week? Let the robot do it for you.Tomorrow's robots will be the most exciting and revolutionary things to happen to the world since the invention of the automobile. It will change the way we work, play, think, and live. Because of this, nowadays robotics is one of the most dynamic fields of scientific research. These days, robotics is offered in almost every university in the world. Most mechanical engineering departments offer a similar course at both the undergraduate and graduate levels. And increasingly, many computer and electrical engineering departments are also offering it.This book will guide you, the curious beginner, from yesterday to tomorrow. The book will cover practical knowledge in understanding, developing, and using robots as versatile equipment to automate a variety of industrial processes or tasks. But, the book will also discuss the possibilities we can look forward to when we are capable of creating a vision-guided, learning machine.Table of ContentsIntroduction to Robotics; Motion of Rigid Body; Mechanical System of Robot; Electromechanical System of Robot; Control System of Robot; Information System of Robot; Visual Sensory System of Robot; Visual Perception System of Robot; Decision-Making System of Robot.

Read more less

Book SynopsisTelexistence is a fundamental concept which refers to the general technology that enables a human being to have a real-time sensation of being at a place other than where he or she actually exists, while being able to interact with the remote environment, which may be real, virtual, or a combination of both. It also refers to an advanced type of teleoperation system that enables an operator at the control to perform remote tasks dexterously with the feeling of existing in a surrogate robot working in a remote environment. Telexistence in the real remote environment through a virtual environment is also possible.This book is the first book on telexistence written by the inventor of the concept of this emerging technology. It introduces the concept of telexistence, explains how this concept can be realized, illustrates precisely real examples of the realization of the concept, and determines its future advancement.Table of ContentsGenerations of Robots, the First Generation to the Fourth Generation; Design Philosophy of Robots, Robots as Independent Beings vs Robots as Alter Egos; Telexistence in Real Environments and Virtual Environments, R-Cubed, Humanoid Robotics Project (HRP); Fundamental Technologies for Telexistence, Vision, Audition, Haptics; Retro-Reflective Projection Technology (RPT); Mutual Telexistence using RPT; Telexistence Communication using TWISTER; Future Prospective.

Read more less

Book SynopsisIn this book, we look at how cluster technology can be leveraged to build better robots. Algorithms and approaches in key areas of robotics and computer vision, such as map building, target tracking, action selection and landmark learning, are reviewed and cluster implementations for these are presented.The objective of the book is to give professionals working in the beowulf cluster or robotics and computer vision fields a concrete view of the strong synergy between the areas as well as to spur further fruitful exploitation of this connection. The book is written at a level appropriate for an advanced undergraduate or graduate student. The key concepts in robotics, computer vision and cluster computing are introduced before being used to make the text useful to a wide audience in these fields.

Read more less

Book SynopsisThis book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies around the theme of cooperative robotics. The book contains peer reviewed articles presented at the CLAWAR 2016 conference. The book contains a strong stream of papers on multi-legged locomotion and cooperative robotics. There is also a strong collection of papers on human assistive devices, notably wearable exoskeletal and prosthetic devices, and personal care robots and mobility assistance devices designed to meet the growing challenges due to the global ageing society. Robot designs based on biological inspirations and ethical concerns and issues related to the design, development and deployment of robots are also strongly featured.Table of ContentsPlenary Presentations: Disaster Robotics( Satoshi Tadokoro); Roboethics: Focus on Drones (Gianmarco Veruggio); Assistive Robots: Validation of Gait Events Detector Using Adaptive Thresholds In Humanoid Robot (J Figueiredo, C P Santos And J C Moreno); A Semi-Automatic Step Climbing Assist System for a Wheelchair with an Active-Caster Drive Unit (Y Munakata and M Wada); Biologically-Inspired Systems and Solutions: Bio-Inspired Modelling and Active Control of the Simulation of Human Walking Dynamics (R Vepa); Compound Foot for Increased Millirobot Jumping Ability (J S Lee, R S Fearing and K-J Cho); Decreasing of Negative Work by Elasticity of Trunk Joints of Quadruped Robot (M Ikeda and I Mizuuchi); Co-operative Robot Systems: Designing Modular Series-Elastic Actuators for Safe Human-Robot Collaboration in Industrial Settings (J D G Fernandez, H Sprengel, M Mallwitz, M Zipper, B Yu And V Bargsten); Towards Shop Floor Hardware Reconfiguration for Industrial Collaborative Robots (C Schou and O Madsen); Comparison of Registration Methods for Mobile Manipulators (R Bostelman, R Eastman, T Hong, O A Enein, S Legowik and S Foufou); Field and Underwater Robotics: Toward A Multi-Agent System for Marine Observation (R Polvara, S Sharma, R Sutton, J Wan and A Manning); New Small Buoyancy Control Device with Silicone Rubber for Underwater Vehicles (H Yamamoto and K Shibuya); Innovative Design of CLAWAR: Innovative Design of a Hexapod Scorpion Through Digital Production Techniques (R Terryn, S Flamand, J Saldien, P Deconinck, F Wyffels and S Verstockt); Modular Design of Miniature Mobile Robots for Motion Over Complex Surface (V G Gradetsky, M M Knyazkov, A A Kryukova, L N Kravchuk, A N Sukhanov and E A Semenov); Real-Time SLAM from RGB-D Data on a Legged Robot: An Experimental Study (D Belter, A Kostusiak, M Nowicki and P Skrzypczynski); Innovative Sensing and Actuation Systems: Design and Implementation of a Wireless Prodder for Instructional Purposes in Landmine Detection (H Montes, R Fernandez, D De Lorenzo and M Armada); Radiation Exposure Assessment of A Robot Hand System (E Kourlitis, R French and H Marin-Reyes); Locomotion: Adaptive Swing Leg Retraction Control for Robust Dynamic Locomotion Under Large Terrain Variations (A Gaathon and A Degani); Foot-Eye Calibration of Legged Robot Kinematics (F Bloechliger, M Bloesch, P Fankhauser, M Hutter and R Siegwart); Rate-Dependent Gait Dynamic Stability Analysis for Motor Control Estimation (I Mahmood, U Martinez-Hernandez and A A Dehghani-Sanij); Design of a Compliant Wheel-Legged Robot (A Bouton, F Benamar and C Grand); Manipulation and Gripping: Chaotic Spiral Dynamic Optimization Algorithm (M R Hashim and M O Tokhi); Non-Parametric Modelling of Double-Link Flexible Robot Manipulator Based on NNARX Model Structure (A Jamali, I Z Mat Darus, A Abdulhussain and M O Tokhi); Medical and Rehabilitation Robotics: Active Capsule Endoscope Micro-Robot with Biopsy Tools (H Leon-Rodriguez, V H Le, S-Y Ko, J-O Park and S-H Park); Evolution of Intelligent and Nonlinear Control Approaches for FES Induced Movement Generation of the Lower Limb (M Ahmed, B S K K Ibrahim and M S Huq); Robot Ethics: Robot Ethical Training with Dynamic Ethical Preference Logic (S Wang); Designing a Robotic Interface for Children: The Monarch Robot (M I A Ferreira and J S Sequeira); Robot Modularity: ISO Modularity for Service Robots (G S Virk, H S Park, S Yang and J Wang); ModMan: Self-Reconfigurable Modular Manipulation System for Expansion of Robot Applicability (J-J Kim, S Hong, W Lee, S Kang, S Lee, M Atif, H M Do, T Y Choi, D I Park, Y Son, J Lee and J-H Lee); Service and Application Specific Robots: Design and Kinematic Modeling of a Screw-Propelled Mobile Robot to Perform Remote Explosive Scent Tracing Filter Sampling in Forest During Humanitarian Demining (J H Lugo, M Zoppi and R Molfino); Mobile Microrobotics for Space Exploration: The State-of-the-Art and Prospects (N N Bolotnik, V G Gradetsky, A A Zhukov, D V Kozlov, I P Smirnov and V G Chashchukhin); Soft Robotic Systems: Morphological Computation - A Potential Solution for the Control Problem in Soft Robotics (H Hauser); Steps Towards Energy Efficiency in Elastically Actuated Robots (G Garofalo and C Ott); Wearable Robots: Control System Parameter Optimization for Lower Limb Exoskeleton with Integrated Elastic Elements (S Jatsun, S Savin, A Yatsun and A Postolnyi); Control Architecture of the Atlas 2020 Lower-Limb Active Orthosis (D Sanz-Merodio, J Sancho, M Perez and E Garcia);

Read more less

Book SynopsisThe 3rd Annual International Conference on Design, Manufacturing and Mechatronics (ICDMM2016) was successfully held in Wuhan, China in 2016.The ICDMM2016 covers a wide range of fundamental studies, technical innovations and industrial applications in industry design, manufacturing and mechatronics. The ICDMM2016 program consists of 4 keynote speeches, 96 oral and poster presentations. We were pleased to have more than 80 participants from China, South Korea, Taiwan, Japan, Malaysia, and Saudi Arabia. However, finally, only 83 articles were selected after peer review to be included in this proceedings.

Read more less

Book SynopsisThe 2016 International Conference on Mechatronics and Automation Engineering (ICMAE2016) have been successfully held in Xiamen, China, on April 22nd - 24th.The conference received well over more than 200 submissions, however, only 64 articles were selected and recommended to be included in this proceedings, which organized into 4 main areas, namely, Industrial Automation and Control System, Intelligent Mechatronics and Robotics, Mechanical Engineering and Electrical Engineering and Computer Science.The conference provides the opportunity to showcase state of art research and development in Mechatronics and Automation Engineering from researchers and developers from around the world under one roof to compare notes and establish collaborative relationships.

Read more less

Book SynopsisThis book provides state-of-the-art scientific and engineering research findings and developments in the area of service robotics and associated support technologies around the theme of human-centric robotics. The book contains peer reviewed articles presented at the CLAWAR 2017 conference. The book contains a strong stream of papers on robotic locomotion strategies and wearable robotics for assistance and rehabilitation. There is also a strong collection of papers on non-destructive inspection, underwater and UAV robotics to meet the growing emerging needs in various sectors of the society. Robot designs based on biological inspirations are also strongly featured.

Read more less

Book SynopsisThe Encyclopedia of Medical Robotics combines contributions in four distinct areas of Medical robotics, namely: Minimally Invasive Surgical Robotics, Micro and Nano Robotics in Medicine, Image-guided Surgical Procedures and Interventions, and Rehabilitation Robotics. The volume on Minimally Invasive Surgical Robotics focuses on robotic technologies geared towards challenges and opportunities in minimally invasive surgery and the research, design, implementation and clinical use of minimally invasive robotic systems. The volume on Micro and Nano robotics in Medicine is dedicated to research activities in an area of emerging interdisciplinary technology that is raising new scientific challenges and promising revolutionary advancement in applications such as medicine and biology. The size and range of these systems are at or below the micrometer scale and comprise assemblies of micro and nanoscale components. The volume on Image-guided Surgical Procedures and Interventions focuses primarily on the use of image guidance during surgical procedures and the challenges posed by various imaging environments and how they related to the design and development of robotic systems as well as their clinical applications. This volume also has significant contributions from the clinical viewpoint on some of the challenges in the domain of image-guided interventions. Finally, the volume on Rehabilitation Robotics is dedicated to the state-of-the-art of an emerging interdisciplinary field where robotics, sensors, and feedback are used in novel ways to re-learn, improve, or restore functional movements in humans.Volume 1, Minimally Invasive Surgical Robotics, focuses on an area of robotic applications that was established in the late 1990s, after the first robotics-assisted minimally invasive surgical procedure. This area has since received significant attention from industry and researchers. The teleoperated and ergonomic features of these robotic systems for minimally invasive surgery (MIS) have been able to reduce or eliminate most of the drawbacks of conventional (laparoscopic) MIS. Robotics-assisted MIS procedures have been conducted on over 3 million patients to date — primarily in the areas of urology, gynecology and general surgery using the FDA approved da Vinci® surgical system. The significant commercial and clinical success of the da Vinci® system has resulted in substantial research activity in recent years to reduce invasiveness, increase dexterity, provide additional features such as image guidance and haptic feedback, reduce size and cost, increase portability, and address specific clinical procedures. The area of robotic MIS is therefore in a state of rapid growth fueled by new developments in technologies such as continuum robotics, smart materials, sensing and actuation, and haptics and teleoperation. An important need arising from the incorporation of robotic technology for surgery is that of training in the appropriate use of the technology, and in the assessment of acquired skills. This volume covers the topics mentioned above in four sections. The first section gives an overview of the evolution and current state the da Vinci® system and clinical perspectives from three groups who use it on a regular basis. The second focuses on the research, and describes a number of new developments in surgical robotics that are likely to be the basis for the next generation of robotic MIS systems. The third deals with two important aspects of surgical robotic systems — teleoperation and haptics (the sense of touch). Technology for implementing the latter in a clinical setting is still very much at the research stage. The fourth section focuses on surgical training and skills assessment necessitated by the novelty and complexity of the technologies involved and the need to provide reliable and efficient training and objective assessment in the use of robotic MIS systems.In Volume 2, Micro and Nano Robotics in Medicine, a brief historical overview of the field of medical nanorobotics as well as the state-of-the-art in the field is presented in the introductory chapter. It covers the various types of nanorobotic systems, their applications and future directions in this field. The volume is divided into three themes related to medical applications. The first theme describes the main challenges of microrobotic design for propulsion in vascular media. Such nanoscale robotic agents are envisioned to revolutionize medicine by enabling minimally invasive diagnostic and therapeutic procedures. To be useful, nanorobots must be operated in complex biological fluids and tissues, which are often difficult to penetrate. In this section, a collection of four papers review the potential medical applications of motile nanorobots, catalytic-based propelling agents, biologically-inspired microrobots and nanoscale bacteria-enabled autonomous drug delivery systems. The second theme relates to the use of micro and nanorobots inside the body for drug-delivery and surgical applications. A collection of six chapters is presented in this segment. The first chapter reviews the different robot structures for three different types of surgery, namely laparoscopy, catheterization, and ophthalmic surgery. It highlights the progress of surgical microrobotics toward intracorporeally navigated mechanisms for ultra-minimally invasive interventions. Then, the design of different magnetic actuation platforms used in micro and nanorobotics are described. An overview of magnetic actuation-based control methods for microrobots, with eventually biomedical applications, is also covered in this segment. The third theme discusses the various nanomanipulation strategies that are currently used in biomedicine for cell characterization, injection, fusion and engineering. In-vitro (3D) cell culture has received increasing attention since it has been discovered to provide a better simulation environment of in-vivo cell growth. Nowadays, the rapid progress of robotic technology paves a new path for the highly controllable and flexible 3D cell assembly. One chapter in this segment discusses the applications of micro-nano robotic techniques for 3D cell culture using engineering approaches. Because cell fusion is important in numerous biological events and applications, such as tissue regeneration and cell reprogramming, a chapter on robotic-tweezers cell manipulation system to achieve precise laser-induced cell fusion using optical trapping has been included in this volume. Finally, the segment ends with a chapter on the use of novel MEMS-based characterization of micro-scale tissues instead of mechanical characterization for cell lines studies.Volume 3, Image-guided Surgical Procedures and Interventions, focuses on several aspects ranging from understanding the challenges and opportunities in this domain, to imaging technologies, to image-guided robotic systems for clinical applications. The volume includes several contributions in the area of imaging in the areas of X-Ray fluoroscopy, CT, PET, MR Imaging, Ultrasound imaging, and optical coherence tomography. Ultrasound-based diagnostics and therapeutics as well as ultrasound-guided planning and navigation are also included in this volume in addition to multi-modal imaging techniques and its applications to surgery and various interventions. The application of multi-modal imaging and fusion in the area of prostate biopsy is also covered. Imaging modality compatible robotic systems, sensors and actuator technologies for use in the MRI environment are also included in this work., as is the development of the framework incorporating image-guided modeling for surgery and intervention. Finally, there are several chapters in the clinical applications domain covering cochlear implant surgery, neurosurgery, breast biopsy, prostate cancer treatment, endovascular interventions, neurovascular interventions, robotic capsule endoscopy, and MRI-guided neurosurgical procedures and interventions.Volume 4, Rehabilitation Robotics, is dedicated to the state-of-the-art of an emerging interdisciplinary field where robotics, sensors, and feedback are used in novel ways to relearn, improve, or restore functional movements in humans. This volume attempts to cover a number of topics relevant to the field. The first section addresses an important activity in our daily lives: walking, where the neuromuscular system orchestrates the gait, posture, and balance. Conditions such as stroke, vestibular deficits, or old age impair this important activity. Three chapters on robotic training, gait rehabilitation, and cooperative orthoses describe the current works in the field to address this issue. The second section covers the significant advances in and novel designs of soft actuators and wearable systems that have emerged in the area of prosthetic lower limbs and ankles in recent years, which offer potential for both rehabilitation and human augmentation. These are described in two chapters. The next section addresses an important emphasis in the field of medicine today that strives to bring rehabilitation out from the clinic into the home environment, so that these medical aids are more readily available to users. The current state-of-the-art in this field is described in a chapter. The last section focuses on rehab devices for the pediatric population. Their impairments are life-long and rehabilitation robotics can have an even bigger impact during their lifespan. In recent years, a number of new developments have been made to promote mobility, socialization, and rehabilitation among the very young: the infants and toddlers. These aspects are summarized in two chapters of this volume.

Read more less

Book SynopsisThis invaluable compendium highlights the challenges of perioperative process in hospitals today. It delves into the development of a multi-agent robotic system where a dirty-side robot that sorts instruments returned from a surgical room into different containers for easy scrubbing, a Traybot that navigates the environment and transports the instrument containers to different stations, a clean-side robot that picks up instruments and places them in surgical kits, and an orchestration software architecture that manages the cooperation between different robots.The book discusses the technical details of all the components, from system architecture to the details of the end-effector design. Readers will gain significant knowledge on how such a system was put together.Related Link(s)

Read more less

Book SynopsisThis book introduces an unified function approximation approach to the control of uncertain robot manipulators containing general uncertainties. It works for free space tracking control as well as compliant motion control. It is applicable to the rigid robot and the flexible joint robot. Even with actuator dynamics, the unified approach is still feasible. All these features make the book stand out from other existing publications.Table of ContentsDynamic Equations for Robot Manipulators; Adaptive Control of Rigid Robots; Adaptive Impedance Control of Rigid Robots; Adaptive Control of Flexible Joint Robots; Adaptive Impedance Control of Flexible Joint Robots;

Read more less

Book SynopsisSimultaneous localization and mapping (SLAM) is a process where an autonomous vehicle builds a map of an unknown environment while concurrently generating an estimate for its location. This book is concerned with computationally efficient solutions to the large scale SLAM problems using exactly sparse Extended Information Filters (EIF).The invaluable book also provides a comprehensive theoretical analysis of the properties of the information matrix in EIF-based algorithms for SLAM. Three exactly sparse information filters for SLAM are described in detail, together with two efficient and exact methods for recovering the state vector and the covariance matrix. Proposed algorithms are extensively evaluated both in simulation and through experiments.Table of ContentsIntroduction; Sparse Information Filters in SLAM; Decoupling Localization and Mapping; D-SLAM Local Map Joining Filter; Sparse Local Submap Joining Filter.

Read more less

Book SynopsisThis book provides state of the art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies. The book contains peer reviewed articles presented at the CLAWAR 2011 conference. A great deal of interest is vested in the use of robots outside the factory environment. The CLAWAR conference series, established as a high profile international event, acts as a platform for dissemination of research and development findings and supports the trend to address current interest in mobile robotics to meet the needs of mankind in various segments of the society. Field robotics aims to bring technologies that allow autonomous systems to assist and/or replace humans performing tasks that are difficult, repetitive, unpleasant, or take place in hazardous environments. These robotic systems will bring sociological and economic benefits through improved human safety, increased equipment utilisation, reduced maintenance costs and increased production.Table of ContentsAssistive Robots; Autonomous Robots; Biologically Inspired Systems and Solutions; Co-Operative Robot Systems; Education, Intelligence and Learning for CLAWAR; Flexible Manoeuvring Systems; Guidance and Navigation; HMI, Tele-Presence and Tele-Operated Robots; Innovative Design of CLAWAR; Innovative Sensing and Actuation; Locomotion; Medical and Biomedical Robots; Modelling and Simulation of CLAWAR; Perception and Sensor Fusion; Planning and Control; Service Robots.

Read more less

Book SynopsisBiomimetic Robotic Artificial Muscles presents a comprehensive up-to-date overview of several types of electroactive materials with a view of using them as biomimetic artificial muscles. The purpose of the book is to provide a focused, in-depth, yet self-contained treatment of recent advances made in several promising EAP materials. In particular, ionic polymer-metal composites, conjugated polymers, and dielectric elastomers are considered. Manufacturing, physical characterization, modeling, and control of the materials are presented. Namely, the book adopts a systems perspective to integrate recent developments in material processing, actuator design, control-oriented modeling, and device and robotic applications. While the main focus is on the new developments in these subjects, an effort has been made throughout the book to provide the reader with general, basic information about the materials before going into more advanced topics. As a result, the book is very much self-contained and expected to be accessible for a reader who does not have background in EAPs.Based on the good fundamental knowledge and the versatility of the materials, several promising biomimetic and robotic applications such robotic fish propelled by an IPMC tail, an IPMC energy harvester, an IPMC-based valveless pump, a conjugated polymer petal-driven micropump, and a synthetic elastomer actuator-enabled robotic finger are demonstrated.Table of ContentsIntroduction; Physical Principles of Ionic Polymer-Metal Composites; New IPMC Materials and Mechanisms; A Systems Perspective on Modeling of Ionic Polymer-Metal Composites; Conjugated Polymer Actuators: Modeling and Control; Synthetic Dielectric Elastomer Materials; Dielectric Elastomer Actuator; Integrated Sensory Feedback for EAP Actuators; Device and Robotic Applications of EAPs.

Read more less

Book SynopsisRobots are becoming more human, but could they also become sentient and have human-like consciousness?What is consciousness, exactly?It is a fact that our thoughts and consciousness are based on the neural activity of the brain. It is also a fact that we do not perceive our brain activity as it really is — patterns of neural firings. Instead, we perceive our sensations and thoughts apparently as they are. What kind of condition would transform the neural activity into this kind of internal appearance? This is the basic problem of consciousness.The author proposes an explanation that also provides preconditions for true conscious cognition — the requirement of a direct perceptive system with inherent sub-symbolic and symbolic information processing. Associative neural information processing with distributed signal representations is introduced as a method that satisfies these requirements.Conscious robot cognition also calls for information integration and sensorimotor integration. This requirement is satisfied by the Haikonen Cognitive Architecture (HCA).This book demystifies both the enigmatic philosophical issues of consciousness and the practical engineering issues of conscious robots by presenting them in an easy-to-understand manner for the benefit of students, researchers, philosophers and engineers in the field.Table of ContentsThe Real Problem of Consciousness; Consciousness and Subjective Experience; Perception and Qualia; From Perception to Consciousness; Emotions and Consciousness; Inner Speech and Consciousness; Qualia and Machine Consciousness; Testing Consciousness; Artificial Conscious Cognition; Associative Information Processing; Neural Realization of Associative Processing; Designing a Cognitive Perception System; Examples of Perception/Response Feedback Loops; The Transition to Symbolic Processing; Information Integration with Multiple Modules; Emotional Significance of Percepts; The Outline of the Haikonen Cognitive Architecture (HCA); Mind Reading Applications; The Comparison of Some Cognitive Architectures; Example: An Experimental Robot with the HCA; Concluding Notes; Consciousness Explained.

Read more less

Book SynopsisThis book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies. The book contains peer reviewed articles presented at the CLAWAR 2012 conference. Robots are no longer confined to industrial manufacturing environments. A great deal of interest is invested in the use of robots outside the factory environment. The CLAWAR conference series, established as a high profile international event, acts as a platform for dissemination of research and development findings and supports such a trend to address the current interest in mobile robotics to meet the needs of mankind in various sectors of the society. These include personal care, public health, services in the domestic, public and industrial environments. The editors of the book have extensive research experience and publications in the area of robotics in general and in mobile robotics specifically, and their experience is reflected in editing the contents of the book.Table of ContentsPlenary Presentations; Assistive Robots; Autonomous Robots; Biologically-Inspired Systems and Solutions; Innovative Design of CLAWAR; Locomotion; Miscellaneous Applications; Modelling and Simulation of CLAWAR; Perception and Sensor Fusion; Planning and Control; Service Robots; Service Robot Standards and Standardization.

Read more less

Book SynopsisThe proceedings provide state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and assistive technologies. The proceedings collected together peer reviewed articles presented at the CLAWAR 2013 conference. It contains a strong showing of articles on legged locomotion with numbers of legs from two onwards. There is also a good collection of articles on systems that walls climbing, poles balancing, and other more complex structures following the traditional of CLAWAR themes. In addition, the proceedings also cover the subject of robot-human interaction, which focus on a more “human” way of communicating with humanoid robots. As for human assistive devices, proceedings also cover exoskeletal and prosthetic devices, robots for personal and nursing cares to address the issues of ageing population in our society. Finally, the issue of the deployment of robots in society, it social and ethically consideration are also addressed in the proceedings.Table of ContentsPlenary Presentations; Assistive Robotics; Autonomous Robots; Biologically-Inspired Systems and Solutions; HMI, Inspection and Learning; Innovative Design of CLAWAR; Locomotion; Manipulation and Gripping; Modelling and Simulation of CLAWAR; Planning and Control; Positioning, Localization and Perception; Sensing and Sensor Fusion; Service Robot Standards and Standardization.

Read more less

Book SynopsisTelexistence is a fundamental concept which refers to the general technology that enables a human being to have the real-time sensation of being at a place other than where he or she actually exists, while being able to interact with the remote environment, which may be real, virtual, or a combination of both. It also refers to an advanced type of teleoperation system that enables an operator at the control to perform remote tasks dexterously with the feeling of existing in a surrogate robot working in a remote environment. Telexistence in the real remote environment through a virtual environment is also possible.This book is the second edition of the original Telexistence; new contents cover recent advancements of the technology in areas such as human augmentation, autostereoscopy, tangible visuo-haptic 3D display, face-to-face communication, and haptic sensations and technologies. Case studies of the mobile mutual telexistence system TELESAR IV and haptic telexistence avatar system TELESAR V are also included. Written by the inventor of the concept of this emerging technology, it introduces the concept of telexistence, explains how this concept can be realized, illustrates precisely real examples of the realization of the concept, and determines its future advancement. Readers will be inspired by the concept, and acquire appropriate knowledge on this emerging technology and the fundamental skills to contribute in further development of telexistence.Table of ContentsVirtual Reality and Telexistence; Design Philosophies; Telexistence; Fundamental Technologies for Telexistence; Retroreflective Projection Technology (RPT); Mutual Telexistence Using RPT; Telexistence Communication Using TWISTER: Telexistence Wide-angle; Haptic VR and Haptic Telexistence;

Read more less

Book SynopsisInterest in control of climbing and walking robots has remarkably increased over the years. Novel solutions of complex mechanical systems such as climbing, walking, flying and running robots with different kinds of locomotion and the technologies that support them and their applications are the evidence of significant progress in the area of robotics. Supporting technologies include the means by which robots use to sense, model, and navigate through their environments and, of course, actuation and control technologies. Human interaction including exoskeletons, prostheses and orthoses, as well as service robots, are increasingly active important pertinent areas of research. In addition, legged machines and tracked platforms with software architecture seem to be currently the research idea of most interest to the robotics community.

Read more less

Book SynopsisThe book, written for a general educated public, compares the most important elements of the human nervous system to the corresponding capacities of robots. Crucial are the areas of activities for which the constraints limiting human and robot performances are much different. Those areas offer opportunities for synergies.The book argues that we now understand mechanisms for emotional feelings in the human brain so well that we will be able to program robots to act as though they also have emotion. Written in a clear and open fashion by an expert neuroscientist, the book will appeal to interested lay readers in addition to neuroscientists and computer scientists.Table of ContentsIntroduction; Robots Yesterday; Sentient Machines; Motors to Go; Emotions; Regulation and Display of "Emotions" by Robots; Human/Robot Interactions; Legal Implications of Living and Working with Robots; Robots Tomorrow; Acknowledgments;

Read more less

Book SynopsisThe book, written for a general educated public, compares the most important elements of the human nervous system to the corresponding capacities of robots. Crucial are the areas of activities for which the constraints limiting human and robot performances are much different. Those areas offer opportunities for synergies.The book argues that we now understand mechanisms for emotional feelings in the human brain so well that we will be able to program robots to act as though they also have emotion. Written in a clear and open fashion by an expert neuroscientist, the book will appeal to interested lay readers in addition to neuroscientists and computer scientists.Table of ContentsIntroduction; Robots Yesterday; Sentient Machines; Motors to Go; Emotions; Regulation and Display of "Emotions" by Robots; Human/Robot Interactions; Legal Implications of Living and Working with Robots; Robots Tomorrow; Acknowledgments;

Read more less

Book SynopsisThis book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies around the theme of assistive robotics. The book contains peer reviewed articles presented at the CLAWAR 2015 conference. The book contains a comprehensive collection of papers on legged locomotion with numbers of legs from two upward to multi-legs, which includes robots cable of climbing walls, poles, or more complex structures such as continuing the distinctive CLAWAR themes. There are also a strong showing of articles covering human assist devices, notably exoskeletal and prosthetic devices, as well as social robots designed to meet the growing challenges of global ageing population.Table of ContentsPlenary Presentations: Infrastructure Robotics: Opportunities and Challenges (Gamini Dissanayake); Understanding Animal Locomotion Using Bio-Inspired Robotics and Soft Robotics (Tianmiao Wang); Assistive Robots: A Behavior Adaptation Method Based on Hierarchical POMDPs (Y Tao, Y Chen, D Xu and J Zheng); Design and Control of Exoskeleton for Elderly Mobility (G Al Rezage, M O Tokhi and S K Ali); Assessing Human Robot Interaction: The Role of Long-Run Experiments (I Ferreira and J S Sequeira); Autonomous Robots: Wall Climbing Robot Motion Simulation in Non-Deterministic Area with Existing Moving Objects (V G Gradetsky, M M Knyazkov, A M Nunuparov, E A Semyonov and A N Sukhanov); Design and Implementation of a Scansorial Robot (M A H Hassan and M O Tokhi); Biologically-Inspired Systems and Solutions: A Bio-Inspired Behavior Based Bipedal Locomotion Control - B4LC Method for Bipedal Upslope Walking (J Zhao, Q Liu, S Schuetz and K Berns); Design and Implementation of a Smart Robotic Shark with Multi-Sensors (S Chen, J Yu, X Li and J Yuan); Control Algorithm for Walking Robot with Mosaic Body (A V Panchenko, I A Orlov and V E Pavlovsky); Innovative Design of Clawar: A Novel Inspection Robot Moving on High-Voltage Power Transmission Line (T Guanghong and F Lijin); Rise-Rover: A Wall-Climbing Robot with High Reliability and Load-Carrying Capacity (J Xiao, B Li, K Ushiroda and Q Song); Inspection and Innovative Sensing: An Innovative Torque Sensor Design for the Lightest Hydraulic Quadruped Robot (H Khan, F Cannella, D Caldwell and C Semini); Mapping Repetitive Structural Tunnel Environments for a Biologically Inspired Climbing Robot (G Paul, S Mao, L Liu and R Xiong); Locomotion: Application of Local Slopes in the Study of Metastable Walking (A T Safa, M Naraghi and A Alasty); A Mechanism of Particle Swarm Optimization on Motor Patterns in the B4LC System (Q Liu, J Zhao, S Schuetz and K Berns); Dynamical Analysis of Large Deflection Compliant Leg During Terrestrial Locomotion (T Fang, X Wang, Z Chen, M Xu and S Zhang); Manipulation, Intelligence and Learning for CLAWAR: Radiation Dosing Software Control of a Robot System for the Atlas Scanning Facility (H Marin-Reyes and R French); Acquisition Slope Surface Walking for Humanoids via Transfer Learning (Y Wang, X Han, Z Liu, D Luo and X Wu); Medical and Rehabilitation Robotics: A Real-Time Gait Phase Detection Method for Prosthesis Control (J Li, X Zhou, C Li, W Li, H Zhang and H Gu); Powered Knee Orthosis for Performance of Assistance and Rehabilitation Purposes (M Shysh, A Safonov, A Telesh and U Schmucker); Modelling and Simulation of CLAWAR: Wall Climbing Robot Motion with Adaptive Vacuum Contact Devices (V G Gradetsky, M M Knyazkov, A A Kryukova, E A Semyonov and A N Sukhanov); Combination of Affine Deformation and Dynamic Movement Primitive in Learning Human Motion for Redundant Manipulator (J Hu and R Xiong); Perception, Localization and Rescue Operations: Multi-Session Slam Over Low Dynamic Workspace Using RGBD Sensor (Y Wang, R Xiong, S Huang and J Wu); Mechanism and Anti-Explosion Design of an Omnitread Serpentine Robot for Searching in Coal Mines (G Liu, J Yan, C Li, Z Han, L Zhu, J Zhao and L Li); Planning and Control: Lidar-Based Navigation-Level Path Planning for Field-Capable Legged Robots (I Havoutis, D G Caldwell and C Semini); A Simple Modeling Method and Trajectory Planning for a Car-Like Climbing Robot Used to Strip Coating from the Outer Surface of Pipes Underwater (H Wang, C Yang, X Deng and J Fan); Underwater and Sea Robotics: Towards Deep-Sea Monitoring with SMIS - Experimental Trials of Deep-Sea Acoustic Localization (S Neumann, D Oertel, H Worn, M Kurowski, D Dewitz, J J Waniek, D Kaiser and R Mars); Mechanical Design of a Two-Joint Robotic Fish (C Zhang, J Yu and M Tan); A Novel Hydraulic Mechanism for Bio-Inspired Undulating Robot: Modeling and Morphological Analysis (H Xu, T Hu, X Zhang and L Zhang); and other papers;

Read more less