Robotics Books

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 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 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 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 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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Book SynopsisIn Surrogate Humanity Neda Atanasoski and Kalindi Vora trace the ways in which robots, artificial intelligence, and other technologies serve as surrogates for human workers within a labor system entrenched in racial capitalism and patriarchy. Analyzing myriad technologies, from sex robots and military drones to sharing-economy platforms, Atanasoski and Vora show how liberal structures of antiblackness, settler colonialism, and patriarchy are fundamental to human---machine interactions, as well as the very definition of the human. While these new technologies and engineering projects promise a revolutionary new future, they replicate and reinforce racialized and gendered ideas about devalued work, exploitation, dispossession, and capitalist accumulation. Yet, even as engineers design robots to be more perfect versions of the human—more rational killers, more efficient workers, and tireless companions—the potential exists to develop alternative modes of engineerinTrade Review“By bringing a much more nuanced reading of race, gender, and difference to science and technology studies, Atanasoski and Vora provoke us to think more deeply about how our imagined technological futures always already serve to reproduce our most problematic pasts—and what forms or processes can disrupt and transcend these. This is a vital project that should speak to us all.” -- Barbara Herr Harthorn * American Ethnologist *“Surrogate Humanity...confirm[s] that the human is a contingent concept.... The authors also spotlight how contemporary discourses concerning automation, in particular, alternately promise liberation and threaten debasement while eliding the roles of racialized and colonial subjects in producing the technologies and materials on which automation relies.” -- Rebecah Pulsifer * Women's Studies Quarterly *“...Surrogate Humanity usefully provides examples from literary, artistic, engineering, and scientific projects that critique or outright refuse technoliberalism’s frame for recognizing full humanity. These rebellious acts of imagination show us that the potential exists to develop alternative designs and trajectories for technological development ... in ways that prioritize equity and justice.” -- Anita Lam * Surveillance & Society *“Surrogate Humanity is a fascinating and important book that provides a much-needed counter narrative to prevailing approaches in science and technology studies.... Complemented by their mode of collaborative writing as a radical feminist act, the book is thus certain to inspire scholars and activists alike....” -- Sibille Merz * Ethnic and Racial Studies *“Atanasoski and Vora’s major intervention in the automation debate is their argument that automation imaginaries are shaped by liberal humanism and the racial hierarchies embedded in it.... One strength of Surrogate Humanity is the range of technological discourses, objects, and processes in which the authors elucidate the logics of technoliberalism.” -- J. Jesse Ramírez * American Quarterly *“Atanasoski andVora write with thoughtful scholarship and careful word selection.... [Surrogate Humanity] also provides a generative grounding in relevant science and technology studies and race theory literatures.... [I]t should be required reading in any sociology course on colonization and empire.” -- Laurel Smith-Doerr * Contemporary Sociology *“Surrogate Humanity questions what it means to be human at all, and is an incredibly useful analysis for anyone interested in shifting from thinking about robots within a tool-using paradigm, to an ethics paradigm.” -- Lindsay Balfour * Cultural Studies *Table of ContentsAcknowledgments vii Introduction: The Surrogate Human Effects of Technoliberalism 1 1. Technoliberalism and Automation: Racial Imaginaries of a Postlabor World 27 2. Sharing, Collaboration, and the Commons in the Fourth Industrial Revolution: The Appropriative Techniques of Technoliberal Capitalism 54 3. Automation and the Invisible Service Function: Toward an "Artificial Artificial Intelligence" 87 4. The Surrogate Human Affect: The Racial Programming of Robot Emotion 108 5. Machine Autonomy and the Unmanned Spacetime of Technoliberal Warfare 134 6. Killer Robots: Feeling Human in the Field of War 163 Epilogue: On Technoliberal Desire, Or Why There Is No Such Thing as a Feminist A1 188 Notes 197 Bibliography 225 Index 233

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Book SynopsisTracing the connections between human-like robots and AI at the site of dehumanization and exploited labor The word robot—introduced in Karel Čapek’s 1920 play R.U.R.—derives from rabota, the Czech word for servitude or forced labor. A century later, the play’s dystopian themes of dehumanization and exploited labor are being played out in factories, workplaces, and battlefields. In The Robotic Imaginary, Jennifer Rhee traces the provocative and productive connections of contemporary robots in technology, film, art, and literature. Centered around the twinned processes of anthropomorphization and dehumanization, she analyzes the coevolution of cultural and technological robots and artificial intelligence, arguing that it is through the conceptualization of the human and, more important, the dehumanized that these multiple spheres affect and transform each other.Drawing on the writings of Alan Turing, Sara Ahmed, and Arlie Russell Hochschild; such films and novels as Her and The Stepford Wives; technologies like Kismet (the pioneering “emotional robot”); and contemporary drone art, this book explores anthropomorphic paradigms in robot design and imagery in ways that often challenge the very grounds on which those paradigms operate in robotics labs and industry. From disembodied, conversational AI and its entanglement with care labor; embodied mobile robots as they intersect with domestic labor; emotional robots impacting affective labor; and armed military drones and artistic responses to drone warfare, The Robotic Imaginary ultimately reveals how the human is made knowable through the design of and discourse on humanoid robots that are, paradoxically, dehumanized. Trade Review"The Robotic Imaginary persuasively shows how contemporary depictions of robots and AI offer unique insight into both the governing conceptions of the human (of who does and doesn’t count as fully human) and the gendered and racialized ways in which we are currently imagining and constructing labor."—Priscilla Wald, author of Contagious: Cultures, Carriers, and the Outbreak Narrative"The Robotic Imaginary is a profound contribution to our comprehension of ‘the human,’ read through technocultures of artificial intelligence and robotics. Jennifer Rhee makes an incisive and compelling argument for the connections between histories of devalued labor and of the dehumanized Other, and the limits of identification and knowability as the basis for an ethics of caring, thinking, feeling, and dying."—Lucy Suchman, author of Human-Machine Reconfigurations: Plans and Situated ActionsTable of ContentsIntroduction: All Too Dehumanized1. Caring: Care Labor, Conversational Artificial Intelligence, and Disembodied Women2. Thinking: Closed Worlds, Domestic Labor, and Situated Robotics3. Feeling: Emotional Labor, Sociable Robots, and Shameless Androids4. Dying: Drone Labor, War, and the DehumanizedEpilogue. The Human: That Which We Have Yet to KnowAcknowledgmentsNotesIndex

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Book SynopsisThe world of work is undergoing the most significant change since the Industrial revolution. Cognitive A.I. is driving world change faster than at any time in history. There are massive advantages for employers who act and act quickly. At precisely the same time, COVID has been a wake-up call. Organizations have discovered that they employ too many people, and the realization – many can be more productive working remotely. Productivity increases, reduction in office space and management are all being actioned through home working.A significant study on Homeworkers indicates that worldwide, 1 in 5 will be working from home. Already many Global companies have announced this year plans to reduce office space by 40%. Productivity results that have been realized from remote working have exceeded expectations, which will accelerate.This innovative book will guide you through A.I., how it will affect employment and existing processes, and what the employer and employee can expect in the new and rapidly changing world of work.

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Book SynopsisInfrastructures are ageing and have become a subject of profound concern, awakening our collective consciousness to the imperatives of civil and structural integrity. This concern, compounded by the unrelenting impact of climate change and the burgeoning demand on transport networks and infrastructures, underscores the critical necessity of preserving infrastructural functionality, safety, and alignment with their original design objectives. In doing so, we strive to mitigate health, financial, societal, and environmental risks that these infrastructures may pose. Presently, the imperative is to maintain a vigilant and continuous watch over these critical assets, employing factual, real-time data to support efficient maintenance strategies.This book embarks on a comprehensive exploration of the contemporary industrial challenges surrounding critical infrastructure inspection and maintenance. It offers a detailed examination of current inspection methodologies, manual intervention practices, and the intricate challenges involved in the sustained, systematic evaluation of structural integrity. Subsequently, it delivers an exhaustive analysis and technical elucidation of recent research breakthroughs across various infrastructures and industrial domains. These innovations, deeply rooted in robotics, automation, and digital technologies, augment, support, streamline, and often redefine established paradigms in the realms of inspection and maintenance. Among these innovations are the outcomes of research endeavours co-funded by the European Commission, addressing a spectrum of research priorities and thematic areas.The solutions delineated in this book encompass an array of cutting-edge technologies, from robotic ground vehicles to unmanned aerial systems, digital platforms, advanced sensing solutions, and state-of-the-art visualization and 3D imaging technologies. These technologies foster enhanced data acquisition, precise reporting, and ultimately, more efficient inspection and maintenance approaches. As we navigate through the years ahead, the inevitability of ageing infrastructures looms large, while the tangible value of modern technologies is already manifesting in numerous industrial applications. Though the journey may be arduous, the assimilation of digital technologies into existing infrastructure inspection and maintenance frameworks is gaining traction and acceptance, aligning with the overarching vision articulated within this book.

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Do It Together!Making is better when you're doing it with friends! In Make: Volume 58, we explore different ways to tackle large scale projects that are way bigger than one person can handle alone. In our cover story, get the scoop on how a team of engineers built giant robot Megabot to fight for glory in the world's first real-life mecha battle. Then, discover the latest in robo races and build your own autonomous R/C car.You'll find 14 projects inside, including: Send stealthy messages with Morse code over the internetPlay electronic audio games by drawing circuits with conductive inkKeep kitty entertained with a chaotic double pendulum toyAnd more!

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Book SynopsisArduino 101 houses an Intel Curie module which offers a better performance at a lower power footprint. The module has two 32-bit MCUs - an x86 Intel Quark processor and an ARC EM4 processor along with 384kB flash memory and 80kB SRAM. These onboard MCUs combine a variety of new technologies including wireless communication via Bluetooth Low Energy, 6 axis motion sensor with an accelerometer, and a gyroscope. With this book, you will:Explore neural net pattern matching Have the Arduino learn gesture recognitionPerfect for students, teachers, and hobbyists who need just enough information to get started with the Arduino 101

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Book SynopsisEurope has paid a high price for asbestos, with over 100 000 related deaths. First in line in the fight to free buildings from asbestos contamination, workers in the construction sector could soon find a helping hand in the form of an AI-piloted robotic system.The constant and multifaceted evolution of society has left very few industries unchanged. For most sectors, this has meant moving towards increased automation. Most, but not all. One unyielding sector has largely stayed true to its old ways: the construction sector. For the past 200 years, the same repetitive, standardised and physically challenging construction tasks have been performed by workers with their own two hands. But this could change soon, as emerging voices - some of which decided to stand together under the Bots2ReC (Robots to Re-Construction) project - have been calling for the sector to embrace automation. The reasoning behind Bots2ReC is simple: some tasks are simply too hazardous for humans to perform, and machines could easily replace them. Besides the exposure, some processes or the materials handled in those processes generate health hazards in the form of dust, vibration, noise or toxic substances. It is precisely for these tasks that we could expect great benefits from - and also show the massive potential of - automation to achieve sustainable socio-ecological improvements.With its focus on asbestos, the EU H2020 Bots2ReC project is focusing on reducing the future health burden on workers. There is little doubt that the cost of the technology will easily be counterbalanced by its high social benefit and economic efficiency. This books presents the findings and results of the Bots2ReC project, and should be useful for Construction and Robotics Engineers, as well as graduate level students and researchers active in these fields.Table of Contents 1. Introduction 2. Asbestos Removal Process 3. Robotic Systems for Removing Asbestos 4. Algorithms for Removing Asbestos 5. Results and Performances of Automated Asbestos Removal 6. Summary, Conclusion and Outlook

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Book SynopsisLocalization for underwater robots remains a challenging issue. Typical sensors, such as Global Navigation Satellite System (GNSS) receivers, cannot be used under the surface and other inertial systems suffer from a strong integration drift. On top of that, the seabed is generally uniform and unstructured, making it difficult to apply Simultaneous Localization and Mapping (SLAM) methods to perform localization. Reliable Robot Localization presents an innovative new method which can be characterized as a raw-data SLAM approach. It differs from extant methods by considering time as a standard variable to be estimated, thus raising new opportunities for state estimation, so far underexploited. However, such temporal resolution is not straightforward and requires a set of theoretical tools in order to achieve the main purpose of localization. This book not only presents original contributions to the field of mobile robotics, it also offers new perspectives on constraint programming and set-membership approaches. It provides a reliable contractor programming framework in order to build solvers for dynamical systems. This set of tools is illustrated throughout this book with realistic robotic applications.Table of ContentsPreface xi Notations xiii Abbreviations xvii Introduction xix Part 1. Interval Tools 1 Introduction to Part 1 3 Chapter 1. Static Set-membership State Estimation 5 1.1. Introduction 5 1.2. Interval analysis 8 1.2.1. Once upon a time 8 1.2.2. Intervals 10 1.2.3. Inclusion functions 14 1.2.4. Pessimism and wrapping effect 16 1.3. Constraint propagation 19 1.3.1. Constraint networks 19 1.3.2. Contractors 21 1.3.3. Application to static range-only robot localization 24 1.4. Set-inversion via interval analysis 25 1.4.1. Subpaving 25 1.4.2. SIVIA algorithm for set-inversion 28 1.4.3. Illustration involving contractions 29 1.4.4. Kernel characterization of an interval function 33 1.5. Discussions 35 1.5.1. From sensors to reliable results 36 1.5.2. Numerical libraries 37 1.5.3. Reliable tool for proof purposes 38 1.6. Conclusion 38 Chapter 2. Constraints Over Sets of Trajectories 41 2.1. Towards dynamic state estimation 41 2.1.1. Overall motivations 41 2.1.2. The approach presented in this book 43 2.2. Tubes 44 2.2.1. Definitions 44 2.2.2. Tube analysis 45 2.2.3. Contractors 48 2.3. Implementation 50 2.3.1. Data structure 52 2.3.2. Build a tube from real datasets 54 2.3.3. Tubex, dedicated tube library 57 2.4. Application: dead-reckoning of a mobile robot 57 2.4.1. Test case 58 2.4.2. Constraint network 58 2.4.3. Resolution 59 2.5. Discussions 60 2.5.1. Limits 60 2.5.2. Extract the most probable trajectory from a tube 61 2.5.3. Application to path planning 62 2.6. Conclusion 63 Part 2. Constraints-related Contributions 65 Introduction to Part 2 67 Chapter 3. Trajectories under Differential Constraints 69 3.1. Introduction 69 3.1.1. The differential problem 69 3.1.2. Attempts with set-membership methods 70 3.1.3. Contribution of this work 72 3.2. Differential contractor for L d/dt: ẋ(·) = v(·) 73 3.2.1. Definition and proof 74 3.2.2. Contraction of the derivative 79 3.2.3. Implementation 80 3.3. Contractor-based approach for state estimation 82 3.3.1. Constraint network of state equations 84 3.3.2. Fixed-point propagations 85 3.3.3. Theoretical example of interest ẋ = −sin(x) 87 3.4. Robotic applications 90 3.4.1. Causal kinematic chain 90 3.4.2. Higher-order differential constraints 93 3.4.3. Kidnapped robot problem 93 3.4.4. Actual experiment with the Daurade AUV 94 3.5. Conclusion 99 Chapter 4. Trajectories Under Evaluation Constraints 101 4.1. Introduction 101 4.1.1. Contribution of this work 101 4.1.2. Motivations to deal with time uncertainties 102 4.2. Generic contractor for trajectory evaluation 105 4.2.1. Tube contractor for the constraint Leval : z = y(t) 105 4.2.2. Implementation 111 4.2.3. Application to state estimation 113 4.3. Robotic applications 114 4.3.1. Range-only robot localization with low-cost beacons 114 4.3.2. Reliable correction of a drifting clock 121 4.4. Conclusion 127 Part 3. Robotics-related Contributions 129 Introduction to Part 3 131 Chapter 5. Looped Trajectories: From Detections to Proofs 133 5.1. Introduction 133 5.1.1. The difference between detection and verification 133 5.1.2. Proprioceptive versus exteroceptive measurements 134 5.1.3. The two-dimensional case 135 5.2. Proprioceptive loop detections 135 5.2.1. Formalization 136 5.2.2. Loop detections in a bounded-error context 137 5.2.3. Approximation of the solution set T 138 5.3. Proving loops in detection sets 141 5.3.1. Formalism: zero verification 141 5.3.2. Topological degree for zero verification 141 5.3.3. Loop existence test 145 5.3.4. Reliable number of loops 149 5.4. Applications 151 5.4.1. The Redermor mission 152 5.4.2. The Daurade mission 156 5.4.3. Optimality of the approach 159 5.5. Conclusion 163 Chapter 6. A Reliable Temporal Approach for the SLAM Problem 165 6.1. Introduction 165 6.1.1. Motivations 165 6.1.2. SLAM formalism 167 6.1.3. Inter-temporalities 169 6.2. Temporal SLAM method 172 6.2.1. General assumptions 172 6.2.2. Temporal resolution 173 6.2.3. Lp⇒z: inter-temporal implication constraint 174 6.2.4. The Cp⇒z contractor 178 6.2.5. Temporal SLAM algorithm 186 6.3. Underwater application: bathymetric SLAM 190 6.3.1. Context 190 6.3.2. Daurade’s underwater mission, October 20, 2015 194 6.3.3. Daurade’s underwater mission, October 19, 2015 199 6.3.4. Overview of the environment 202 6.4. Discussions 203 6.4.1. Relation to the state of the art 203 6.4.2. About a Bayesian resolution 205 6.4.3. Biased sensors 205 6.4.4. Fluctuating measurements 205 6.5. Conclusion 207 Conclusion 211 References 217 Index 229

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Book SynopsisThis book presents the most recent research results on modeling and control of robot manipulators. Chapter 1 gives unified tools to derive direct and inverse geometric, kinematic and dynamic models of serial robots and addresses the issue of identification of the geometric and dynamic parameters of these models. Chapter 2 describes the main features of serial robots, the different architectures and the methods used to obtain direct and inverse geometric, kinematic and dynamic models, paying special attention to singularity analysis. Chapter 3 introduces global and local tools for performance analysis of serial robots. Chapter 4 presents an original optimization technique for point-to-point trajectory generation accounting for robot dynamics. Chapter 5 presents standard control techniques in the joint space and task space for free motion (PID, computed torque, adaptive dynamic control and variable structure control) and constrained motion (compliant force-position control). In Chapter 6, the concept of vision-based control is developed and Chapter 7 is devoted to specific issue of robots with flexible links. Efficient recursive Newton-Euler algorithms for both inverse and direct modeling are presented, as well as control methods ensuring position setting and vibration damping. Table of ContentsChapter 1. Modeling and Identification of Serial Robots (Wisama KHALIL and Etienne DOMBRE). 1.1. Introduction. 1.2. Geometric modeling. 1.3. Kinematic modeling. 1.4. Calibration of geometric parameters. 1.5. Dynamic modeling. 1.6. Identification of dynamic parameters. 1.7. Conclusion. 1.8. Bibliography. Chapter 2. Modeling of Parallel Robots (Jean-Pierre MERLET and François PIERROT). 2.1. Introduction. 2.2. Machine types. 2.3. Inverse geometric and kinematic models. 2.4. Direct geometric model. 2.5. Bibliography. Chapter 3. Performance Analysis of Robots (Philippe WENGER). 3.1. Introduction. 3.2. Accessibility. 3.3. Workspace of a robot manipulator. 3.4. Concept of aspect. 3.5. Concept of connectivity. 3.6. Local performances. 3.7. Conclusion. 3.8. Bibliography. Chapter 4. Trajectory Generation (Moussa HADDAD, Taha CHETTIBI, Wisama KHALIL and Halim LEHTIHET). 4.1. Introduction. 4.2. Point-to-point trajectory in the joint space under kinematic constraints. 4.3. Point-to-point trajectory in the task-space under kinematic constraints. 4.4. Trajectory generation under kinodynamic constraints. .4.5. Examples. .4.6. Conclusion. 4.7. Bibliography. Appendix: Stochastic Optimization Techniques. Chapter 5. Position and Force Control of a Robot in a Free or Constrained Space (Pierre DAUCHEZ and Philippe FRAISSE). 5.1. Introduction. 5.2. Free space control. 5.3. Control in a constrained space. 5.4. Conclusion. 5.5. Bibliography. Chapter 6. Visual Servoing (François CHAUMETTE). 6.1. Introduction. 6.2. Modeling visual features. 6.3. Task function and control scheme. 6.4. Other exteroceptive sensors. 6.5. Conclusion. 6.6. Bibliography. Chapter 7. Modeling and Control of Flexible Robots (Frédéric BOYER, Wisama KHALIL, Mouhacine BENOSMAN and George LEVEY). 7.1. Introduction. 7.2. Modeling of flexible robots. 7.3. Control of flexible robot manipulators. 7.4. Conclusion. 7.5. Bibliography. List of Authors. Index.

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Book SynopsisIn today’s high-pressured world, digital transformation is everywhere on the agendas of corporate boards and has risen to the top of CEOs’ strategic plans. Artificial intelligence, blockchain, 3D printing, the Internet of Things, and drones are some of the emerging technologies that are already transforming our world. In this fast changing domain— predicted by few and now reality for all how can companies transform today’s challenges into tomorrow’s opportunities?This book is targeted to help a broad audience such as students, professionals, business, and technology managers to transform an old-world brick and mortar organization to a new-world digital leader. The author addresses various questions including: what essential components does digital transformation include, and how does it impact the enterprise? How does convergence of emerging technologies benefit your organization? How can you start transformation and technology planning projects?

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Book Synopsis Cyber-Physical Systems (CPS) integrate computing and communication capabilities by monitoring and controlling the physical systems via embedded hardware and computers. This book brings together new and futuristic findings on IoT, Cyber Physical Systems and Robotics leading towards Automation and solving issues of various critical applications in Real-time. The book initially overviews the concepts of IoT, IIoT and Cyber Physical Systems followed by various critical applications and discusses the latest designs and developments that provide common solutions for the convergence of technologies. In addition, the book specifies methodologies, algorithms and other relevant architectures in various fields that include Automation, Robotics, Smart Agriculture and Industry 4.0.The book is intended for practitioners, enterprise representatives, scientists, students and Ph.D Scholars in hopes of steering research further towards cyber physical systems design and development and implementation across various domains. Additionally, this book can be used as a secondary reference, or rather one-stop guide, by professionals for real-life implementation of cyber physical systems.The book highlights:• A Critical Coverage of various domains: IoT, Cyber Physical Systems, Industry 4.0, Smart Automation and related critical applications.• Advanced elaborations for target audiences to understand the conceptual methodology and future directions of cyber physical systems and IoT.• An approach towards Research Orientations to enable researchers to point out areas and scope for implementation of Cyber Physical Systems in several domains for better productivity. Table of Contents

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Book SynopsisThis Open Access proceedings presents a good overview of the current research landscape of assembly, handling and industrial robotics.The objective of MHI Colloquium is the successful networking at both academic and management level. Thereby, the colloquium focuses an academic exchange at a high level in order to distribute the obtained research results, to determine synergy effects and trends, to connect the actors in person and in conclusion, to strengthen the research field as well as the MHI community. In addition, there is the possibility to become acquatined with the organizing institute. Primary audience is formed by members of the scientific society for assembly, handling and industrial robotics (WGMHI). Table of ContentsAssembly Planning: Generic Modeling Technique for flexible and highly available Assembly Systems.- Transmitter Positioning of Distributed Large-scale Metrology within Lineless Mobile Assembly Systems.- Optimized High Precision Stacking of Fuel Cell Components for Medium to Large Production Volumes.- Mobile, Modular and Adaptive Assembly Jigs for Large-scale Products.- Design of an Automated Assembly Station for Process Development of All-Solid-State Battery Cell Assembly.-Grasping: Combined Structural and Dimensional Synthesis of a Parallel Robot for Cryogenic Handling Tasks.- Secure Clamping of Parts for Disassembly for Remanufacturing.- Aerial grasping and transport using an unmanned aircraft (UA) equipped with an industrial suction gripper.- Computing Gripping Points in 2D Parallel Surfaces via Polygon Clipping.- Concept for robot-based cable assembly regarding industrial production.- Human-Machine Interaction: Improving the understanding of a remote environment by immersive Man-Machine interaction.- Towards a Modular Elbow Exoskeleton: Concepts for Design and SystemControl.- Adaptive Motion Control Middleware for Teleoperation based on Pose Tracking and Trajectory Planning.- Approach of a Decision Support Matrix for the Implementation of Exoskeletons in Industrial Workplaces.- An approach to integrate a blockchain-based payment model and independent secure documentation for a Robot as a Service.- Human-Robot Collaboration: Human Body Simulation within a Hybrid Operating Method for a Safe and Efficient Human-Robot Collaboration.- Towards Semi Automated Pre-assembly for Aircraft Interior Production.- An approach for direct offline programming of high precision assembly tasks on 3D scans using tactile control and automatic program adaption.- Industry 4.0: Implementation of innovative manufacturing technologies in foundries for large-volume components.- The Digital Twin as a mediator for the digitalization and conservation of expert knowledge.- Web Service for Point Cloud supported Robot Programming using Machine Learning.- Using of Augmented Reality for improved Human-Machine interaction and Real-Time Error Correction of Laboratory Units.- Scalability of assembly line automation based on the integrated product development approach.- Machine Vision: Robot-based Creation of Complete 3D Workpiece Models.- Classification of assembly operations using recurrent neural networks.- Configuration and enablement of vision sensor solutions through a combined simulation based process chain.- Towards Synthetic AI Training Data for Image Classification in Intralogistic Settings.- Evaluation of ML-based Grasping Approaches inthe Field of Automated Assembly.- Robot Programming: Playback Robot Programming Framework for Fiber Spray Processes.- LiDAR-Based Localization for Formation Control of Multi-Robot Systems.- Playback Robot Programming With Loop Increments.- Web-based platform for the configuration of robot applications: A retrospective view on the research project ROBOTOP.- Partial Automated Multi-Pass-Welding for Thick Sheet Metal Connections.

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Book SynopsisThis textbook offers a tutorial introduction to robotics and Computer Vision which is light and easy to absorb. The practice of robotic vision involves the application of computational algorithms to data. Over the fairly recent history of the fields of robotics and computer vision a very large body of algorithms has been developed. However this body of knowledge is something of a barrier for anybody entering the field, or even looking to see if they want to enter the field — What is the right algorithm for a particular problem?, and importantly: How can I try it out without spending days coding and debugging it from the original research papers? The author has maintained two open-source MATLAB Toolboxes for more than 10 years: one for robotics and one for vision. The key strength of the Toolboxes provide a set of tools that allow the user to work with real problems, not trivial examples. For the student the book makes the algorithms accessible, the Toolbox code can be read to gain understanding, and the examples illustrate how it can be used —instant gratification in just a couple of lines of MATLAB code. The code can also be the starting point for new work, for researchers or students, by writing programs based on Toolbox functions, or modifying the Toolbox code itself. The purpose of this book is to expand on the tutorial material provided with the toolboxes, add many more examples, and to weave this into a narrative that covers robotics and computer vision separately and together. The author shows how complex problems can be decomposed and solved using just a few simple lines of code, and hopefully to inspire up and coming researchers. The topics covered are guided by the real problems observed over many years as a practitioner of both robotics and computer vision. It is written in a light but informative style, it is easy to read and absorb, and includes a lot of Matlab examples and figures. The book is a real walk through the fundamentals light and color, camera modelling, image processing, feature extraction and multi-view geometry, and bring it all together in a visual servo system. “An authoritative book, reaching across fields, thoughtfully conceived and brilliantly accomplished Oussama Khatib, StanfordTable of ContentsIntroduction.- Part I: Foundations- Representing Position and Orientation.- Part II: Computer Vision.- Light and Color.- Images and Image Processing.- Image Feature Extraction.- Part III: The Geometry of Vision.- Image Formation.- Using Multiple Images.- Index.

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Book SynopsisThis textbook offers a tutorial introduction to robotics and control which is light and easy to absorb. The practice of robotics and control both involve the application of computational algorithms to data. Over the fairly recent history of the fields of robotics and control a very large body of algorithms has been developed. However this body of knowledge is something of a barrier for anybody entering the field, or even looking to see if they want to enter the field — What is the right algorithm for a particular problem?, and importantly: How can I try it out without spending days coding and debugging it from the original research papers? The author has maintained two open-source MATLAB Toolboxes for more than 10 years: one for robotics and one for vision. The key strength of the Toolboxes provides a set of tools that allow the user to work with real problems, not trivial examples. For the student the book makes the algorithms accessible, the Toolbox code can be read to gain understanding, and the examples illustrate how it can be used —instant gratification in just a couple of lines of MATLAB code. The code can also be the starting point for new work, for researchers or students, by writing programs based on Toolbox functions, or modifying the Toolbox code itself. The purpose of this book is to expand on the tutorial material provided with the toolboxes, add many more examples, and to weave this into a narrative that covers robotics and control separately and together. The author shows how complex problems can be decomposed and solved using just a few simple lines of code, and hopefully to inspire up and coming researchers. The topics covered are guided by the real problems observed over many years as a practitioner of both robotics and control. It is written in a light but informative style, it is easy to read and absorb, and includes a lot of Matlab examples and figures. The book is a real walk through the fundamentals of robot kinematics, dynamics and joint level control, and covers both mobile robots (control, path planning, navigation, localization and SLAM) and arm robots (forward and inverse kinematics, Jacobians, dynamics and joint level control). “An authoritative book, reaching across fields, thoughtfully conceived and brilliantly accomplished!” Oussama Khatib, StanfordTrade Review“Written in a light but quite informative style, the book is intended for students and scientists and should be of interest to practicing and research engineers as well as Ph.D. students in the field of modeling and control of spatial mechanisms, manipulators and robots.” (Clementina Mladenova, zbMATH 1492.93004, 2022)Table of ContentsIntroduction.- Representing Position and Orientation.- Time and Motion.- Mobile Robots.- Navigation.- Localization.- Robot Arm Kinematics,- Manipulator Velocity.- Dynamics and Control.- Appendices.

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Book SynopsisThis book focuses on the importance of human factors in the development of safe and reliable robotic and unmanned systems. It discusses solutions for improving the perceptual and cognitive abilities of robots, developing suitable synthetic vision systems, coping with degraded reliability in unmanned systems, and predicting robotic behavior in relation to human activities. It covers the design of improved, easy to use, human–system interfaces, together with strategies for increasing human–system performance, and reducing cognitive workload at the user interface. It also discusses real-world applications and case studies of human-robot and human-agent collaboration in different business and educational endeavors. The second part of the book reports on research and developments in the field of human factors in cybersecurity.Contributions cover the technological, social, economic and behavioral aspects of the cyberspace, providing a comprehensive perspective to manage cybersecurity risks. Based on the two AHFE 2021 Conferences such as the AHFE 2021 Conference on Human Factors in Robots, Drones and Unmanned Systems, and the AHFE 2021 Conference on Human Factors in Cybersecurity, held virtually on 25–29 July, 2021, from USA, this book offers extensive information and highlights the importance of multidisciplinary approaches merging engineering, computer science, business and psychological knowledge. It is expected to foster discussion and collaborations between researchers and practitioners with different background, thus stimulating new solutions for the development of reliable and safe, human-centered, highly functional devices to perform automated and concurrent tasks, and to achieve an inclusive, holistic approach for enhancing cybersecurity.Table of ContentsConcept for cross-platform delegation of heterogeneous UAVs in a MUM-T environment.- Swarms, teams, or choirs? Metaphors in multi-UAV systems design.- Visual communication with UAS: Estimating parameters for gestural transmission of task descriptions.- A distributed mission-planning framework for shared UAV use in multi-operator MUM-T applications.- Conditional behavior: Human delegation mode for unmanned vehicles under selective Datalink availability.- Lethal Autonomous Weapon Systems (LAWS): An advocacy paper.- Measuring the impact of a navigation aid in unmanned ship handling via a shore control center.- A computational assessment of ergonomics in an industrial human-robot collaboration workplace using system dynamics.

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Book SynopsisProblems of joint application of heterogeneous ground and air robotic means while performing the agricultural technological tasks that require physical interaction with agricultural products and the environment are discussed in the book. Proposed solutions for the exchange of energy and physical resources of unmanned aerial vehicles on ground service platforms, automation of the process of collecting agricultural products and ensuring the stability of the air manipulation system at physical interaction with a ground object are important for the transport and agricultural industry robotization.The book addresses the researchers investigating interdisciplinary issues of agricultural production robotization, problems of information, physical and energy interaction of ground and air robots; recommended to postgraduates and students studying "Mechatronics and robotics" and "Technologies, mechanization and power equipment in agriculture, forestry and fisheries."Table of ContentsChapter 1: Analysis of Existing Approaches to the Service Automation and to Interaction Control of Heterogeneous Agricultural Robots.- Chapter 2: Models and Algorithms of Interaction between Heterogeneous Agricultural Robots.- Chapter 3: Recommendation System to Select the Composition of the Heterogeneous Agricultural Robots.- Chapter 4: Experimental Estimation of Means Developed for Interaction between Heterogeneous Agricultural Robots.- Chapter 5: Theoretical Foundations to Control Technological and Robotic Operations with Physical Manipulations of Agricultural Products.

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Book SynopsisThis book moves from a thorough investigation of human capabilities during movements and interactions with objects and environment and translates those principles into the design planning and control of innovative mechatronic systems, providing significant advancements in the fields of human–robot interaction, autonomous robots, prosthetics and assistive devices. The work presented in this monograph is characterized by a significant paradigmatic shift with respect to typical approaches, as it always place the human at the center of the technology developed, and the human represents the starting point and the actual beneficiary of the developed solutions. The content of this book is targeted to robotics and neuroscience enthusiasts, researchers and makers, students and simple lovers of the matter.Table of ContentsIntroduction.- Part I: Taming the Complexity of Human Motion Generation.- Understanding the Principal Modes of Natural Movements in Temporal Domain.- Quantifying the Time-Invariance Properties of Upper Limb Synergies.- Evidences on the Hierarchical Control of Human Hands.- Part II: On the Design of Nature-Inspired Prostheses and the Assessment of Motion Impairment.- Using Nature-Inspired Principles to Design of Robotic Limbs: the Soft Wrist.- A Novel Approach to Quantify Motion Impairment.- A novel mechatronic system for evaluating elbow muscular spasticity relying on Tonic Stretch Reflex Threshold estimation.- Part III: Transferring Human Principles to Cobots and Autonomous Robots.- Natural Motion: Embedding Human-Likeliness in Robot Movements.- A Focus on Motion Dynamics: Planning Impedance Behaviors in Physical Interaction.- Learning from Humans How to Grasp: a Reactive-Based Approach.- Learning from Humans How to Grasp: Enhancing the Reaching Strategy.- Learning to prevent grasp failure with soft hands: from on-line prediction to dual-arm grasp recovery.- Dexterity Augmentation of Robotic Hands: a Study on the Kinetic Domain.- Exploiting Principal Components for Robots Walking: an Approach for Sub-Optimal Locomotion.- Conclusions and Lessons Learned.

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Book SynopsisDistributed Coordination Theory for Robot Teams develops control algorithms to coordinate the motion of autonomous teams of robots in order to achieve some desired collective goal. It provides novel solutions to foundational coordination problems, including distributed algorithms to make quadrotor helicopters rendezvous and to make ground vehicles move in formation along circles or straight lines. The majority of the algorithms presented in this book can be implemented using on-board cameras. The book begins with an introduction to coordination problems, such as rendezvous of flying robots, and modelling. It then provides a solid theoretical background in basic stability, graph theory and control primitives. The book discusses the algorithmic solutions for numerous distributed control problems, focusing primarily on flying robotics and kinematic unicycles. Finally, the book looks to the future, and suggests areas discussed which could be pursued in further research. This book will provide practitioners, researchers and students in the field of control and robotics new insights in distributed multi-agent systems.Trade Review“The book is intended for students and scientists and should be of interest to practicing and research engineers as well as Ph.D. students in the field of motion control of robots and robot teams.” (Clementina Mladenova, zbMATH 1503.93007, 2023)Table of Contents1. Introduction.- 2. Modelling.- 3. Coordination Problems.- 4. Preliminaries.- 5. Rendezvous of Flying Robots with Local and Distributed Feedbacks.- 6. Rendezvous of Kinematic Unicycles with Local and Distributed Feedbacks.- 7. Formations of Kinematic Unicycles.- 8. Formations of Kinematic Unicycles with Parallel and Circular Collective Motions.- 9. General Formation Path Following.- 10. Unicycle Formation Simulation Trials.- 11. Conclusions and Future Research.

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Book SynopsisThis book is an attempt to address this wide topic with a multi-disciplinary approach. Nowadays, robotics is developing at a much faster pace than ever in the past, both inside and outside industrial environments. While other publications focus on describing the theoretical basis of robot motion, this book pays special attention to explain the fundamentals through real applications. Thus, it represents a perfect combination for studying this topic along with other theoretical books. Each chapter has been authored by experts in specific areas spanning from the mechanics of machinery to control theory, informatics, mechatronics. Chapters have been divided into two sections. The first one is aiming to give a theoretical background. The second section is focused on applications. This book project can be foreseen as a reference for young professionals/researchers to overview the most significant aspects in robotics.Table of ContentsChapter 1: Historical backgrounds on robot mechanism design.- Chapter 2: Path planning for special robotic operations.- Chapter 3: Towards Human Activity Recognition Enhanced Robot Assisted Surgery.- Chapter 4: Metamorphic Manipulators.

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Book SynopsisThrough a series of highly speculative contributions by both leading and highly acclaimed practitioners and theorists, this book gives a new comprehensive overview of architectures’ most recent practical and theoretical developments. While a few chapters are mostly dedicated to a historical analysis of how we got to experience a new technological reality in architecture and beyond, all chapters including the most forward looking, have in common their rigorous understanding of history as a pool of radical experiments, whether one speaks of the history of architecture, or of sociology, technology, and science. Disruptive Technologies: The Convergence of New Paradigms in Architecture is required reading for anybody student, practitioner, and educator who wants to do serious research in architecture and all disciplines dealing with the shaping of our environment, beyond the important but restricted domain of computational architectural design.Additional multimedia content via app: download the SN More Media app for free, scan a link with play button and access to the Additional Contents directly on your smartphone or tablet.Table of Contents1: Disruptive Technologies in Architecture (General Introduction).- 2.1: Robotics and AI in Architecture.- 2.2: Bioptemes and Mechy Max Systems: Topological Imaginations of Adaptive Architecture.- 2.3: How Do We Want to Interact with Robotic Environments? User Preferences for Embodied Interactions, from Pushbuttons to AI.- 2.4: Design-to-Robotic-Production and -Operation for Activating Bio-Cyber-Physical Environments.- 2.5: Conceptual and Methodological Constructs for People-Oriented Public Spaces.- 3.1: Architectural Intelligence, Machine and Human Learning.- 3.2: Architectural Knowledge and Learning Algorithms.- 3.3: On Legibility: Machine Readable Architecture.- 3.4: Where is reality? Can you show it to me? Constructing Artificial Agency.- 3.6: From Disruptions in Architectural Pedagogy to Disruptive Pedagogies for Architecture.- 4.1: Cyber-Urban Integration, Disruptive Construction Technologies, and Tectonics.- 4.2: Cyber-Urban Integration.- 4.3: Democratising Tectonism: High performance geometry for mass-customisation of virtual and physical spaces.- 4.4: Why Disruptive Business Models are Inseparable from Disruptive Technologies?.

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Book Synopsis This book includes recent research on climbing and walking robots. CLAWAR 2022 is the twenty-fifth International Conference Series on Climbing and Walking Robots and Mobile Machine Support Technologies. The conference is organized by CLAWAR Association in collaboration with the University of the Azores, S. Miguel, Portugal, during September 12-14, 2022. CLAWAR 2022 provides an updated state of the art on robotics and its use in a diversity of applications and/or simulation scenarios, within the framework “Robotics in Natural Settings”. The topics covered include Bio-Inspired Robotics, Biped Locomotion, Educational Robotics, Human-Machine/Human-Robot Interaction, Innovative Actuators, Inspection, Legged Locomotion, Modeling and Simulation of CLAWAR, Outdoor and Field Robotics, Planning and Control, Wearable Devices and Assistive Robotics, and the Use of A.I. in Robotics. The intended readership includes participants of CLAWAR 2022 conference, international robotic researchers, scientists, and professors of related topics worldwide, and professors and students of postgraduate courses in Robotics and Automation, Control Engineering, Mechanical Engineering, and Mechatronics.

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Book SynopsisThis book addresses the topic of autonomous flying robots physically interacting with the environment under the influence of wind. It aims to make aerial robots aware of the disturbance, interaction, and faults acting on them. This requires reasoning about the external wrench (force and torque) acting on the robot and distinguishing between wind, interactions, and collisions. The book takes a model-based approach and covers a systematic approach to parameter identification for flying robots. The book aims to provide a wind speed estimate independent of the external wrench, including estimating the wind speed using motor power measurements. Aerodynamics modeling is approached in a data-driven fashion, using ground-truth measurements from a 4D wind tunnel. Finally, the book bridges the gap between trajectory tracking and interaction control, to allow physical interaction under wind influence. Theoretical results are accompanied by extensive simulation and experimental results.Table of Contents Introduction.- Modeling.- Tracking and interaction control.- Wind estimation.- Force discrimination.- Applications and outlook.- Conclusion.

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Book SynopsisThis book contains seventeen contributions in the form of independent chapters, covering a broad range of topics related to human–robot interaction at physical and cognitive levels. Each chapter represents a novel piece of work presented during HFR 2022 by researchers in the different areas of robotics, where new theories, methodologies, technologies, challenges, and empirical and experimental studies are discussed. Additionally, this compilation is rich in viewpoints due to the multidisciplinary nature of its authors. Hence, this book represents an excellent opportunity for academics, researchers, and industry partners to get acquainted with the most recent work on human–robot interaction.Table of ContentsA Literature-Based Perspective on Human-Centered Design and Evaluation of Interfaces for Virtual Reality in Robotics.- A Multi-Modal Feedback Communication Interface for Human Working Posture Adjustments.- An Optimal Human-Based Control Approach for Mobile Human-Robot Collaboration.- Approximating Robot Reachable Space Using Convex Polytopes.- Complexity and Similarity Metrics for Unsupervised Identification of Programming Methods for Robot Cooking Tasks.- Damping Design for Robot Manipulators.

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Book SynopsisThis book presents the astonishing potential of deep sensorimotor policies for agile vision-based quadrotor flight. Quadrotors are among the most agile and dynamic machines ever created. However, developing fully autonomous quadrotors that can approach or even outperform the agility of birds or human drone pilots with only onboard sensing and computing is challenging and still unsolved.Deep sensorimotor policies, generally trained in simulation, enable autonomous quadrotors to fly faster and more agile than what was possible before. While humans and birds still have the advantage over drones, the author shows the current research gaps and discusses possible future solutions.Table of Contents1: Introduction.- 2: Contribution.- 3: Future Directions.

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Book Synopsis

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Book SynopsisTable of Contents1 Einführung.- 1.1 Motivation.- 1.2 Literaturüberblick.- 1.3 Ziele und Gliederung der Arbeit.- 2 Grundlagen.- 2.1 Die Denavit-Hartenberg Notation.- 2.2 Duale (3×3)-Matrizen und Quaternionen.- 2.3 Der Paul’sche Ansatz zur Lösung des IKP.- 2.4 Erkennung global degenerierter Roboter.- 2.5 Vereinfachung der Gelenktabelle.- 2.6 Spiegelung von Robotergeometrien.- 2.7 Festlegung der Systemeingabe.- 3 Roboter mit einer ebenen Gelenkgruppe.- 3.1 Ebene Gelenkgruppen in Heiß’schen Klassen.- 3.2 Herleitung der Ansatzgleichungen.- 3.3 Berechnung der Lösung im allgemeinen Fall.- 3.4 Sonderfälle quadratischer Lösbarkeit.- 3.5 Lösung der verbleibenden Gelenkvariablen.- 3.6 Ergebnisse.- 4 Konzepte.- 4.1 Systemschale und Systemkern.- 4.2 Funktionsweise des Systemkerns.- 4.3 Konzepte anderer Invertierungssysteme.- 5 Prototypgleichungen.- 5.1 Neu entwickelte Prototypgleichungen.- 5.2 Prototypen für ein Invertierungssystem.- 6 Implementierung.- 6.1 Auswahl von Prolog.- 6.2 Interne Repräsentation von Gleichungen.- 6.3 Gleichungsmerkmale.- 6.4 Suche nach lösbaren Gleichungen.- 6.5 Extraktion der Gleichungsparameter.- 6.6 Ein- und Ausgaben des Programms SKIP.- 7 Leistungsbetrachtung.- 7.1 Implementierungsstand der Testversion.- 7.2 Geometrien aus Heiß’schen Klassen.- 7.3 Orthogonale Geometrien aus Klasse 3 und 9.- 7.4 Drei sich schneidende Rotationsachsen.- 7.5 Spezialfälle aus den Klassen 2 und 5.- 7.6 Geometrien mit einer ebenen Gelenkgruppe.- 7.7 Exemplarische Betrachtung der Lösungsgüte.- 7.8 Zusammenfassende Bewertung.- 8 Anwendungen.- 8.1 Invertierung redundanter Roboter.- 8.2 Integration in ein Robotersimulationssystem.- 9 Zusammenfassung und Ausblick.- A Ergänzung der Grundlagen.- A.1 Invertierung einer SCARA-Geometrie.- A.2 Determinante und globale Degeneration.- A.3 Spiegelung einer Robotergeometrie.- B Gleichungsmaterial Kapitel 3.- B.1 Fall 1.- B.2 Fall 2.1.- B.3 Fall 2.2.- C Prototypgleichungen.- C.1 Aus der Literatur bekannte Prototypen.- C.2 Ableitung der Prototypen 15, 16 und 17.- D Protokolle.- D.1 Gleichungssatz für die Stanford-Geometrie.- D.2 6-achsige SCARA-Geometrie.- D.3 8-achsige redundante Geometrie.- E Protokolle zur Leistungsbewertung.- E.1 Geometrien aus Heiß’schen Klassen.- E.2 Lösungen über Prototyp 18.- E.3 Geometrien mit einer ebenen Gelenkgruppe.

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Book Synopsis1 Technische Grundlagen.- 1.1 Netzwerktopologien (Klatt).- 1.2 Kommunikationsmodelle (Pech).- 1.3 Buszugriffsverfahren (Klatt).- 1.4 Datensicherung (Schnell).- 1.5 Telegrammformate (Pech).- 1.6 Binäre Informationsdarstellung (Klatt).- 1.7 Übertragungsstandards (Klatt).- 1.8 Leitungen und Übertragungsarten (Schnell).- 1.9 Verbindung von Netzen (Pech).- 2 Netzwerkhierarchien bei CIM (Heimbold, Kriesel).- 2.1 Übersicht und Spezifik der Kommunikation in der Automatisierung.- 2.2 Managementebene.- 2.3 Prozeßleitebene.- 2.4 Feldebene (Feldgerät SPS).- 2.5 Sensor-Aktor-Ebene.- 3 Internationale Feldbusnormung (Kessler).- 3.1 Die verschiedenen Normierungsaktivitäten.- 3.2 Der IEC-Feldbus.- 3.3 Interoperable Systems Project (ISP) und World FIP.- 4 Beispiele ausgeführter Bussysteme.- 4.1 Sensor/Aktor-Busse.- 4.2 Feldbusse.- 5 Weitverkehrsnetze (Pech).- 5.1 ISDN.- 5.2 DATEX-L.- 5.3 DATEX-P.- 5.4 TEMEX.- 6 Anhang Datenblätter.- 6.1 ASI (Aktuator/Sensor-Interface).- 6.2 VariNet-2.- 6.3 Bitbus.- 6.4 PROFIBUS.- 6.5 InterBus-S.- 6.6 SUCONET-K.- 6.7 Modnet.- 6.8 SINEC.- 6.9 LON.- 6.10 Factory Information Protocol (FTP).- 6.11 P-Net.- 6.12 CAN (Controller Area Network).- 6.13 Eigensichere Feldbusse (Schimmele).Table of Contents1 Technische Grundlagen.- 1.1 Netzwerktopologien (Klatt).- 1.1.1 Zweipunktverbindungen.- 1.1.2 Zweipunktverbindung mit Multiplexer.- 1.1.3 Bus-Struktur.- 1.1.4 Baumstruktur.- 1.1.5 Ringstruktur.- 1.1.6 Sternstruktur.- 1.2 Kommunikationsmodelle (Pech).- 1.2.1 Das ISO/OSI-Referenzmodell.- 1.2.1.1 Allgemeines.- 1.2.1.2 Die physikalische Schicht oder Bitübertragungsschicht.- 1.2.1.3 Die Sicherungsschicht.- 1.2.1.4 Die Netzwerkschicht.- 1.2.1.5 Die Transportschicht.- 1.2.1.6 Die Sitzungsschicht.- 1.2.1.7 Die Darstellungsschicht.- 1.2.1.8 Die Anwendungsschicht.- 1.2.1.9 Dienste für die Kommunikation zwischen den Schichten.- 1.2.1.10 Beispiel: Ablauf einer Kommunikation im OSI-Modell.- 1.2.2 Das TCP/IP-Protokoll.- 1.3 Buszugriffsverfahren (Klatt).- 1.3.1 Master/Slave-Verfahren.- 1.3.2 Token-Prinzip.- 1.3.3 Token-Passing.- 1.3.4 CSMA.- 1.3.5 CSMA/CA.- 1.4 Datensicherung (Schnell).- 1.4.1 Einleitung.- 1.4.2 Fehlerarten.- 1.4.3 Einige grundlegende Beziehungen.- 1.4.3.1 Bitfehlerrate.- 1.4.3.2 Wiederholung einer Eintragung.- 1.4.3.3 Restfehlerrate.- 1.4.3.4 Hamming-Distanz.- 1.4.3.5 Telegrammübertragungseffizienz.- 1.4.4 Einige Strategien der Fehlererkennung.- 1.4.4.1 Paritätsbit.- 1.4.4.2 Blocksicherung.- 1.4.4.3 CRC.- 1.4.5 Datenintegritätsklassen.- 1.4.6 Telegrammformate.- 1.4.6.1 Telegramm mit Paritätsbit.- 1.4.6.2 Telegramm mit CRC.- 1.5 Telegrammformate (Pech).- 1.5.1 Das HDLC-Protokoll.- 1.5.2 UART.- 1.5.3 Profibus-Norm DIN 19245.- 1.6 Binäre Informationsdarstellung (Klatt).- 1.6.1 NRZ, RZ.- 1.6.2 Bipolar-Kodierung, HDBn-Kodierung.- 1.6.3 NRZI.- 1.6.4 AFP.- 1.6.5 Manchester II-Kodierung.- 1.6.6 FSK, ASK, PSK.- 1.7 Übertragungsstandards (Klatt).- 1.7.1 RS 232-, V.24-Schnittstelle.- 1.7.2 RS 422-Schnittstelle.- 1.7.3 RS 485-Schnittstelle.- 1.7.4 20 mA-Stromschleife.- 1.8 Leitungen und Übertragungsarten (Schnell).- 1.8.1 Übersicht über die Leitungsarten.- 1.8.2 Paralleldrahtleitung.- 1.8.3 Koaxialleitung.- 1.8.4 Lichtwellenleiter (LWL).- 1.8.5 Übertragungsarten.- 1.8.5.1 Basisbandübertragung.- 1.8.5.2 Trägerfrequenzübertragung.- 1.8.5.3 Breitbandübertragung.- 1.9 Verbindung von Netzen (Pech).- 1.9.1 Repeater.- 1.9.2 Bridges.- 1.9.3 Router.- 1.9.4 Gateways.- 2 Netzwerkhierarchien bei CIM (Heimbold, Kriesel).- 2.1 Übersicht und Spezifik der Kommunikation in der Automatisierung.- 2.2 Managementebene.- 2.3 Prozeßleitebene.- 2.4 Feldebene (Feldgerät — SPS).- 2.4.1 Anforderungen an ein Feldbussystem.- 2.4.2 Schlußfolgerungen.- 2.4.3 Stand und Entwicklungstendenzen.- 2.4.4 Datenübertragung mit Lichtwellenleitern.- 2.4.5 Feldbussystem in Doppelringstruktur.- 2.5 Sensor-Aktor-Ebene.- 2.5.1 Anforderungen.- 2.5.2 Varianten.- 2.5.2.1 Ungetaktete Parallel-Seriell-Umsetzung.- 2.5.2.2 Binärwerterfassung durch Auswertung von Impulsreflexionen.- 2.5.2.3 Lösungsmöglichkeit mit Digitaltechnik.- 3 Internationale Feldbusnormung (Kessler).- 3.1 Die verschiedenen Normierungsaktivitäten.- 3.2 Der IEC-Feldbus.- 3.2.1 Physical Layer.- 3.2.2 Data Link Layer.- 3.2.3 Application Layer.- 3.3 Interoperable Systems Project (ISP) und World FIP.- 4 Beispiele ausgeführter Bussysteme.- 4.1 Sensor/Aktor-Busse.- 4.1.1 ASI (Schiff).- 4.1.2 VariNet-2 (Kessler).- 4.2 Feldbusse.- 4.2.1 Der Bitbus (Schnell).- 4.2.2 PROFIBUS (Schmitz).- 4.2.3 InterBus-S (Bent).- 4.2.4 SUCONET-K (Roersch).- 4.2.5 Modnet von AEG (Nierhaus).- 4.2.5.1 Modnet1/SFB.- 4.2.5.2 Modnet1/M+.- 4.2.5.3 Modnet1/P.- 4.2.5.4 Modnet3/MMSE.- 4.2.6 SINEC — Industrielle Kommunikation von Siemens (Sommer).- 4.2.6.1 SINEC H3 — der Höchstleistungs-Backbone.- 4.2.6.2 SINEC H1 — das Lokale Netz für Produktion und Büro.- 4.2.6.3 SINECL2.- 4.2.7 LON (Bruland).- 4.2.8 FIP (Kessler).- 4.2.9 P-NET (Böttcher).- 4.2.10 CAN (Böttcher).- 5 Weitverkehrsnetze (Pech).- 5.1 ISDN.- 5.2 DATEX-L.- 5.3 DATEX-P.- 5.4 TEMEX.- 6 Anhang Datenblätter.- 6.1 ASI (Aktuator/Sensor-Interface).- 6.2 VariNet-2.- 6.3 Bitbus.- 6.4 PROFIBUS.- 6.4.1 PROFIBUS.- 6.4.2 PROFIBUS (DP).- 6.5 InterBus-S.- 6.6 SUCONET-K.- 6.7 Modnet.- 6.7.1 Modnet1/SFB (Bitbus).- 6.7.2 Modnet1/M+.- 6.7.3 Modnet1/P (PROFIBUS).- 6.7.4 Modnet3/MMSE.- 6.8 SINEC.- 6.8.1 SINEC L2 (PROFIBUS).- 6.8.2 SINEC H1.- 6.8.3 SINEC H3.- 6.9 LON.- 6.10 Factory Information Protocol (FTP).- 6.11 P-Net.- 6.12 CAN (Controller Area Network).- 6.13 Eigensichere Feldbusse (Schimmele).- 6.13.1 ICSMUX(PDV).- 6.13.2 ICS MUX (RS 485).- 6.13.3 ICS MUX (ISP).

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Book SynopsisDas Lösungsbuch enthält die Lösungen aller Übungsaufgaben des Lehrbuches.Table of ContentsDas Lösungsbuch enthält die Lösungen aller Übungsaufgaben des Lehrbuches.

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Book SynopsisDas Lehrbuch behandelt die Themen aus der Steuerungs- und Regelungstechnik, wie sie für den Einsatz von speicherprogrammierbaren Steuerungen notwendig sind. Im ersten Teil des Buches werden die Grundlagen der Steuerungstechnik, der Aufbau und die Funktionsweise einer SPS erläutert. Im zweiten Teil werden die Verknüpfungs- und Ablaufsteuerungen behandelt. Der dritte Teil führt in die Verarbeitung von digitalen Signalen ein, um die Grundoperationen für digitale Steuerungen, die Wortverarbeitung, die Beschreibungsmittel und Entwurfsmethoden von digitalen Steuerungsprogrammen vorzustellen. Der abschließende vierte Teil thematisiert die Grundbegriffe der Regelungstechnik. Es wird gezeigt, wie die regelungstechnischen Grundelemente in eine SPS umgesetzt werden. In das Buch wurde eine vollständige Operationsliste der Steuersprache STEP-5 und ein kommentiertes Programmverzeichnis mit Angabe der verwendeten Lösungsverfahren für alle Beispiele und Aufgaben aufgenommen. Gleichzeitig wurde der Inhalt um eine Einführung in den Programmierstandard IEC 1131-3 ergänzt.Table of ContentsGrundlagen - Binäre Steuerungen: Verknüpfungssteuerungen - Ablaufsteuerungen - Spezialgebiete der Steuerungstechnik. Digitale Steuerungen: Wortverarbeitung - Beschreibungsmittel und Entwurfsmethoden. Analogwertverarbeitung und Regelungsprozesse. Programmiersprachen IEC 1131-3

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Book SynopsisElektromagnete werden heute im wachsenden Umfang als Antriebselemente mechatronischer Systeme im Maschinenbau, im Fahrzeugbau sowie in der Automatisierungs- und Präzisionstechnik eingesetzt. Als Magnetaktoren bestimmen sie in mechatronischen Systemen entscheidend die funktionellen Eigenschaften moderner technischer Produkte mit. Dieses Fachbuch vermittelt die physikalischen Grundlagen, den Entwurf und ausgewählte Einsatzgebiete von Gleichstrom-, Wechselstrom- und polarisierten Elektromagneten. Table of ContentsGrundgesetze des magnetischen Feldes.- Magnetkraft und Energie.- Berechnung des magnetischen Feldes von Elektromagneten.- Das dynamische Verhalten von Elektromagneten.- Erwärmung von Antrieben.- Elektromagnetische Schrittmotoren.- Entwurf elektromagnetischer Antriebe.- Spezielle Magnetkonstruktionen.- Magnetische Mikroaktoren.- Magnetische Messtechnik.

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Book SynopsisCui bono? – Wem nutzt die Entwicklung humanoider Maschinen oder Automaten? Dieses Buch erörtert die Details dieses Spannungsfelds und die Herausforderung gesellschaftlicher Weiterentwicklung. Als technisch-elektronische Handhabungsgeräte können sie den Menschen zuträglich sein, sie von körperlich belastenden Arbeiten oder sogenannten Routinearbeiten befreien. Der Autor versucht die Fragen zu beleuchten: Was erwartet die Menschheit durch die Entwicklung einer künstlichen Intelligenz in einer menschähnlichen Maschine? Was aber, wenn der selbstbestimmende Mensch an der Schwelle steht, sich selbst durch intelligente selbstorganisierte Produkte und Prozesse eine humanoide Konkurrenz zu schaffen, die er möglicherweise nicht mehr kontrollieren kann?Table of ContentsDie Optimierung und die Gesellschaft.- Macht des kurzfristigen Genusses - Ohnmacht der nachhaltigen Veränderung.- Arbeiten und Arbeiten lassen - Arbeitskampf um die "Semantische Lücke".- Freizeitaktivität und/oder konditionierte Ertüchtigung.- Muße und Entschleunigung.

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Book SynopsisTim Schleicher erarbeitet Empfehlungen zur Gestaltung von Mensch-Roboter-Schnittstellen, die die gebrauchstaugliche Anweisung von kollaborierenden Robotern in variantenreichen Produktionssystemen erlauben. Roboterfähigkeiten können durch eine entsprechende Positionierung an frei wählbaren Positionen an Bauteilen und durch eine entsprechende Parametrierung in verschiedenen Ausprägungen genutzt werden. Die Programmierung erfolgt somit durch die Anweisung des Roboters durch die Übergabe des Arbeitsortes und der Arbeitsparameter, z.B. die Übergabe einer Polieraufgabe an stets anderen Bauteilpositionen und in unterschiedlichen Intensitäten.Table of ContentsMensch-Roboter-Schnittstellen (MRS) zur Anweisung kollaborierender Roboter.- Grundlegende und anwendungsspezifische Anforderungen an die Gestaltung von gebrauchstauglichen MRS.- Iterative Gestaltung und Evaluation von MRS in einer instruktiven Mensch-Roboter-Kollaboration (iMRK).

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Book SynopsisDas Buch beschreibt die Meilensteine der Automatisierung vom Beginn der Ethernet- und der Feldbus-Systementwicklungen sowie die Entstehung des OSI Modells und der Automatisierungspyramide. Es bietet einen Fokus auf die Entwicklung von Feldgeräten und Automatisierungskomponenten im Rahmen der Einflussnahme von Elektronik-, µ-Controller- DSP-, FPGA-, Multi-Core-Prozessoren- und Chip-on-Bond-Entwicklungen sowie Software und Algorithmen.Table of ContentsIndustrie 4.0.- Made in China 2025.- IoT.- KI.- Neuronale Netzwerke.- Mustererkennung.- Predictive Maintenance, Digitalisierung und Industrie 4.0 Sachstand.- Automatisierung und Qualitätssicherung.- Komplexitätspyramide der Automatisierung.- OSI-Modell, Automatisierungspyramide und Lösungsgeschäft in der Automatisierung.- Gremienbildung in der Automatisierung, ihre Zielsetzungen und Bestrebungen zur Standardisierung.- Die 12 wichtigsten Feldbusse.- ASIC’s.- Bedienoberflächen und Kommunikationsprotokolle.- FDT/DTM.- SAP.- OPC UA.- Cloud Computing.- Historie von mittelständischen Unternehmen und Industrie 4.0.- Automatisierung der Automobilbranche im Zeitraffer.- Robotik seit 1970.- Zeittafel der Automatisierung seit 1970 und deren Zusammenfassung.

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Book SynopsisIndustrieroboter sind universelle Handhabungsgeräte mit mehreren Freiheitsgraden, die freiprogrammierbar und damit leicht umrüstbar sind. Ihre Entwicklung wurde vornehmlich durch zwei Tendenzen begleitet und geprägt: Da ist einmal die Notwendigkeit, in der Fertigung eine immer größere Anzahl kleiner werdender Losgrößen auch in der Handhabungstechnik zu automatisieren. Da ist zum anderen der ungeheuere Fortschritt in der elektronischen Steuerungstechnik, der zu erhöhter Flexibilität und besserer technischer Ausstattung der Industrieroboter führte. Eine Fülle von Veröffentlichungen befaßt sich mit allen Einzelheiten über Industrieroboter. Das "Handbuch Industrieroboter" versucht dem an der Praxis orientierten Anwender diese neue Technologie aus neutraler Sicht in einem möglichst umfassenden Stand zu umreißen. Das kann, unter Voraussetzung eines vernünftigen Umfanges für dieses Buch, nur durch viele Abbildungen, knappem Text, Tabellen und Übersichten sowie durch Beschränkung auf die Anwendungsorientiertheit geschehen. Aus diesem Grunde wurden bewußt beim Datenteil nur Industrieroboter aufgenommen, die vornehmlich in Deutschland vertrieben werden. Nach Erörterung von Gründen für die Automatisierung mit Industrierobotern, befaßt sich das Buch mit Vor- und Nachteilen der unterschiedlichen Bauteile und Bauweisen dieser Geräte. Daran anschließend folgen Anwendungsfälle aus der Praxis. Nach Programmierung und Einsatzplanung von diesen freiprogrammierbaren Handhabungsautomaten, wird schließ­ lich an zwei konkreten Fallstudien ein Wirtschaftlichkeitsvergleich auf der elektronischen Datenverarbeitung durchgeführt. Zukünftigen Entwicklungen wird nur ein kurzer Ausblick gewährt. Dafür schließen umfang­ reiche Tabellen und Abbildungen von maßstäblichen Arbeitsräumen aller gebräuchlichen Geräte das Buch ab.Table of Contents1 Definitionen.- 2 Gründe für den Einsatz von Industrierobotern.- 3 Aufbau von Industrierobotern.- 4 Anwendung freiprogrammierbarer Manipulatoren.- 5 Programmierung von Industrierobotern.- 6 Erfahrungen bei der Einführung und dem Einsatz von Industrierobotern.- 7 Wirtschaftlichkeitsvergleich mittels EDVA.- 8 Ausblick.- 9 Anhang.- Firmenunterlagen.- Sachwortverzeichnis.

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Book SynopsisPraxis der Montagetechnik ist das Nachfolgebuch des in der ersten Auflage erschienenen Buches "Angewandte Montagetechnik" vom gleichen Autorenteam. Es werden die Arbeitstechniken zur systematischen Planung von flexiblen Montagesystemen gezeigt. Konkrete Lösungsmöglichkeiten und Hilfsmittel für die Entwicklung und Gestaltung von manuellen und teilautomatisierten Montagesystemen werden dargestellt. Der Katalogteil enthält Systemelemente in Form von Datenblättern mit der Möglichkeit zur überschlägigen Kostenermittlung. In der 2. Auflage wurde ein Kapitel über flexible automatisierte Montagesysteme aufgenommen. Die neue Rechtschreibung und die Umstellung auf € wurden vorgenommen. Das Herstellerverzeichnis wurde aktualisiert und um Angaben von Internetadressen ergänzt.Table of ContentsVoraussetzungen - Planungssystematik - Planungshilfsmittel - Grundformen von Montagesystemen - Arbeitsplatzgestaltung - Transferkomponenten - Speicher - Produktionszellen - Herstellerverzeichnis

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Book SynopsisDas Lehrbuch vermittelt die Grundlagen des Lehr- und Studienfachs Automatisierungstechnik hinsichtlich der Programmierung von SPS-Systemen und der Kommunikation dieser Geräte über industrielle Bussysteme. Der Lehrstoff wird systematisch entwickelt und in Praxisbeispielen angewendet. Dabei werden auch parametrierbare Programmierbausteine aus den unter www.automatisieren-mit-sps.de zur Verfügung gestellten Bausteinbibliotheken eingesetzt. Das Lehrbuch beruht auf den Erfahrungen einer umfangreichen Unterrichtserfahrung der Autoren.Table of ContentsEinführung in die SPS-Programmiernorm DIN EN 61131-3.- Operationsvorrat der Programmiersysteme STEP 7 und CoDeSys.- Anwendung der SPS-Programmiersprachen.- Beschreibungsmittel für den Entwurf von SPS-Programmen.- Ablaufsteuerungen und Zustandsgraph Analogwertverarbeitung.- Bussysteme und Funknetze in der Automatisierungstechnik.- Technologische Funktionen für Regelungen, Antriebe und Instandhaltung von Anlagen.- Informationstechnologien zur Integration von Betriebsführungs- und Fertigungsabläufen.- Sicherheit von Steuerungen.

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Book SynopsisAutonomous weapons systems, often referred to as 'killer robots', have been a hallmark of popular imagination for decades. However, with the inexorable advance of artificial intelligence systems (AI) and robotics, killer robots are quickly becoming a reality. These lethal technologies can learn, adapt, and potentially make life and death decisions on the battlefield with little-to-no human involvement. This naturally leads to not only legal but ethical concerns as to whether we can meaningful control such machines, and if so, then how. Such concerns are made even more poignant by the ever-present fear that something may go wrong, and the machine may carry out some action(s) violating the ethics or laws of war. Researchers, policymakers, and designers are caught in the quagmire of how to approach these highly controversial systems and to figure out what exactly it means to have meaningful human control over them, if at all. In Designed for Death, Dr Steven Umbrello aims to not only produce a realistic but also an optimistic guide for how, with human values in mind, we can begin to design killer robots. Drawing on the value sensitive design (VSD) approach to technology innovation, Umbrello argues that context is king and that a middle path for designing killer robots is possible if we consider both ethics and design as fundamentally linked. Umbrello moves beyond the binary debates of whether or not to prohibit killer robots and instead offers a more nuanced perspective of which types of killer robots may be both legally and ethically acceptable, when they would be acceptable, and how to design for them.

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Book SynopsisThe scientific and technological innovations that will take place over the next decade will transform our society in profound ways. Sex robots, or robots made for sex, are already becoming a reality as a substitute for human beings in bed: although current prototypes are relatively simple and crude, future technological capabilities will render sex robots capable of interacting with humans in more human-like ways. They will be able to recognize their partner, understand their state of mind, and learn their tastes and preferences.Professor Maurizio Balistreri introduces us to the fascinating world of sex of the future by addressing all the ethical issues that the large-scale commercialization of sex robots will raise without taboos and judgements. What will become of love if all our sexual relationships are conducted with machines? What will happen to the world of paid sex and pornography? Will sex robots increase or decrease sexual violence? In addition to confronting the international debate on the moral acceptability of sex robots, this book examines the most recent studies on violent video games and pornography, questioning the widespread belief that playing violent games or witnessing violent representations corrupts people and makes them violent. Not only could sex robots be an essential tool for expressing and exploring our most forbidden sexual fantasies, but they could also be used to treat sex offenders and paedophiles. Sex Robots is a book that questions our prejudices towards sex robots with clarity and simplicity, helping us reason and reflect on a future that is already present, in the awareness that robots will change the world and our lives.

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Book Synopsis

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