Motion Control And Geometry

Author : National Research Council,Division on Engineering and Physical Sciences,Commission on Physical Sciences, Mathematics, and Applications,Board on Mathematical Sciences
Publisher : National Academies Press
Page : 81 pages
File Size : 55,6 Mb
Release : 1997-06-07
Category : Mathematics
ISBN : 9780309057851

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Motion, Control, and Geometry by National Research Council,Division on Engineering and Physical Sciences,Commission on Physical Sciences, Mathematics, and Applications,Board on Mathematical Sciences Pdf

Some of the modem developments described in Motion, Control, and Geometry include the geometric control of robot motion and craft orientation, how high-power precision micromotors are engineered for less invasive surgery and self-focusing lens applications, what a mobile robot on a surface has in common with one moving in three dimensions, and how the motion-control problem is simplified by a coupled oscillator's geometric grouping of degrees of freedom and motion time scales. The four papers in these proceedings provide a view through the scientific portal of today's motion-control geometric research into tomorrow's technology. The mathematics needed to carry out this research is that of modem differential geometry, and the questions raised in the field of motion-control geometry go directly to the research frontier. Geometry is a mathematical area too often neglected nowadays in a student's education. This publication will help adjust the control initially imposed about 2,300 years ago on one kind of "motion"-that of students entering Plato's Academy, where the following caveat was inscribed above the doorway: "Let no one ignorant of geometry enter here." Readers of these chapters will gain an appreciation of modem geometry and how it continues to play a crucial role in the context of motion control in cutting-edge science and technology.

Author : Board on Mathematical Sciences,Commission on Physical Sciences, Mathematics, and Applications,Division on Engineering and Physical Sciences,National Research Council
Publisher : National Academies Press
Page : 81 pages
File Size : 53,7 Mb
Release : 1997-05-21
Category : Mathematics
ISBN : 9780309590617

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Motion, Control, and Geometry by Board on Mathematical Sciences,Commission on Physical Sciences, Mathematics, and Applications,Division on Engineering and Physical Sciences,National Research Council Pdf

Some of the modem developments described in Motion, Control, and Geometry include the geometric control of robot motion and craft orientation, how high-power precision micromotors are engineered for less invasive surgery and self-focusing lens applications, what a mobile robot on a surface has in common with one moving in three dimensions, and how the motion-control problem is simplified by a coupled oscillator's geometric grouping of degrees of freedom and motion time scales. The four papers in these proceedings provide a view through the scientific portal of today's motion-control geometric research into tomorrow's technology. The mathematics needed to carry out this research is that of modem differential geometry, and the questions raised in the field of motion-control geometry go directly to the research frontier. Geometry is a mathematical area too often neglected nowadays in a student's education. This publication will help adjust the control initially imposed about 2,300 years ago on one kind of "motion"- that of students entering Plato's Academy, where the following caveat was inscribed above the doorway: "Let no one ignorant of geometry enter here." Readers of these chapters will gain an appreciation of modem geometry and how it continues to play a crucial role in the context of motion control in cutting-edge science and technology.

Author : Frédéric Jean
Publisher : Springer
Page : 104 pages
File Size : 50,6 Mb
Release : 2014-07-17
Category : Science
ISBN : 9783319086903

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Control of Nonholonomic Systems: from Sub-Riemannian Geometry to Motion Planning by Frédéric Jean Pdf

Nonholonomic systems are control systems which depend linearly on the control. Their underlying geometry is the sub-Riemannian geometry, which plays for these systems the same role as Euclidean geometry does for linear systems. In particular the usual notions of approximations at the first order, that are essential for control purposes, have to be defined in terms of this geometry. The aim of these notes is to present these notions of approximation and their application to the motion planning problem for nonholonomic systems.

Author : Velimir Jurdjevic
Publisher : Cambridge University Press
Page : 516 pages
File Size : 48,6 Mb
Release : 1997
Category : Mathematics
ISBN : 9780521495028

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Geometric Control Theory by Velimir Jurdjevic Pdf

Geometric control theory is concerned with the evolution of systems subject to physical laws but having some degree of freedom through which motion is to be controlled. This book describes the mathematical theory inspired by the irreversible nature of time evolving events. The first part of the book deals with the issue of being able to steer the system from any point of departure to any desired destination. The second part deals with optimal control, the question of finding the best possible course. An overlap with mathematical physics is demonstrated by the Maximum principle, a fundamental principle of optimality arising from geometric control, which is applied to time-evolving systems governed by physics as well as to man-made systems governed by controls. Applications are drawn from geometry, mechanics, and control of dynamical systems. The geometric language in which the results are expressed allows clear visual interpretations and makes the book accessible to physicists and engineers as well as to mathematicians.

Author : Francesco Bullo,Andrew D. Lewis
Publisher : Springer
Page : 727 pages
File Size : 43,6 Mb
Release : 2019-06-12
Category : Science
ISBN : 9781489972767

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Geometric Control of Mechanical Systems by Francesco Bullo,Andrew D. Lewis Pdf

The area of analysis and control of mechanical systems using differential geometry is flourishing. This book collects many results over the last decade and provides a comprehensive introduction to the area.

Author : Jean-Paul Laumond,Nicolas Mansard,Jean-Bernard Lasserre
Publisher : Springer
Page : 419 pages
File Size : 55,8 Mb
Release : 2017-05-02
Category : Technology & Engineering
ISBN : 9783319515472

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Geometric and Numerical Foundations of Movements by Jean-Paul Laumond,Nicolas Mansard,Jean-Bernard Lasserre Pdf

This book aims at gathering roboticists, control theorists, neuroscientists, and mathematicians, in order to promote a multidisciplinary research on movement analysis. It follows the workshop “ Geometric and Numerical Foundations of Movements ” held at LAAS-CNRS in Toulouse in November 2015[1]. Its objective is to lay the foundations for a mutual understanding that is essential for synergetic development in motion research. In particular, the book promotes applications to robotics --and control in general-- of new optimization techniques based on recent results from real algebraic geometry.

Author : Li Li,Fei-Yue Wang
Publisher : Springer Science & Business Media
Page : 458 pages
File Size : 42,5 Mb
Release : 2007-11-24
Category : Technology & Engineering
ISBN : 9780387444093

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Advanced Motion Control and Sensing for Intelligent Vehicles by Li Li,Fei-Yue Wang Pdf

This book provides the latest information in intelligent vehicle control and intelligent transportation. Detailed discussions of vehicle dynamics and ground-vehicle interactions are provided for the modeling, simulation and control of vehicles. It includes an extensive review of past and current research achievements in the intelligent vehicle motion control and sensory field, and the book provides a careful assessment of future developments.

Author : Jean-Daniel Boissonnat,Jean-Paul Laumond
Publisher : Springer Science & Business Media
Page : 426 pages
File Size : 48,7 Mb
Release : 1989-10-11
Category : Technology & Engineering
ISBN : 3540516832

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Geometry and Robotics by Jean-Daniel Boissonnat,Jean-Paul Laumond Pdf

The role played by hormones in the development and treatment of malignant tumors has been controversial for nearly 50 years. The present volume concentrates on substantiated data obtained from the study of tumors developing from hormone-related or hormone-producing tissue, for example the thyroid, adrenal glands, prostate, and the female genital tract. Combining expertise from the fields of molecular biology, biochemistry, and histopathology, advances in the management of these tumors are elaborated. The book also provides information on the endonuclear diagnosis of adrenal tumors. Antihormones have proved to be important as they exhibit a destructive effect on prostate carcinomas and breast cancer. In addition, a special chapter discusses the diffuse endocrine cell system (DECS). Bridging the gap between molecular biology and endocrine therapy, the editors present innovative data on many aspects of hormone-related malignant tumors and offer both a survey of present knowledge and a basis for further research.

Author : Jerrold E. Marsden,Paul Newton,Phil Holmes,Alan Weinstein
Publisher : Springer Science & Business Media
Page : 573 pages
File Size : 50,7 Mb
Release : 2002-07-31
Category : Language Arts & Disciplines
ISBN : 9780387955186

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Geometry, Mechanics, and Dynamics by Jerrold E. Marsden,Paul Newton,Phil Holmes,Alan Weinstein Pdf

Jerry Marsden, one of the world’s pre-eminent mechanicians and applied mathematicians, celebrated his 60th birthday in August 2002. The event was marked by a workshop on “Geometry, Mechanics, and Dynamics”at the Fields Institute for Research in the Mathematical Sciences, of which he wasthefoundingDirector. Ratherthanmerelyproduceaconventionalp- ceedings, with relatively brief accounts of research and technical advances presented at the meeting, we wished to acknowledge Jerry’s in?uence as a teacher, a propagator of new ideas, and a mentor of young talent. Con- quently, starting in 1999, we sought to collect articles that might be used as entry points by students interested in ?elds that have been shaped by Jerry’s work. At the same time we hoped to give experts engrossed in their own technical niches an indication of the wonderful breadth and depth of their subjects as a whole. This book is an outcome of the e?orts of those who accepted our in- tations to contribute. It presents both survey and research articles in the several ?elds that represent the main themes of Jerry’s work, including elasticity and analysis, ?uid mechanics, dynamical systems theory, g- metric mechanics, geometric control theory, and relativity and quantum mechanics. The common thread running through this broad tapestry is the use of geometric methods that serve to unify diverse disciplines and bring a widevarietyofscientistsandmathematicianstogether,speakingalanguage which enhances dialogue and encourages cross-fertilization.

Author : Jian Chen,Bingxi Jia,Kaixiang Zhang
Publisher : CRC Press
Page : 303 pages
File Size : 50,8 Mb
Release : 2018-06-14
Category : Computers
ISBN : 9780429951220

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Multi-View Geometry Based Visual Perception and Control of Robotic Systems by Jian Chen,Bingxi Jia,Kaixiang Zhang Pdf

This book describes visual perception and control methods for robotic systems that need to interact with the environment. Multiple view geometry is utilized to extract low-dimensional geometric information from abundant and high-dimensional image information, making it convenient to develop general solutions for robot perception and control tasks. In this book, multiple view geometry is used for geometric modeling and scaled pose estimation. Then Lyapunov methods are applied to design stabilizing control laws in the presence of model uncertainties and multiple constraints.

Author : Allen B. Tucker
Publisher : CRC Press
Page : 2742 pages
File Size : 48,5 Mb
Release : 2004-06-28
Category : Computers
ISBN : 9780203494455

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Computer Science Handbook by Allen B. Tucker Pdf

When you think about how far and fast computer science has progressed in recent years, it's not hard to conclude that a seven-year old handbook may fall a little short of the kind of reference today's computer scientists, software engineers, and IT professionals need. With a broadened scope, more emphasis on applied computing, and more than 70 chap

Author : John H Johnson
Publisher : SAE International
Page : 700 pages
File Size : 48,6 Mb
Release : 2005-06-27
Category : Technology & Engineering
ISBN : 9781468602098

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Emission Control and Fuel Economy by John H Johnson Pdf

Emission and fuel economy regulations and standards are compelling manufacturers to build ultra-low emission vehicles. As a result, engineers must develop spark-ignition engines with integrated emission control systems that use reformulated low-sulfur fuel. Emission Control and Fuel Economy for Port and Direct Injected SI Engines is a collection of SAE technical papers that covers the fundamentals of gasoline direct injection (DI) engine emissions and fuel economy, design variable effects on HC emissions, and advanced emission control technology and modeling approaches. All papers contained in this book were selected by an accomplished expert as the best in the field; reprinted in their entirety, they present a pathway to integrated emission control systems that meet 2004-2009 EPA standards for light-duty vehicles.

Author : John B. Baillieul,J.C. Willems
Publisher : Springer Science & Business Media
Page : 389 pages
File Size : 46,6 Mb
Release : 2012-12-06
Category : Mathematics
ISBN : 9781461214168

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Mathematical Control Theory by John B. Baillieul,J.C. Willems Pdf

This volume on mathematical control theory contains high quality articles covering the broad range of this field. The internationally renowned authors provide an overview of many different aspects of control theory, offering a historical perspective while bringing the reader up to the very forefront of current research.

Author : Frédéric Jean
Publisher : Unknown
Page : 116 pages
File Size : 45,7 Mb
Release : 2014-08-31
Category : Electronic
ISBN : 331908691X

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Control of Nonholonomic Systems by Frédéric Jean Pdf

Author : Xiang-he Sun,Wenyu Qu,Ivan Stojmenovic,Wanlei Zhou,Zhiyang Li,Hua Guo,Geyong Min,Tingting Yang,Yulei Wu,Lei Liu
Publisher : Springer
Page : 689 pages
File Size : 52,7 Mb
Release : 2014-08-12
Category : Computers
ISBN : 9783319111940

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Algorithms and Architectures for Parallel Processing by Xiang-he Sun,Wenyu Qu,Ivan Stojmenovic,Wanlei Zhou,Zhiyang Li,Hua Guo,Geyong Min,Tingting Yang,Yulei Wu,Lei Liu Pdf

This two volume set LNCS 8630 and 8631 constitutes the proceedings of the 14th International Conference on Algorithms and Architectures for Parallel Processing, ICA3PP 2014, held in Dalian, China, in August 2014. The 70 revised papers presented in the two volumes were selected from 285 submissions. The first volume comprises selected papers of the main conference and papers of the 1st International Workshop on Emerging Topics in Wireless and Mobile Computing, ETWMC 2014, the 5th International Workshop on Intelligent Communication Networks, IntelNet 2014, and the 5th International Workshop on Wireless Networks and Multimedia, WNM 2014. The second volume comprises selected papers of the main conference and papers of the Workshop on Computing, Communication and Control Technologies in Intelligent Transportation System, 3C in ITS 2014, and the Workshop on Security and Privacy in Computer and Network Systems, SPCNS 2014.