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Robotics: From Manipulator To Mobilebot by Zixing Cai Pdf
This book is a comprehensive collection and practical guide on robotics derived from the author's research in robotics since 1988. The Chinese edition of this book has sold over 300,000 copies, and is one of the best-selling books on robotics in China.The book covers the core technology of robotics, including the basic theories and techniques of robot manipulator, mobile robots to focus on location navigation, and intelligent control underpinned by artificial intelligence and deep learning. Several case studies from national research projects in China are also included to help readers understand the theoretical foundations of robotics and related application developments. This book is a valuable reference for undergraduate and graduate students of robotics courses.
A Mathematical Introduction to Robotic Manipulation by Richard M. Murray Pdf
A Mathematical Introduction to Robotic Manipulation presents a mathematical formulation of the kinematics, dynamics, and control of robot manipulators. It uses an elegant set of mathematical tools that emphasizes the geometry of robot motion and allows a large class of robotic manipulation problems to be analyzed within a unified framework. The foundation of the book is a derivation of robot kinematics using the product of the exponentials formula. The authors explore the kinematics of open-chain manipulators and multifingered robot hands, present an analysis of the dynamics and control of robot systems, discuss the specification and control of internal forces and internal motions, and address the implications of the nonholonomic nature of rolling contact are addressed, as well. The wealth of information, numerous examples, and exercises make A Mathematical Introduction to Robotic Manipulation valuable as both a reference for robotics researchers and a text for students in advanced robotics courses.
Build Your Own Combat Robot by Pete Miles,Tom W. Carroll Pdf
Create your own powerful battling robot from start to finish using this easy-to-follow manual. Robotics experts Pete Miles and Tom Carroll explain the science and technology behind robots, and show you what materials you need to build and program a robot for home, school, and competition.
Introduction to Autonomous Mobile Robots, second edition by Roland Siegwart,Illah Reza Nourbakhsh,Davide Scaramuzza Pdf
The second edition of a comprehensive introduction to all aspects of mobile robotics, from algorithms to mechanisms. Mobile robots range from the Mars Pathfinder mission's teleoperated Sojourner to the cleaning robots in the Paris Metro. This text offers students and other interested readers an introduction to the fundamentals of mobile robotics, spanning the mechanical, motor, sensory, perceptual, and cognitive layers the field comprises. The text focuses on mobility itself, offering an overview of the mechanisms that allow a mobile robot to move through a real world environment to perform its tasks, including locomotion, sensing, localization, and motion planning. It synthesizes material from such fields as kinematics, control theory, signal analysis, computer vision, information theory, artificial intelligence, and probability theory. The book presents the techniques and technology that enable mobility in a series of interacting modules. Each chapter treats a different aspect of mobility, as the book moves from low-level to high-level details. It covers all aspects of mobile robotics, including software and hardware design considerations, related technologies, and algorithmic techniques. This second edition has been revised and updated throughout, with 130 pages of new material on such topics as locomotion, perception, localization, and planning and navigation. Problem sets have been added at the end of each chapter. Bringing together all aspects of mobile robotics into one volume, Introduction to Autonomous Mobile Robots can serve as a textbook or a working tool for beginning practitioners. Curriculum developed by Dr. Robert King, Colorado School of Mines, and Dr. James Conrad, University of North Carolina-Charlotte, to accompany the National Instruments LabVIEW Robotics Starter Kit, are available. Included are 13 (6 by Dr. King and 7 by Dr. Conrad) laboratory exercises for using the LabVIEW Robotics Starter Kit to teach mobile robotics concepts.
Landmines Detection by Using Mobile Robots by Ahmed Ismail Pdf
Master's Thesis from the year 2016 in the subject Engineering - Robotics, Mansoura University, language: English, abstract: This thesis studies strategies for humanitarian demining using robotic units. The author presents a low-cost system for landmines detection. The proposed system uses fusion of low cost multi sensors instead of using very expensive one. The proposed robot used sensor fusion technique to increase the probability of mine detection. The author has developed decision level fusion to decrease false alarm of mines detection. He used complete coverage path planning to find all possible mines in the environment. The author proposed using multiple robots with the same structure to use complete coverage path in parallel way to save the time. He proposed effective obstacle avoidance algorithm to help the robot moves in autonomous motion. The proposed robot is light in order not to trigger mines and be destroyed. He proposed effective method to destroy mines where they are using arm on the robot to help defusing method. The purpose of the thesis is to give an efficient solution for the landmines problem. By using robots that are capable of exploring and destroying buried landmines. The author also aimed to make the proposed robot with simle components to provide the soldiers and local landmines environments citizens with effective solution that they can use to save their lives.
Nonholonomic Motion Planning by Zexiang Li,J.F. Canny Pdf
Nonholonomic Motion Planning grew out of the workshop that took place at the 1991 IEEE International Conference on Robotics and Automation. It consists of contributed chapters representing new developments in this area. Contributors to the book include robotics engineers, nonlinear control experts, differential geometers and applied mathematicians. Nonholonomic Motion Planning is arranged into three chapter groups: Controllability: one of the key mathematical tools needed to study nonholonomic motion. Motion Planning for Mobile Robots: in this section the papers are focused on problems with nonholonomic velocity constraints as well as constraints on the generalized coordinates. Falling Cats, Space Robots and Gauge Theory: there are numerous connections to be made between symplectic geometry techniques for the study of holonomies in mechanics, gauge theory and control. In this section these connections are discussed using the backdrop of examples drawn from space robots and falling cats reorienting themselves. Nonholonomic Motion Planning can be used either as a reference for researchers working in the areas of robotics, nonlinear control and differential geometry, or as a textbook for a graduate level robotics or nonlinear control course.
Probability And Random Number: A First Guide To Randomness by Sugita Hiroshi Pdf
This is a book of elementary probability theory that includes a chapter on algorithmic randomness. It rigorously presents definitions and theorems in computation theory, and explains the meanings of the theorems by comparing them with mechanisms of the computer, which is very effective in the current computer age. Random number topics have not been treated by any books on probability theory, only some books on computation theory. However, the notion of random number is necessary for understanding the essential relation between probability and randomness. The field of probability has changed very much, thus this book will make and leave a big impact even to expert probabilists. Readers from applied sciences will benefit from this book because it presents a very proper foundation of the Monte Carlo method with practical solutions, keeping the technical level no higher than 1st year university calculus. Contents: Mathematics of Coin TossingMathematical ModelRandom NumberLimit TheoremMonte Carlo MethodInfinite coin TossesRandom Number: Recursive FunctionKolmogorov Complexity and Random NumberLimit Theorem: Bernoulli's TheoremLaw of Large NumbersDe Moivre–Laplace's TheoremCentral Limit TheoremMathematical StatisticsMonte Carlo Method: Monte Carlo Method as GamblingPseudorandom GeneratorMonte Carlo IntegrationFrom the Viewpoint of Mathematical StatisticsAppendices: Symbols and TermsBinary Numeral SystemLimit of Sequence and FunctionLimits of Exponential Function and LogarithmC Language Program Readership: First year university students to professionals. Keywords: Probability;Probability Theory;Randomness;Random Number;Pseudorandom Number;Monte Carlo Method;Monte Carlo IntegrationReview: Key Features: This is the first book that presents both probability theory and algorithmic randomness for from 1st year university students to experts. It is technically easy but worth reading for experts as wellThis book presents basic limit theorems with proofs that are not seen in usual probability textbooks; for readers should learn that a good solution is not always uniqueThis book rigorously treats the Monte Carlo method. In particular, it presents the random Weyl sampling, which produces pseudorandom numbers for the Monte Carlo integration that act complete substitutes for random numbers
This Proceedings contains the papers presented at the IFAC Workshop on Mobile Robot Technology , held in Jejudo Island, Korea, on 20 - 23 May 2001. This is an important and interesting topic, and this Proceedings contains approximately 50 papers featuring some of the very best work being undertaken by research groups from all around the world. The papers deal with both the theoretical and practical aspects of mobile robot technology, covering important problems and issues related to the subject.
Robot Dynamics And Control by Mark W Spong,M. Vidyasagar Pdf
This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control. It provides background material on terminology and linear transformations, followed by coverage of kinematics and inverse kinematics, dynamics, manipulator control, robust control, force control, use of feedback in nonlinear systems, and adaptive control. Each topic is supported by examples of specific applications. Derivations and proofs are included in many cases. The book includes many worked examples, examples illustrating all aspects of the theory, and problems.
Advances on remote laboratories and e-learning experiences by Luís Gomes,Javier Garcia Zubia Pdf
This book provides a comprehensive overview on several aspects of remote laboratories development and usage, and their potential impact in the teaching and learning processes using selected e-learning experiences.The book is based on the presentations and discussions carried out at «International Meeting on Professional Remote Laboratories», which took place in University of Deusto, Bilbao, in the period of November 16-17, 2006. Apart from chapters based on the presentations, some others have also been included in this book. In this way, we hope to give a broad, well balanced and up-to-date picture of the current status of remote labs and their role within the e-learning paradigm.
Using Robots in Hazardous Environments by Y Baudoin,M K Habib Pdf
There have been major recent advances in robotic systems that can replace humans in undertaking hazardous activities in demanding or dangerous environments. Published in association with the CLAWAR (Climbing and Walking Robots and Associated Technologies Association) (www.clawar.org), this important book reviews the development of robotic systems for de-mining and other risky activities such as fire-fighting. Part one provides an overview of the use of robots for humanitarian de-mining work. Part two discusses the development of sensors for mine detection whilst Part thee reviews developments in both teleoperated and autonomous robots. Building on the latter, Part four concentrates on robot autonomous navigation. The final part of the book reviews research on multi-agent-systems (MAS) and the multi-robotics-systems (MRS), promising tools that take into account modular design of mobile robots and the use of several robots in multi-task missions. With its distinguished editors and international team of contributors, Using robots in hazardous environments: landmine detection, de-mining and other applications is a standard reference for all those researching the use of robots in hazardous environments as well as government and other agencies wishing to use robots for dangerous tasks such as landmine detection and disposal. Reviews the development of robotic systems for de-mining and other risky activities Discusses the development and applications of sensors for mine detection using different robotic systems Examines research on multi-agent-systems and multi-robotics systems
Drowsiness Detection Using Image Processing by Hanojhan Rajahrajasingh Pdf
Bachelor Thesis from the year 2019 in the subject Engineering - Robotics, grade: 78, University of Sunderland, language: English, abstract: This report explains the final project, driver drowsiness detection system. When a driver doesn’t get proper rest, they fall asleep while driving and this leads to fatal accidents. This particular issue demands a solution in the form of a system that is capable of detecting drowsiness and to take necessary actions to avoid accidents. The detection is achieved with three main steps, it begins with face detection and facial feature detection using the famous Viola Jones algorithm followed by eye tracking. By the use of correlation coefficient template matching, the eyes are tracked. Whether the driver is awake or asleep is identified by matching the extracted eye image with the externally fed template (open eyes and closed eyes) based on eyes opening and eyes closing, blinking is recognized. If the driver falling asleep state remains above a specific time (the threshold time) the vehicles stops and an alarm is activated by the use of a specific microcontroller, in this prototype an Arduino is used.
Matlab tool box for determining the workspace of Mitsubishi Robot RV-M1 by Khushdeep Goyal Pdf
Master's Thesis from the year 2002 in the subject Engineering - Mechanical Engineering, , language: English, abstract: The workspace of RV-M1 Mitsubishi Robot is determined by an analytical method. The method is applicable to kinematic chains that can be modeled using the Denavit-Hartenberg representation for serial kinematic chains. This method is based upon analytical criteria for determining singular behavior of the mechanism. By manipulating the Jacobian of the robot by the row rank deficiency condition, the singularities are computed. Then these singularities are substituted into the constraint equations to parameterize singular surfaces. The boundary conditions of the joints are substituted to obtain the other set of singularities. These singularities are substituted in the wrist vector to obtain the range of motion of the robot wrist in three dimensional space, which is the workspace of the Mitsubishi Robot RV-M1. These singularities are plotted in Matlab to develop all the surfaces enveloping the workspace of the Robot. The toolbox developed also shows three dimensional view of the workspace, front view, and top view of the workspace. The utility of the workspace development is shown through a case study, in which, Robot wrist range is determined at different heights of Machine bed, for integration of Robot RV-M1 and VMC Machine. A loading and unloading application of the VMC Machine by the Robot can be planned using this data. This application is simulated using the developed toolbox.
Our Warming Planet: Topics In Climate Dynamics by Cynthia Rosenzweig,David Rind,Andrew Lacis,Danielle Peters Pdf
The processes and consequences of climate change are extremely heterogeneous, encompassing many different fields of study. Dr David Rind in his career at the NASA Goddard Institute for Space Studies and as a professor at Columbia University has had the opportunity to explore many of these subjects with colleagues from these diverse disciplines. It was therefore natural for the Lectures in Climate Change series to begin with his colleagues contributing lectures on their specific areas of expertise.This first volume, entitled Our Warming Planet: Topics in Climate Dynamics, encompasses topics such as natural and anthropogenic climate forcing, climate modeling, radiation, clouds, atmospheric dynamics/storms, hydrology, clouds, the cryosphere, paleoclimate, sea level rise, agriculture, atmospheric chemistry, and climate change education. Included with this publication are downloadable PowerPoint slides of each lecture for students and teachers around the world to be better able to understand various aspects of climate change.The lectures on climate change processes and consequences provide snapshots of the cutting-edge work being done to understand what may well be the greatest challenge of our time, in a form suitable for classroom presentation.