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Dynamics of the Unicycle

Author: Michał Niełaczny

Publisher: Springer

Published: 2018-07-02

Total Pages: 77

ISBN-13: 3319953842

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This book presents a three-dimensional model of the complete unicycle–unicyclist system. A unicycle with a unicyclist on it represents a very complex system. It combines Mechanics, Biomechanics and Control Theory into the system, and is impressive in both its simplicity and improbability. Even more amazing is the fact that most unicyclists don’t know that what they’re doing is, according to science, impossible – just like bumblebees theoretically shouldn’t be able to fly. This book is devoted to the problem of modeling and controlling a 3D dynamical system consisting of a single-wheeled vehicle, namely a unicycle and the cyclist (unicyclist) riding it. The equations of motion are derived with the aid of the rarely used Boltzmann–Hamel Equations in Matrix Form, which are based on quasi-velocities. The Matrix Form allows Hamel coefficients to be automatically generated, and eliminates all the difficulties associated with determining these quantities. The equations of motion are solved by means of Wolfram Mathematica. To more faithfully represent the unicyclist as part of the model, the model is extended according to the main principles of biomechanics. The impact of the pneumatic tire is investigated using the Pacejka Magic Formula model including experimental determination of the stiffness coefficient. The aim of control is to maintain the unicycle–unicyclist system in an unstable equilibrium around a given angular position. The control system, based on LQ Regulator, is applied in Wolfram Mathematica. Lastly, experimental validation, 3D motion capture using software OptiTrack – Motive:Body and high-speed cameras are employed to test the model’s legitimacy. The description of the unicycle–unicyclist system dynamical model, simulation results, and experimental validation are all presented in detail.

Book Synopsis Dynamics of the Unicycle by : Michał Niełaczny

Download or read book Dynamics of the Unicycle written by Michał Niełaczny and published by Springer. This book was released on 2018-07-02 with total page 77 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents a three-dimensional model of the complete unicycle–unicyclist system. A unicycle with a unicyclist on it represents a very complex system. It combines Mechanics, Biomechanics and Control Theory into the system, and is impressive in both its simplicity and improbability. Even more amazing is the fact that most unicyclists don’t know that what they’re doing is, according to science, impossible – just like bumblebees theoretically shouldn’t be able to fly. This book is devoted to the problem of modeling and controlling a 3D dynamical system consisting of a single-wheeled vehicle, namely a unicycle and the cyclist (unicyclist) riding it. The equations of motion are derived with the aid of the rarely used Boltzmann–Hamel Equations in Matrix Form, which are based on quasi-velocities. The Matrix Form allows Hamel coefficients to be automatically generated, and eliminates all the difficulties associated with determining these quantities. The equations of motion are solved by means of Wolfram Mathematica. To more faithfully represent the unicyclist as part of the model, the model is extended according to the main principles of biomechanics. The impact of the pneumatic tire is investigated using the Pacejka Magic Formula model including experimental determination of the stiffness coefficient. The aim of control is to maintain the unicycle–unicyclist system in an unstable equilibrium around a given angular position. The control system, based on LQ Regulator, is applied in Wolfram Mathematica. Lastly, experimental validation, 3D motion capture using software OptiTrack – Motive:Body and high-speed cameras are employed to test the model’s legitimacy. The description of the unicycle–unicyclist system dynamical model, simulation results, and experimental validation are all presented in detail.

Modern Robotics

Author: Kevin M. Lynch

Publisher: Cambridge University Press

Published: 2017-05-25

Total Pages: 545

ISBN-13: 1107156300

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A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.

Book Synopsis Modern Robotics by : Kevin M. Lynch

Download or read book Modern Robotics written by Kevin M. Lynch and published by Cambridge University Press. This book was released on 2017-05-25 with total page 545 pages. Available in PDF, EPUB and Kindle. Book excerpt: A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.

Intelligent Robotics and Applications

Author: Chun-Yi Su

Publisher: Springer

Published: 2012-09-28

Total Pages: 642

ISBN-13: 3642335039

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The three volume set LNAI 7506, LNAI 7507 and LNAI 7508 constitutes the refereed proceedings of the 5th International Conference on Intelligent Robotics and Applications, ICIRA 2012, held in Montreal, Canada, in October 2012. The 197 revised full papers presented were thoroughly reviewed and selected from 271 submissions. They present the state-of-the-art developments in robotics, automation and mechatronics. This volume covers the topics of robot actuators and sensors; robot design, development and control; robot intelligence, learning and linguistics; robot mechanism and design; robot motion analysis and planning; robotic vision, recognition and reconstruction; and planning and navigation.

Book Synopsis Intelligent Robotics and Applications by : Chun-Yi Su

Download or read book Intelligent Robotics and Applications written by Chun-Yi Su and published by Springer. This book was released on 2012-09-28 with total page 642 pages. Available in PDF, EPUB and Kindle. Book excerpt: The three volume set LNAI 7506, LNAI 7507 and LNAI 7508 constitutes the refereed proceedings of the 5th International Conference on Intelligent Robotics and Applications, ICIRA 2012, held in Montreal, Canada, in October 2012. The 197 revised full papers presented were thoroughly reviewed and selected from 271 submissions. They present the state-of-the-art developments in robotics, automation and mechatronics. This volume covers the topics of robot actuators and sensors; robot design, development and control; robot intelligence, learning and linguistics; robot mechanism and design; robot motion analysis and planning; robotic vision, recognition and reconstruction; and planning and navigation.

Dynamics and Optimal Control of Road Vehicles

Author: D. J. N. Limebeer

Publisher: Oxford University Press

Published: 2018-08-23

Total Pages: 480

ISBN-13: 0192559818

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Dynamics and Optimal Control of Road Vehicles uniquely offers a unified treatment of tyre, car and motorcycle dynamics, and the application of nonlinear optimal control to vehicle-related problems within a single book. This is a comprehensive and accessible text that emphasises the theoretical aspects of vehicular modelling and control. The book focuses on two major elements. The first is classical mechanics and its use in building vehicle and tyre dynamics models. The second focus is nonlinear optimal control, which is used to solve a range of minimum-time and minimum-fuel, as well as track curvature reconstruction problems. As is known classically, all of this material is bound together by the calculus of variations and stationary principles. The treatment of this material is supplemented with a number of examples that were designed to highlight obscurities and subtleties in the theory.

Book Synopsis Dynamics and Optimal Control of Road Vehicles by : D. J. N. Limebeer

Download or read book Dynamics and Optimal Control of Road Vehicles written by D. J. N. Limebeer and published by Oxford University Press. This book was released on 2018-08-23 with total page 480 pages. Available in PDF, EPUB and Kindle. Book excerpt: Dynamics and Optimal Control of Road Vehicles uniquely offers a unified treatment of tyre, car and motorcycle dynamics, and the application of nonlinear optimal control to vehicle-related problems within a single book. This is a comprehensive and accessible text that emphasises the theoretical aspects of vehicular modelling and control. The book focuses on two major elements. The first is classical mechanics and its use in building vehicle and tyre dynamics models. The second focus is nonlinear optimal control, which is used to solve a range of minimum-time and minimum-fuel, as well as track curvature reconstruction problems. As is known classically, all of this material is bound together by the calculus of variations and stationary principles. The treatment of this material is supplemented with a number of examples that were designed to highlight obscurities and subtleties in the theory.

Advances in Emerging Trends and Technologies

Author: Miguel Botto-Tobar

Publisher: Springer Nature

Published: 2019-10-18

Total Pages: 414

ISBN-13: 3030320332

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This book constitutes the proceedings of the 1st International Conference on Advances in Emerging Trends and Technologies (ICAETT 2019), held in Quito, Ecuador, on 29–31 May 2019, jointly organized by Universidad Tecnológica Israel, Universidad Técnica del Norte, and Instituto Tecnológico Superior Rumiñahui, and supported by SNOTRA. ICAETT 2019 brought together top researchers and practitioners working in different domains of computer science to share their expertise and to discuss future developments and potential collaborations. Presenting high-quality, peer-reviewed papers, the book discusses the following topics: Technology Trends Electronics Intelligent Systems Machine Vision Communication Security e-Learning e-Business e-Government and e-Participation

Book Synopsis Advances in Emerging Trends and Technologies by : Miguel Botto-Tobar

Download or read book Advances in Emerging Trends and Technologies written by Miguel Botto-Tobar and published by Springer Nature. This book was released on 2019-10-18 with total page 414 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the proceedings of the 1st International Conference on Advances in Emerging Trends and Technologies (ICAETT 2019), held in Quito, Ecuador, on 29–31 May 2019, jointly organized by Universidad Tecnológica Israel, Universidad Técnica del Norte, and Instituto Tecnológico Superior Rumiñahui, and supported by SNOTRA. ICAETT 2019 brought together top researchers and practitioners working in different domains of computer science to share their expertise and to discuss future developments and potential collaborations. Presenting high-quality, peer-reviewed papers, the book discusses the following topics: Technology Trends Electronics Intelligent Systems Machine Vision Communication Security e-Learning e-Business e-Government and e-Participation

Mobile Robots for Dynamic Environments

Author: Marco Ceccarelli

Publisher: Momentum Press

Published: 2015-06-09

Total Pages: 165

ISBN-13: 1606508229

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For several decades now, mobile robots have been integral to the development of new robotic systems for new applications, even in nontechnical areas. Mobile robots have already been developed for such uses as industrial automation, medical care, space exploration, demining operations, surveillance, entertainment, museum guides and many other industrial and non-industrial applications. In some cases these products are readily available on the market. A considerable amount of literature is also available; not all of which pertains to technical issues, as listed in the chapters of this book and its companion. Readers will enjoy this book and its companion and will utilize the knowledge gained with satisfaction and will be assisted by its content in their interdisciplinary work for engineering developments of mobile robots, in both old and new applications. This book and its companion can be used as a graduate level course book or a guide book for the practicing engineer who is working on a specific problem which is described in one of the chapters. The companion volume for this book, Designs and Prototypes of Mobile Robots, is also available from Momentum Press.

Book Synopsis Mobile Robots for Dynamic Environments by : Marco Ceccarelli

Download or read book Mobile Robots for Dynamic Environments written by Marco Ceccarelli and published by Momentum Press. This book was released on 2015-06-09 with total page 165 pages. Available in PDF, EPUB and Kindle. Book excerpt: For several decades now, mobile robots have been integral to the development of new robotic systems for new applications, even in nontechnical areas. Mobile robots have already been developed for such uses as industrial automation, medical care, space exploration, demining operations, surveillance, entertainment, museum guides and many other industrial and non-industrial applications. In some cases these products are readily available on the market. A considerable amount of literature is also available; not all of which pertains to technical issues, as listed in the chapters of this book and its companion. Readers will enjoy this book and its companion and will utilize the knowledge gained with satisfaction and will be assisted by its content in their interdisciplinary work for engineering developments of mobile robots, in both old and new applications. This book and its companion can be used as a graduate level course book or a guide book for the practicing engineer who is working on a specific problem which is described in one of the chapters. The companion volume for this book, Designs and Prototypes of Mobile Robots, is also available from Momentum Press.

Flocking and Rendezvous in Distributed Robotics

Author: Bruce A. Francis

Publisher: Springer

Published: 2015-10-24

Total Pages: 105

ISBN-13: 3319247298

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This brief describes the coordinated control of groups of robots using only sensory input – and no direct external commands. Furthermore, each robot employs the same local strategy, i.e., there are no leaders, and the text also deals with decentralized control, allowing for cases in which no single robot can sense all the others. One can get intuition for the problem from the natural world, for example, flocking birds. How do they achieve and maintain their flying formation? Recognizing their importance as the most basic coordination tasks for mobile robot networks, the brief details flocking and rendezvous. They are shown to be physical illustrations of emergent behaviors with global consensus arising from local interactions. The authors extend the consideration of these fundamental ideas to describe their operation in flying robots and prompt readers to pursue further research in the field. Flocking and Rendezvous in Distributed Robotics will provide graduate students a firm grounding in the subject, while also offering an authoritative reference work for more experienced workers seeking a brief but thorough treatment of an area that has rapidly gained in interest.

Book Synopsis Flocking and Rendezvous in Distributed Robotics by : Bruce A. Francis

Download or read book Flocking and Rendezvous in Distributed Robotics written by Bruce A. Francis and published by Springer. This book was released on 2015-10-24 with total page 105 pages. Available in PDF, EPUB and Kindle. Book excerpt: This brief describes the coordinated control of groups of robots using only sensory input – and no direct external commands. Furthermore, each robot employs the same local strategy, i.e., there are no leaders, and the text also deals with decentralized control, allowing for cases in which no single robot can sense all the others. One can get intuition for the problem from the natural world, for example, flocking birds. How do they achieve and maintain their flying formation? Recognizing their importance as the most basic coordination tasks for mobile robot networks, the brief details flocking and rendezvous. They are shown to be physical illustrations of emergent behaviors with global consensus arising from local interactions. The authors extend the consideration of these fundamental ideas to describe their operation in flying robots and prompt readers to pursue further research in the field. Flocking and Rendezvous in Distributed Robotics will provide graduate students a firm grounding in the subject, while also offering an authoritative reference work for more experienced workers seeking a brief but thorough treatment of an area that has rapidly gained in interest.

Efficient Reinforcement Learning Using Gaussian Processes

Author: Marc Peter Deisenroth

Publisher: KIT Scientific Publishing

Published: 2010

Total Pages: 226

ISBN-13: 3866445695

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This book examines Gaussian processes in both model-based reinforcement learning (RL) and inference in nonlinear dynamic systems.First, we introduce PILCO, a fully Bayesian approach for efficient RL in continuous-valued state and action spaces when no expert knowledge is available. PILCO takes model uncertainties consistently into account during long-term planning to reduce model bias. Second, we propose principled algorithms for robust filtering and smoothing in GP dynamic systems.

Book Synopsis Efficient Reinforcement Learning Using Gaussian Processes by : Marc Peter Deisenroth

Download or read book Efficient Reinforcement Learning Using Gaussian Processes written by Marc Peter Deisenroth and published by KIT Scientific Publishing. This book was released on 2010 with total page 226 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book examines Gaussian processes in both model-based reinforcement learning (RL) and inference in nonlinear dynamic systems.First, we introduce PILCO, a fully Bayesian approach for efficient RL in continuous-valued state and action spaces when no expert knowledge is available. PILCO takes model uncertainties consistently into account during long-term planning to reduce model bias. Second, we propose principled algorithms for robust filtering and smoothing in GP dynamic systems.

Perspectives and Trends in Education and Technology

Author: Anabela Mesquita

Publisher: Springer Nature

Published: 2023-01-02

Total Pages: 849

ISBN-13: 9811965854

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This book presents high-quality, peer-reviewed papers from the International Conference in Information Technology & Education (ICITED 2022), to be held at the ESPM – Higher School of Advertising and Marketing, Rio de Janeiro, Brazil, between July 14 – 16, 2022. This book covers a specific field of knowledge. This intends to cover not only two fields of knowledge – Education and Technology – but also the interaction among them and the impact/result in the job market and organizations. It covers the research and pedagogic component of Education and Information Technologies and also the connection with Society, addressing the three pillars of higher education. This book addresses impact of pandemic on education and use of technology in education. Finally, it also encourages companies to present their professional cases which will be discussed. These can constitute real examples of how companies are overcoming their challenges with the uncertainty of the market.

Book Synopsis Perspectives and Trends in Education and Technology by : Anabela Mesquita

Download or read book Perspectives and Trends in Education and Technology written by Anabela Mesquita and published by Springer Nature. This book was released on 2023-01-02 with total page 849 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents high-quality, peer-reviewed papers from the International Conference in Information Technology & Education (ICITED 2022), to be held at the ESPM – Higher School of Advertising and Marketing, Rio de Janeiro, Brazil, between July 14 – 16, 2022. This book covers a specific field of knowledge. This intends to cover not only two fields of knowledge – Education and Technology – but also the interaction among them and the impact/result in the job market and organizations. It covers the research and pedagogic component of Education and Information Technologies and also the connection with Society, addressing the three pillars of higher education. This book addresses impact of pandemic on education and use of technology in education. Finally, it also encourages companies to present their professional cases which will be discussed. These can constitute real examples of how companies are overcoming their challenges with the uncertainty of the market.

Nonholonomic Mechanics and Control

Author: A.M. Bloch

Publisher: Springer

Published: 2015-11-05

Total Pages: 565

ISBN-13: 1493930176

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This book explores connections between control theory and geometric mechanics. The author links control theory with a geometric view of classical mechanics in both its Lagrangian and Hamiltonian formulations, and in particular with the theory of mechanical systems subject to motion constraints. The synthesis is appropriate as there is a rich connection between mechanics and nonlinear control theory. The book provides a unified treatment of nonlinear control theory and constrained mechanical systems that incorporates material not available in other recent texts. The book benefits graduate students and researchers in the area who want to enhance their understanding and enhance their techniques.

Book Synopsis Nonholonomic Mechanics and Control by : A.M. Bloch

Download or read book Nonholonomic Mechanics and Control written by A.M. Bloch and published by Springer. This book was released on 2015-11-05 with total page 565 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book explores connections between control theory and geometric mechanics. The author links control theory with a geometric view of classical mechanics in both its Lagrangian and Hamiltonian formulations, and in particular with the theory of mechanical systems subject to motion constraints. The synthesis is appropriate as there is a rich connection between mechanics and nonlinear control theory. The book provides a unified treatment of nonlinear control theory and constrained mechanical systems that incorporates material not available in other recent texts. The book benefits graduate students and researchers in the area who want to enhance their understanding and enhance their techniques.