The classic text on robot manipulators now covers visual control, motion planning and mobile robots too
Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control. The text develops around a core of consistent and rigorous formalism with fundamental and technological material giving rise naturally and with gradually increasing difficulty to more advanced considerations.
The theory of manipulator structures presented in the early part of the book encompasses:
- the fundamentals: kinematics, statics and trajectory...
The classic text on robot manipulators now covers visual control, motion planning and mobile robots too
The topics of control engineering and signal processing continue to ?o- ish and develop. In common with general scienti?c investigation, new ideas, concepts and interpretations emerge quite spontaneously and these are then discussed, used, discardedorsubsumedinto theprevailingsubjectparadigm. Sometimes these innovative concepts coalesce into a new sub-discipline within the broad subject tapestry of control and signal processing. This p- liminary battle between old and new usually takes place at conferences, through the Internet and in the journals of the discipline. After a little more...
The topics of control engineering and signal processing continue to ?o- ish and develop. In common with general scienti?c investigation, new ideas, co...
Genetic Algorithms (GA) as a tool for a search and optimizing methodology has now reached a mature stage. It has found many useful applications in both the scientific and engineering arenas. The main reason for this success is undoubtedly due to the advances that have been made in solid-state microelectronics fabrication that have, in turn, led to the proliferation of widely available, low cost, and speedy computers. The GA works on the Darwinian principle of natural selection for which the noted English philosopher, Herbert Spencer coined the phrase "Survival of the fittest." As a numerical...
Genetic Algorithms (GA) as a tool for a search and optimizing methodology has now reached a mature stage. It has found many useful applications in bot...
In the last decade new artificial intelligence methods for the modelling and control of complex systems, namely neural networks, fuzzy logic and probabilistic reasoning have drawn the interest of researchers and engineers. Recently, the advantages achievable by using combinations of these methods, which have independent origin and evolution, have been pointed out, generating a new paradigm which is now termed "soft-computing." This new methodology subsumes the capabilities of neural networks for modelling non-linear systems and for solving classification problems, the power of fuzzy-logic to...
In the last decade new artificial intelligence methods for the modelling and control of complex systems, namely neural networks, fuzzy logic and proba...
Modern information systems must handle huge amounts of data having varied natural or technological origins. Automated processing of these increasing signal loads requires the training of specialists capable of formalising the problems encountered. This book supplies a formalised, concise presentation of the basis of statistical signal processing. Equal emphasis is placed on approaches related to signal modelling and to signal estimation. In order to supply the reader with the desirable theoretical fundamentals and to allow him to make progress in the discipline, the results presented here are...
Modern information systems must handle huge amounts of data having varied natural or technological origins. Automated processing of these increasing s...
In current industrial control, PID technology is firmly established as the standard. Often, however, high control loop performance can only be obtained within narrow limits around a given steady-state operating point. If perturbations introduced by any reference or load change are outside these limitations then the actuators will constrain the system inputs. Other operational limits may also be imposed by additional variables within the plant producing output constraints.
A typical method of dealing with input and output constraints, especially for PID control, has been the...
In current industrial control, PID technology is firmly established as the standard. Often, however, high control loop performance can only be obta...
Although the computing demands of real-time signal processing and control applications are increasing rapidly, parallel processors permit several instructions to be dealt with simultaneously so that the real-time needed is manageable. This book introduces the advantages of this strategy and details how to use parallel processing to deal with common signal processing and control algorithms. It emphasises the relationship between the computing requirements of algorithms and the appropriate choice of architectures, while demonstrating how to identify processor capabilities and how to exploit...
Although the computing demands of real-time signal processing and control applications are increasing rapidly, parallel processors permit several inst...
This straightforward text makes the complicated but powerful methods of non-linear control accessible to process engineers. Not only does it cover the necessary mathematics, but it consistently refers to the widely-known finite-dimensional linear time-invariant continuous case as a basis for extension to the nonlinear situation.
This straightforward text makes the complicated but powerful methods of non-linear control accessible to process engineers. Not only does it cover ...
Discrete-time Stochastic Systems gives a comprehensive introduction to the estimation and control of dynamic stochastic systems and provides complete derivations of key results such as the basic relations for Wiener filtering. The book covers both state-space methods and those based on the polynomial approach. Similarities and differences between these approaches are highlighted. Some non-linear aspects of stochastic systems (such as the bispectrum and extended Kalman filter) are also introduced and analysed.
Discrete-time Stochastic Systems gives a comprehensive introduction to the estimation and control of dynamic stochastic systems and provides complete ...
The topics of control engineering and signal processing continue to flourish and develop. In common with general scientific investigation, new ideas, concepts and interpretations emerge quite spontaneously and these are then discussed, used, discarded or subsumed into the prevailing subject paradigm. Sometimes these innovative concepts coalesce into a new sub-discipline within the broad subject tapestry of control and signal processing. This preliminary battle between old and new usually takes place at conferences, through the Internet and in the journals of the discipline. After a little...
The topics of control engineering and signal processing continue to flourish and develop. In common with general scientific investigation, new ideas, ...
