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Stochastische modell-prädiktive Regelung nichtlinearer Systeme

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Book Series: Karlsruhe Series on Intelligent Sensor-Actuator-Systems, Universität Karlsruhe / Intelligent Sensor-Actuator-Systems Laboratory ISSN: 18673813 ISBN: 9783866443488 Year: Volume: 2 Pages: XII, 122 p. DOI: 10.5445/KSP/1000010573 Language: GERMAN
Publisher: KIT Scientific Publishing
Subject: Computer Science
Added to DOAB on : 2019-07-30 20:02:00
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Diese Arbeit behandelt neuartige Verfahren zur modell-prädiktiven Regelung (MPC) nichtlinearer Systeme unter umfassender Berücksichtigung stochastischer Unsicherheiten. Bei dem hier vorgestellten Framework zur stochastischen nichtlinearen MPC (SNMPC) wird neben dem unsicheren Systemverhalten auch die Zugänglichkeit des zu regelnden Systemzustands explizit bei der Stellgrößenberechnung berücksichtigt. Die vorgestellten Verfahren werden anhand der Regelung miniaturisierter Laufroboter evaluiert.

Adaptive and Intelligent Temperature Control of Microwave Heating Systems with Multiple Sources

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Book Series: Karlsruher Forschungsberichte aus dem Institut für Hochleistungsimpuls- und Mikrowellentechnik ISSN: 21922764 ISBN: 9783731504672 Year: Volume: 8 Pages: XIII, 231 p. DOI: 10.5445/KSP/1000051503 Language: ENGLISH
Publisher: KIT Scientific Publishing
Subject: Technology (General)
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In this work, an innovative real-time microwave control approach is proposed, to improve the temperature homogeneity under microwave heating. Multiple adaptive or intelligent control structures have been developed, including the model predictive control, neural network control and reinforcement learning control methods. Experimental results prove that these advanced control methods can effectively reduce the final temperature derivations and improve the temperature homogeneity.

Real-Time Optimization

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ISBN: 9783038424499 9783038424482 Year: Pages: VIII, 246 Language: English
Publisher: MDPI - Multidisciplinary Digital Publishing Institute
Subject: Computer Science
Added to DOAB on : 2017-07-26 13:55:59
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Process optimization is the method of choice for improving the performance of industrial processes, while enforcing the satisfaction of safety and quality constraints. Long considered as an appealing tool but only applicable to academic problems, optimization has now become a viable technology. Real-time optimization integrates process measurements into the optimization framework. This way, process optimization does not rely exclusively on a (possibly inaccurate) process model but also on process information stemming from measurements. This Special Issue on Real-Time Optimization includes both methodological and practical contributions. All seven methodological contributions deal with explicit schemes that repeat the optimization when new measurements become available. The methods covered include modifier adaptation, economic MPC and the two-step approach of parameter identification and numerical optimization. The six contributions that deal with applications cover various fields including refineries, well networks, combustion and membrane filtration.

Distributed Energy Storage Devices in Smart Grids

Authors: --- ---
ISBN: 9783039284344 / 9783039284351 Year: Pages: 148 DOI: 10.3390/books978-3-03928-435-1 Language: eng
Publisher: MDPI - Multidisciplinary Digital Publishing Institute
Subject: Technology (General) --- General and Civil Engineering
Added to DOAB on : 2020-06-09 16:38:57
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Energy storage systems have been recognized as viable solutions for implementing the smart grid paradigm, but have created challenges in terms of load levelling, integrating renewable and intermittent sources, voltage and frequency regulation, grid resiliency, improving power quality and reliability, reducing energy import during peak demand periods, and so on. In particular, distributed energy storage addresses a wide range of the above potential issues, and it is gaining attention from customers, utilities, and regulators. Distributed energy storage has considerable potential for reducing costs and improving the quality of electric services. However, installation costs and lifespan are the main drawbacks to the wide diffusion of this technology. In this context, a serious challenge is the adoption of new techniques and strategies for the optimal planning, control, and management of grids that include distributed energy storage devices. Regulatory guidance and proactive policies are urgently needed to ensure a smooth rollout of this technology. This book collects recent contributions of methodologies applied to the integration of distributed energy storage devices in smart power systems. Several areas of research (optimal siting and sizing of energy storage systems, adaption of energy storage systems to load leveling and harmonic compensation, integration for electric vehicles, and optimal control systems) are investigated in the contributions collected in this book.

Permanent Magnet Synchronous Machines

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ISBN: 9783039213504 9783039213511 Year: Pages: 282 DOI: 10.3390/books978-3-03921-351-1 Language: English
Publisher: MDPI - Multidisciplinary Digital Publishing Institute
Subject: Technology (General) --- General and Civil Engineering
Added to DOAB on : 2019-12-09 11:49:15
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Interest in permanent magnet synchronous machines (PMSMs) is continuously increasing worldwide, especially with the increased use of renewable energy and the electrification of transports. This book contains the successful submissions of fifteen papers to a Special Issue of Energies on the subject area of “Permanent Magnet Synchronous Machines”. The focus is on permanent magnet synchronous machines and the electrical systems they are connected to. The presented work represents a wide range of areas. Studies of control systems, both for permanent magnet synchronous machines and for brushless DC motors, are presented and experimentally verified. Design studies of generators for wind power, wave power and hydro power are presented. Finite element method simulations and analytical design methods are used. The presented studies represent several of the different research fields on permanent magnet machines and electric drives.

Keywords

PMSM (permanent magnet synchronous motor) --- DB-DTFC (deadbeat-direct torque and flux control) --- torque control --- stability --- permanent-magnet machine --- brushless machine --- Vernier machine --- flux switching machine --- multiphase machine --- outer rotor --- electric vehicle --- interior permanent magnet synchronous machines --- magnetic reluctance network --- brushless dc motor --- phase-advanced method --- winding inductance --- sub-fractional slot-concentrated winding --- field weakening --- periodic timer interrupt --- Brushless DC motors --- current ripples --- current spikes --- modeling --- back electromotive force --- R-C filter --- cogging torque --- permanent magnet synchronous generator --- small wind turbines --- finite element method --- renewable energy --- energy conversion --- finite element analysis --- pulse width modulation --- permanent magnet synchronous generator --- wind generator --- MPC --- PMSM --- vector control --- speed tracking --- brushless DC (BLDC) motor --- sensorless motor --- commutation error compensation --- free-wheeling period --- permanent magnet synchronous motor (PMSM) --- sliding mode observer (SMO) --- parameter perturbation --- predictive current control (PCC) --- digital simulation --- motor drives --- interior permanent-magnet machines --- finite-element analysis --- modeling --- automotive applications --- electric vehicle (EV) --- hybrid electric vehicle (HEV) --- mathematical model --- saturation --- coils --- design tools --- energy efficiency --- linear generator --- power control --- stator --- wave power --- permanent magnet synchronous generator --- electrical machine design --- permanent magnet material --- bulk electric system --- condition monitoring --- electrical signature analysis --- fault diagnosis --- predictive maintenance --- synchronous generator --- permanent magnet synchronous machine (PMSM) --- flying start --- sensorless control --- permanent magnet synchronous generator --- permanent magnet synchronous motor --- electric propulsion systems --- renewable energy --- energy conversion

Power Electronics in Renewable Energy Systems

Authors: ---
ISBN: 9783039210442 9783039210459 Year: Pages: 604 DOI: 10.3390/books978-3-03921-045-9 Language: English
Publisher: MDPI - Multidisciplinary Digital Publishing Institute
Subject: Technology (General) --- General and Civil Engineering
Added to DOAB on : 2019-06-26 08:44:06
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This book offers a collection of 30 scientific papers which address the problems associated with the use of power electronic converters in renewable energy source-based systems. Relevant problems associated with the use of power electronic converters to integrate renewable energy systems to the power grid are presented. Some of the covered topics relate to the integration of photovoltaic and wind energy generators into the rest of the system, and to the use of energy storage to mitigate power fluctuations, which are a characteristic of renewable energy systems. The book provides a good overview of the abovementioned topics.

Keywords

modular multilevel converter --- battery energy storage system --- state-of-charge balancing --- second-life battery --- multi-energy complementary --- microgrid --- demand response --- operation optimization --- electricity price --- peak-current-mode control --- dynamic modeling --- duty-ratio constraints --- discontinuous conduction mode --- FACTS devices --- active power filter --- static compensator --- control strategies --- grid-connected converter --- SPWM --- SVM --- maximum power point tracking --- open circuit voltage --- perturb and observe --- thermoelectric generator --- two-stage photovoltaic power --- virtual synchronous generator --- adaptive-MPPT (maximum power point tracking) --- improved-VSG (virtual synchronous generator) --- power matching --- failure zone --- governor --- frequency regulation --- inverter --- voltage-type control --- static frequency characteristics --- grid-connected converter --- adaptive resonant controller --- PLL --- impedance analysis --- distorted grid --- digital signal processor (DSP) TMS320F28335 --- grid-connected inverter --- internal model --- linear quadratic regulator --- LCL filter --- photovoltaic systems --- multilevel power converter --- soft switching --- selective harmonic mitigation --- phase shifted --- voltage cancellation --- adaptive control --- sliding mode control --- speed control --- wind energy system --- microgrid (MG) --- droop control --- washout filter --- hardware in the loop (HIL) --- active front-end converter --- back-to-back converter --- permanent magnet synchronous generator (PMSG) --- THD --- type-4 wind turbine --- wind energy system --- Opal-RT Technologies® --- synchronization --- adaptive notch filter (ANF) --- phase-locked loop (PLL) --- wind power prediction --- phase space reconstruction --- multivariate linear regression --- cloud computing --- time series --- multiple VSGs --- oscillation mitigation --- coordinated control --- small-signal and transient stability --- coordination control --- energy storage --- grid support function --- inertia --- photovoltaic --- virtual synchronous generator --- weak grid --- parallel inverters --- oscillation suppression --- notch filter --- impedance reshaping --- boost converter --- peak-current-mode control --- dynamic modeling --- discontinuous operation mode --- doubly-fed induction generator --- short-circuit fault --- frequency regulation --- variable power tracking control --- improved additional frequency control --- variable coefficient regulation --- inertia and damping characteristics --- generator speed control --- electrical power generation --- turbine and generator --- grid-connected converter --- organic Rankine cycle --- renewable energy --- multiport converter (MPC) --- single ended primary inductor converter (SEPIC) --- multi-input single output (MISO) --- renewable power system --- coupled oscillators --- virtual impedance --- synchronization --- power converters --- droop control --- virtual admittance --- distributed generation --- energy --- renewable energy --- microgrids --- Energy Internet --- energy router --- microgrid --- electric vehicle --- PV --- battery-energy storage --- DC-AC power converters --- impedance emulation --- stability analysis --- power-hardware-in- the-loop --- photovoltaic generators --- maximum power point tracking --- step size --- perturbation frequency --- source and load impedance --- transient dynamics --- stability --- grid synchronization --- power electronics --- power grid --- inverter --- grid-connected --- microgrid --- experiment --- modules --- synchronverter --- power ripple elimination --- resonant controller --- unbalanced power grid --- ROCOF --- PLL --- error --- low inertia --- VSC --- n/a

Adaptive Catchment Management and Reservoir Operation

Authors: --- ---
ISBN: 9783038977384 9783038977391 Year: Pages: 498 DOI: 10.3390/books978-3-03897-739-1 Language: English
Publisher: MDPI - Multidisciplinary Digital Publishing Institute
Subject: Technology (General) --- General and Civil Engineering
Added to DOAB on : 2019-08-28 11:21:27
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River catchments and reservoirs play a central role in water security, food supply, flood risk management, hydropower generation, and ecosystem services; however, they are now under increasing pressure from population growth, economic activities, and changing climate means and extremes in many parts of the world. Adaptive management of river catchments and reservoirs requires an in-depth understanding of the impacts of future uncertainties and thus the development of robust, sustainable solutions to meet the needs of various stakeholders and the environment. To tackle the huge challenges in moving towards adaptive catchment management, this book presents the latest developments in cutting-edge knowledge, novel methodologies, innovative management strategies, and case studies, focusing on the following themes: reservoir dynamics and impact analysis of dam construction, optimal reservoir operation, climate change impacts on hydrological processes and water management, and integrated catchment management.

Keywords

Siemianówka --- hydrology --- Narew River --- dam --- reservoir --- discharge --- flow regime --- reservoir flushing --- numerical simulation --- flushing efficiency --- Kurobe River --- two-dimensional bed evolution model --- sediment flushing of empty storage --- shaft spillway pipe --- sediment flushing efficiency --- sediment regime --- suspended sediment concentration --- vertical profiles of concentration --- Jingjiang River Reach --- Yangtze River --- CO2 --- reservoirs --- general regression neural network --- back propagation neural network --- climate change --- CMIP3 --- CMIP5 --- downscaling --- runoff response --- SWAT model --- stochastic linear programming --- Markov chain --- reliability --- vulnerability --- reservoir operation --- stochastic dynamic programming --- protection zone --- nutrient uptake --- NPP --- South-to-North Water Transfer Project --- Miyun Reservoir --- reservoir operation --- optimization --- SWAT --- HEC-ResPRM --- climate change --- CORDEX-Africa --- Tekeze basin --- long distance water diversion --- inverted siphon --- sensitivity analysis --- integrated supply system modeling --- sediment regime --- suspended sediment concentration --- vertical profiles of concentration --- the Jingjiang River Reach --- the Yangtze River --- reservoir operation --- multi-stage stochastic optimization --- TB-MPC --- flood control --- real-time control --- energy --- hydropower stations --- differential evolution algorithm --- optimal scheduling --- ?-constrained method --- drinking water resources --- water environmental capacity (WEC) --- Environmental Fluid Dynamics Code (EFDC) model --- the Huangshi Reservoir --- seasonal rainfall --- upper Chao Phraya River Basin --- El Niño/Southern Oscillation --- Indian Monsoon --- sea surface temperatures --- reverse regulation --- coupling model --- aftereffect --- accompanying progressive optimality algorithm --- Dokan Dam --- runoff --- sediment load --- SWAT --- natural flow regime --- multi-objective model --- uncertainty --- genetic algorithm --- land and water resources --- system dynamics --- modeling --- scenario analysis --- Heilongjiang --- tropical reservoir --- heating impact --- Langcang-Mekong River --- Kappa distribution --- parameter relation --- partial gauged basin --- power function --- ratio curve --- ungauged basin --- reservoir operation --- integrated surface water-groundwater model --- Heihe River Basin --- environmental flow --- irrigation --- design and operation of the multipurpose reservoir --- water deficit --- reservoir simulation model --- climate change --- multi-objective optimization NSGA II --- resilience and robustness --- costs and benefits --- water energy --- multi-agent of river basin --- game theory --- water resources allocation --- optimal flood control operation --- cascade reservoirs --- dynamic programming with progressive optimality algorithm (DP-POA) --- the upper Yangtze River Basin --- parameterization --- simulation --- optimization --- direct policy search --- hedging policy --- shortage ratio: Vulnerability --- NSGA-II --- lentic habitats --- bitterling --- mussel --- floodplain vertical shape index --- sediment management --- adaptive management --- catchment modelling --- integrated management --- reservoir operation

Multilevel Converters: Analysis, Modulation, Topologies, and Applications

Authors: ---
ISBN: 9783039214815 9783039214822 Year: Pages: 548 DOI: 10.3390/books978-3-03921-482-2 Language: English
Publisher: MDPI - Multidisciplinary Digital Publishing Institute
Subject: Technology (General) --- General and Civil Engineering --- Electrical and Nuclear Engineering
Added to DOAB on : 2019-12-09 11:49:15
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This book is a collection of scientific papers concerning multilevel inverters examined from different points of view. Many applications are considered, such as renewable energy interface, power conditioning systems, electric drives, and chargers for electric vehicles. Different topologies have been examined in both new configurations and well-established structures, introducing novel and particular modulation strategies, and examining the effect of modulation techniques on voltage and current harmonics and the total harmonic distortion.

Keywords

DC–DC conversion --- interleaved buck --- parasitic switching states --- three-level converter --- simplified PWM strategy --- redundant switching combination --- voltage balance control --- modular multilevel converter --- IGBT short-circuit --- fault detection --- fault location --- Differential Comparison Low-Voltage Detection Method (DCLVDM) --- Continuous Wavelet Transform --- digital controller --- digital signal processors (DSP) --- modular multilevel converters (MMC) --- multi-terminal DC network (MTDC) --- MMC-MTDC --- hybrid modulated model predictive control --- optimal output voltage level --- multi-point DC control --- neutral-point-clamped (NPC) inverter --- dc-link capacitor voltage balance --- offset voltage injection --- harmonic component --- modular multilevel converters --- capacitor voltage balancing --- sorting networks --- field-programmable gate array --- low-harmonic DC ice-melting device --- transmission line --- voltage fluctuation --- harmonic --- dynamic reactive --- substation’s voltage stability --- alternating current (AC) motor drive --- current estimation --- current reconstruction method --- current unmeasurable areas --- total harmonic distortion (THD) --- single shunt resistor --- space vector pulse width modulation (SVPWM) --- shift method --- minimum voltage injection (MVI) method --- three-level neutral point clamped inverter (NPCI) --- three-level boost --- automatic current balance --- three-loop --- voltage imbalance --- DC-link voltage balancing --- field-oriented control --- field-programmable gate array --- multilevel active-clamped converter --- motor drive --- buck-chopper --- PV-simulator --- T-type converter --- real time simulator --- three-level boost DC-DC converter --- small signal modeling --- voltage balance control --- multilevel converter --- selected harmonic elimination --- genetic algorithm --- imperialist competitive algorithm --- voltage ripple --- voltage source inverter --- three-phase inverter --- DC-link capacitor design --- Cascaded H-bridge multilevel inverter (CHBMI) --- field-programmable gate array --- total harmonic distortion (THD) --- modulation techniques --- multilevel converter --- electric vehicle --- on-board battery charger --- power factor correction --- power quality --- smart grid --- model predictive control --- single-phase three-level NPC converter --- commutation --- modular multilevel converter (MMC) --- Sub-module (SM) fault --- fault-tolerant control --- Phase Disposition PWM --- finite control set model predictive control --- T-type inverter --- computational cost --- LC filter --- DC-link capacitor voltage balancing --- multilevel converter --- DC side fault blocking --- predictive control --- battery energy storage system (BESS) --- modular multilevel converter (MMC) --- state-of-charge (SOC) balancing control --- tolerance for battery power unbalance --- model predictive control (MPC) --- computational burden --- reverse prediction --- modular multilevel converter (MMC) --- multilevel inverters --- total harmonic distortion --- level-shifted PWM --- phase-shifted PWM --- electrical drives --- energy saving --- multilevel power converters --- permanent magnet synchronous generator --- open-end winding configuration --- voltage balancing --- power factor --- improved PQ algorithm --- power flow analysis --- three-phase to single-phase cascaded converter --- ACTPSS --- NPC/H Bridge --- five-level --- Balance of capacitor voltage --- Suppression of CMV --- SVPWM --- multilevel converter --- multi-motor drive --- harmonic mitigation --- active filter --- open end winding motor --- high efficiency drive --- high reliability applications

Advanced Mobile Robotics: Volume 1

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ISBN: 9783039219162 9783039219179 Year: Pages: 468 DOI: 10.3390/books978-3-03921-917-9 Language: English
Publisher: MDPI - Multidisciplinary Digital Publishing Institute
Subject: General and Civil Engineering --- Technology (General)
Added to DOAB on : 2020-04-07 23:07:09
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Mobile robotics is a challenging field with great potential. It covers disciplines including electrical engineering, mechanical engineering, computer science, cognitive science, and social science. It is essential to the design of automated robots, in combination with artificial intelligence, vision, and sensor technologies. Mobile robots are widely used for surveillance, guidance, transportation and entertainment tasks, as well as medical applications. This Special Issue intends to concentrate on recent developments concerning mobile robots and the research surrounding them to enhance studies on the fundamental problems observed in the robots. Various multidisciplinary approaches and integrative contributions including navigation, learning and adaptation, networked system, biologically inspired robots and cognitive methods are welcome contributions to this Special Issue, both from a research and an application perspective.

Keywords

path planning --- lane change --- excellent driver model --- neural networks --- autonomous vehicle --- remotely operated vehicle --- ocean current --- cable disturbance modeling --- lumped parameter method --- sliding mode observer --- 4WS4WD vehicle --- force control --- MPC --- PSO --- path tracking --- negative-buoyancy --- tri-tilt-rotor --- autonomous underwater vehicle (AUV) --- immersion and invariance --- object mapping --- Geometric Algebra --- Differential Evolution --- non-inertial reference frame --- centrifugal force --- turning model LIP --- trajectory planning --- space robot --- hybrid bionic robot --- chameleon --- end effector --- hybrid robot --- curve fitting --- fair optimisation --- trajectory interpolation --- piezoelectric actuator --- high step-up ratio --- high efficiency --- small size --- micro mobile robot --- biomimetic robot --- micro air vehicle --- flapping --- drag-based system --- dragonfly --- snake-like robot --- singularity analysis --- system design --- dynamical model --- nonlinear differentiator --- robotic drilling --- sliding mode control --- drilling end-effector --- fault diagnosis --- quadcopter UAV --- fault-tolerant control --- sliding mode observer --- Thau observer --- smart materials --- actuators --- robots --- electro-rheological fluids --- magneto-rheological fluids --- shape memory alloys --- medical devices --- rehabilitation system --- LOS --- motion camouflage control --- parallel navigation --- missile control system --- target tracking --- variable speed --- high-speed target --- snake robots --- head-raising --- shape-fitting --- phase-shifting --- spiral curve --- servo valve --- pneumatics --- position control --- cart --- robot --- step climbing --- transportation --- stopper --- climbing robot --- safety recovery mechanism --- cable detection --- dynamic coupling analysis --- path planning --- mobile robots --- curvature constraints --- state constraints --- extend procedure --- G3-continuity --- car-like kinematics --- obstacle avoidance system --- harmonic potential field --- curvature constraint --- non-holonomic mobile robot --- computing time --- inverse kinematics --- joint limit avoidance --- kinematic singularity --- manipulator --- obstacle avoidance --- potential field --- service robot --- graph representation --- similarity measure --- mobile robot --- static environments --- path planning --- multi-objective optimization --- NSGA-II --- evolutionary operators --- mobile robot --- coalmine --- exploration --- robotics --- ATEX --- safety --- methane --- quadruped robot --- stability criterion --- dynamic gait --- glass façade cleaning robot --- wall climbing robot --- biped mechanism --- data association --- 3D-SLAM --- localization --- mapping --- disturbance-rejection control --- extended state observer (ESO) --- hover mode --- transition mode --- negative buoyancy --- quad-tilt rotor --- autonomous underwater vehicle (AUV) --- Rodrigues parameters --- UAV --- variable spray --- prescription map translation --- PID algorithm --- grip planning --- biped climbing robots --- collision avoidance --- grip optimization --- dynamic environment --- closed-loop detection --- sparse pose adjustment (SPA) --- inertial measurement unit (IMU) --- simultaneous localization and mapping (SLAM) --- non-singular fast-terminal sliding-mode control --- industrial robotic manipulator --- external disturbance --- dynamic uncertainty --- adaptive control law --- exoskeleton --- load carriage --- muscle activities --- human–robot interaction --- discomfort --- actuatorless --- alpine ski --- human–robot interaction --- mechanism --- passive skiing turn --- skiing robot --- predictable trajectory planning --- geodesic --- constrained motion --- mobile robot --- jumping robot --- hopping robot --- continuous hopping --- single actuator --- self-reconfigurable robot --- cleaning robot --- Tetris-inspired --- polyomino tiling theory --- coverage path planning --- area decomposition --- multi-criteria decision making --- design and modeling --- kinematics --- kinematic identification --- monocular vision --- action generation --- robot motion --- undiscovered sensor values --- differential wheeled robot --- powered exoskeleton --- motion sensor --- machine learning --- unmanned aerial vehicle --- pesticide application --- deposition uniformity --- droplets penetrability --- control efficacy --- working efficiency --- subgoal graphs --- reinforcement learning --- hierarchical path planning --- uncertain environments --- mobile robots --- deep reinforcement learning --- mobile manipulation --- robot learning --- intelligent mobile robot --- pallet transportation --- master-slave --- compact driving unit --- high-gain observer --- snake robot --- series elastic actuator --- SEA --- Robot Operating System --- ROS --- non-prehensile manipulation --- manipulation planning --- contact planning --- manipulation action sequences --- robot --- obstacle avoidance --- facial and gender recognition --- q-learning --- Q-networks --- reinforcement learning --- gait cycle --- biped robots --- minimally invasive surgery robot --- inverse kinematics --- dialytic elimination --- Newton iteration --- curvilinear obstacle --- douglas–peuker polygonal approximation --- opposite angle-based exact cell decomposition --- path planning --- mobile robot --- UAV --- auto-tuning --- machine learning --- iterative learning --- extremum-seeking --- altitude controller --- enemy avoidance --- reinforcement learning --- decision making --- hardware-in-the-loop simulation --- unmanned aerial vehicles --- path planning --- multiple mobile robots --- artificial fish swarm algorithm --- expansion logic strategy --- sample gathering problem --- mobile robots --- mathematical modeling --- numerical evaluation --- centralized architecture --- optimization --- fault recovery --- reinforcement learning --- gait adaptation --- legged robot --- bio-inspired robot --- human–machine interactive navigation --- mobile robot --- topological map --- regional growth --- trajectory planning --- position/force cooperative control --- hierarchical planning --- object-oriented --- symmetrical adaptive variable impedance --- biologically-inspired --- self-learning --- formation control --- mobile robots --- loop closure detection --- convolutional neural network --- spatial pyramid pooling --- dynamic neural networks --- mobile robot navigation --- gesture recognition --- behaviour dynamics --- real-time action recognition --- formation of robots --- non-holonomic robot --- stability analysis --- Lyapunov-like function --- target assignment --- goal exchange --- path following --- switching control --- swarm-robotics --- rendezvous consensus --- robot navigation --- victim-detection --- unmanned surface vessel --- path following --- integral line-of-sight --- finite-time currents observer --- radial basis function neural networks --- input saturation --- n/a

Advanced Mobile Robotics: Volume 2

Author:
ISBN: 9783039219445 9783039219452 Year: Pages: 498 DOI: 10.3390/books978-3-03921-945-2 Language: English
Publisher: MDPI - Multidisciplinary Digital Publishing Institute
Subject: General and Civil Engineering --- Technology (General)
Added to DOAB on : 2020-04-07 23:07:09
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Abstract

Mobile robotics is a challenging field with great potential. It covers disciplines including electrical engineering, mechanical engineering, computer science, cognitive science, and social science. It is essential to the design of automated robots, in combination with artificial intelligence, vision, and sensor technologies. Mobile robots are widely used for surveillance, guidance, transportation and entertainment tasks, as well as medical applications. This Special Issue intends to concentrate on recent developments concerning mobile robots and the research surrounding them to enhance studies on the fundamental problems observed in the robots. Various multidisciplinary approaches and integrative contributions including navigation, learning and adaptation, networked system, biologically inspired robots and cognitive methods are welcome contributions to this Special Issue, both from a research and an application perspective.

Keywords

path planning --- lane change --- excellent driver model --- neural networks --- autonomous vehicle --- remotely operated vehicle --- ocean current --- cable disturbance modeling --- lumped parameter method --- sliding mode observer --- 4WS4WD vehicle --- force control --- MPC --- PSO --- path tracking --- negative-buoyancy --- tri-tilt-rotor --- autonomous underwater vehicle (AUV) --- immersion and invariance --- object mapping --- Geometric Algebra --- Differential Evolution --- non-inertial reference frame --- centrifugal force --- turning model LIP --- trajectory planning --- space robot --- hybrid bionic robot --- chameleon --- end effector --- hybrid robot --- curve fitting --- fair optimisation --- trajectory interpolation --- piezoelectric actuator --- high step-up ratio --- high efficiency --- small size --- micro mobile robot --- biomimetic robot --- micro air vehicle --- flapping --- drag-based system --- dragonfly --- snake-like robot --- singularity analysis --- system design --- dynamical model --- nonlinear differentiator --- robotic drilling --- sliding mode control --- drilling end-effector --- fault diagnosis --- quadcopter UAV --- fault-tolerant control --- sliding mode observer --- Thau observer --- smart materials --- actuators --- robots --- electro-rheological fluids --- magneto-rheological fluids --- shape memory alloys --- medical devices --- rehabilitation system --- LOS --- motion camouflage control --- parallel navigation --- missile control system --- target tracking --- variable speed --- high-speed target --- snake robots --- head-raising --- shape-fitting --- phase-shifting --- spiral curve --- servo valve --- pneumatics --- position control --- cart --- robot --- step climbing --- transportation --- stopper --- climbing robot --- safety recovery mechanism --- cable detection --- dynamic coupling analysis --- path planning --- mobile robots --- curvature constraints --- state constraints --- extend procedure --- G3-continuity --- car-like kinematics --- obstacle avoidance system --- harmonic potential field --- curvature constraint --- non-holonomic mobile robot --- computing time --- inverse kinematics --- joint limit avoidance --- kinematic singularity --- manipulator --- obstacle avoidance --- potential field --- service robot --- graph representation --- similarity measure --- mobile robot --- static environments --- path planning --- multi-objective optimization --- NSGA-II --- evolutionary operators --- mobile robot --- coalmine --- exploration --- robotics --- ATEX --- safety --- methane --- quadruped robot --- stability criterion --- dynamic gait --- glass façade cleaning robot --- wall climbing robot --- biped mechanism --- data association --- 3D-SLAM --- localization --- mapping --- disturbance-rejection control --- extended state observer (ESO) --- hover mode --- transition mode --- negative buoyancy --- quad-tilt rotor --- autonomous underwater vehicle (AUV) --- Rodrigues parameters --- UAV --- variable spray --- prescription map translation --- PID algorithm --- grip planning --- biped climbing robots --- collision avoidance --- grip optimization --- dynamic environment --- closed-loop detection --- sparse pose adjustment (SPA) --- inertial measurement unit (IMU) --- simultaneous localization and mapping (SLAM) --- non-singular fast-terminal sliding-mode control --- industrial robotic manipulator --- external disturbance --- dynamic uncertainty --- adaptive control law --- exoskeleton --- load carriage --- muscle activities --- human–robot interaction --- discomfort --- actuatorless --- alpine ski --- human–robot interaction --- mechanism --- passive skiing turn --- skiing robot --- predictable trajectory planning --- geodesic --- constrained motion --- mobile robot --- jumping robot --- hopping robot --- continuous hopping --- single actuator --- self-reconfigurable robot --- cleaning robot --- Tetris-inspired --- polyomino tiling theory --- coverage path planning --- area decomposition --- multi-criteria decision making --- design and modeling --- kinematics --- kinematic identification --- monocular vision --- action generation --- robot motion --- undiscovered sensor values --- differential wheeled robot --- powered exoskeleton --- motion sensor --- machine learning --- unmanned aerial vehicle --- pesticide application --- deposition uniformity --- droplets penetrability --- control efficacy --- working efficiency --- subgoal graphs --- reinforcement learning --- hierarchical path planning --- uncertain environments --- mobile robots --- deep reinforcement learning --- mobile manipulation --- robot learning --- intelligent mobile robot --- pallet transportation --- master-slave --- compact driving unit --- high-gain observer --- snake robot --- series elastic actuator --- SEA --- Robot Operating System --- ROS --- non-prehensile manipulation --- manipulation planning --- contact planning --- manipulation action sequences --- robot --- obstacle avoidance --- facial and gender recognition --- q-learning --- Q-networks --- reinforcement learning --- gait cycle --- biped robots --- minimally invasive surgery robot --- inverse kinematics --- dialytic elimination --- Newton iteration --- curvilinear obstacle --- douglas–peuker polygonal approximation --- opposite angle-based exact cell decomposition --- path planning --- mobile robot --- UAV --- auto-tuning --- machine learning --- iterative learning --- extremum-seeking --- altitude controller --- enemy avoidance --- reinforcement learning --- decision making --- hardware-in-the-loop simulation --- unmanned aerial vehicles --- path planning --- multiple mobile robots --- artificial fish swarm algorithm --- expansion logic strategy --- sample gathering problem --- mobile robots --- mathematical modeling --- numerical evaluation --- centralized architecture --- optimization --- fault recovery --- reinforcement learning --- gait adaptation --- legged robot --- bio-inspired robot --- human–machine interactive navigation --- mobile robot --- topological map --- regional growth --- trajectory planning --- position/force cooperative control --- hierarchical planning --- object-oriented --- symmetrical adaptive variable impedance --- biologically-inspired --- self-learning --- formation control --- mobile robots --- loop closure detection --- convolutional neural network --- spatial pyramid pooling --- dynamic neural networks --- mobile robot navigation --- gesture recognition --- behaviour dynamics --- real-time action recognition --- formation of robots --- non-holonomic robot --- stability analysis --- Lyapunov-like function --- target assignment --- goal exchange --- path following --- switching control --- swarm-robotics --- rendezvous consensus --- robot navigation --- victim-detection --- unmanned surface vessel --- path following --- integral line-of-sight --- finite-time currents observer --- radial basis function neural networks --- input saturation --- n/a

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