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Motion Control And Geometry
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Book Synopsis Motion, Control, and Geometry by : National Research Council
Download or read book Motion, Control, and Geometry written by National Research Council and published by National Academies Press. This book was released on 1997-06-07 with total page 81 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Book Synopsis Geometric Control of Mechanical Systems by : Francesco Bullo
Download or read book Geometric Control of Mechanical Systems written by Francesco Bullo and published by Springer. This book was released on 2019-06-12 with total page 727 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Book Synopsis Control of Nonholonomic Systems: from Sub-Riemannian Geometry to Motion Planning by : Frédéric Jean
Download or read book Control of Nonholonomic Systems: from Sub-Riemannian Geometry to Motion Planning written by Frédéric Jean and published by Springer. This book was released on 2014-07-17 with total page 112 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Book Synopsis Geometric Control Theory by : Velimir Jurdjevic
Download or read book Geometric Control Theory written by Velimir Jurdjevic and published by Cambridge University Press. This book was released on 1997 with total page 516 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Book Synopsis Geometric and Numerical Foundations of Movements by : Jean-Paul Laumond
Download or read book Geometric and Numerical Foundations of Movements written by Jean-Paul Laumond and published by Springer. This book was released on 2017-05-02 with total page 417 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Book Synopsis Geometric Design and Motion Control of an Omni-directional Vehicle by : Donald D. Brown
Download or read book Geometric Design and Motion Control of an Omni-directional Vehicle written by Donald D. Brown and published by . This book was released on 1999 with total page 136 pages. Available in PDF, EPUB and Kindle. Book excerpt: Develops and investigates the geometric design and motion control of an omni-directional vehicle with orbiting-rollered wheels. The research involved a geometric analysis of the hub, the roller supports, and the rollers of a wheel assembly. A tread analysis was conducted to understand the path of the contact point. The motion control equations are derived from a force control perspective, in order to present a less complicated approach than that of the velocity control perspective. Considerations are giving to the effect of variations in roller arrangements on the force control equation. A prototype omni-directional vehicle was constructed to verify the design and control algorithms.
Book Synopsis Geometry, Mechanics, and Control in Action for the Falling Cat by : Toshihiro Iwai
Download or read book Geometry, Mechanics, and Control in Action for the Falling Cat written by Toshihiro Iwai and published by Springer Nature. This book was released on 2021-04-23 with total page 193 pages. Available in PDF, EPUB and Kindle. Book excerpt: The falling cat is an interesting theme to pursue, in which geometry, mechanics, and control are in action together. As is well known, cats can almost always land on their feet when tossed into the air in an upside-down attitude. If cats are not given a non-vanishing angular momentum at an initial instant, they cannot rotate during their motion, and the motion they can make in the air is vibration only. However, cats accomplish a half turn without rotation when landing on their feet. In order to solve this apparent mystery, one needs to thoroughly understand rotations and vibrations. The connection theory in differential geometry can provide rigorous definitions of rotation and vibration for many-body systems. Deformable bodies of cats are not easy to treat mechanically. A feasible way to approach the question of the falling cat is to start with many-body systems and then proceed to rigid bodies and, further, to jointed rigid bodies, which can approximate the body of a cat. In this book, the connection theory is applied first to a many-body system to show that vibrational motions of the many-body system can result in rotations without performing rotational motions and then to the cat model consisting of jointed rigid bodies. On the basis of this geometric setting, mechanics of many-body systems and of jointed rigid bodies must be set up. In order to take into account the fact that cats can deform their bodies, three torque inputs which may give a twist to the cat model are applied as control inputs under the condition of the vanishing angular momentum. Then, a control is designed according to the port-controlled Hamiltonian method for the model cat to perform a half turn and to halt the motion upon landing. The book also gives a brief review of control systems through simple examples to explain the role of control inputs.
Book Synopsis Electromagnetic Devices for Motion Control and Signal Processing by : Yuly M. Pulyer
Download or read book Electromagnetic Devices for Motion Control and Signal Processing written by Yuly M. Pulyer and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 479 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is dedicated to electrical and mechanical engineers involved with the design of magnetic devices for motion con trol and other instrumentation that uses magnetic principles and technology. It can be of benefit to graduate and postgrad uate students to gain experience with electro-magnetic princi ples and also with different aspects of magnetic coupling mech anisms and magnetic circuitry analysis for the design of devices such as electrical servo motors, tachogenerators, encoders, gyro magnetic suspension systems, electro-magnetic strip lines, and other electro-magnetic instruments. The rapidly growing areas of production automation, robotics, precise micro-electronics, and pilot navigation place demands on motion control technology in terms of accuracy, reliability, cost effectiveness, and miniaturization. New ferromagnetic materials having quasi-linear and non-linear high-squareness characteris tics as well as high-energy permanent magnets, fine lithography, and high-t.emperature superconductivit.y (t.o be expected com mercially) motivate the implementation of new motion control components that exploit these new materials and technologies. This book presents classical miniature electrical machine de signs as well as several modifications in the geometry of mag netic couplings which lead to new motor and encoder design methodologies and other motion control devices such as new coil deposition patterns for incremental and absolute encoders, free spherical gyro suspension in a traveling magnetic field for navigation instrumentation, and magnetic strip lines in combi nation with resistive and capacitive media to generate a variety of low-noise LC filters and other signal processing devices.
Book Synopsis Advanced Motion Control and Sensing for Intelligent Vehicles by : Li Li
Download or read book Advanced Motion Control and Sensing for Intelligent Vehicles written by Li Li and published by Springer Science & Business Media. This book was released on 2007-11-24 with total page 458 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Book Synopsis Power Transmission and Motion Control: PTMC 2001 by : Clifford R. Burrows
Download or read book Power Transmission and Motion Control: PTMC 2001 written by Clifford R. Burrows and published by John Wiley & Sons. This book was released on 2001-11-28 with total page 376 pages. Available in PDF, EPUB and Kindle. Book excerpt: Advanced in fluid power engineering motion and control Power Transmission and Motion Control is a collection of papers showcased at the PTMC 2001 conference at the University of Bath. Representing the work of researchers and industry leaders from around the world, this book features the latest developments in power transmission, with an emphasis on motion and control studies from the field of fluid power engineering. Insight into current projects on the forefront of technology and innovation provides an overview of the current state of the field while informing ongoing work and suggesting direction for future projects.
Author :Jean-Daniel Boissonnat Publisher :Springer Science & Business Media ISBN 13 :9783540516835 Total Pages :426 pages Book Rating :4.5/5 (168 download)
Book Synopsis Geometry and Robotics by : Jean-Daniel Boissonnat
Download or read book Geometry and Robotics written by Jean-Daniel Boissonnat and published by Springer Science & Business Media. This book was released on 1989-10-11 with total page 426 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Book Synopsis Geometry, Mechanics, and Dynamics by : Jerrold E. Marsden
Download or read book Geometry, Mechanics, and Dynamics written by Jerrold E. Marsden and published by Springer Science & Business Media. This book was released on 2002-07-31 with total page 573 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Book Synopsis Nonholonomic Variable Geometry Truss Assemblies. 1. Motion Control by :
Download or read book Nonholonomic Variable Geometry Truss Assemblies. 1. Motion Control written by and published by . This book was released on 1993 with total page 35 pages. Available in PDF, EPUB and Kindle. Book excerpt: We consider the nonholonomic motion planning problem for a novel class of snake-like modular mobile manipulators, where each module is implemented as a planar parallel rnanipulator with idler wheels. This assembly is actuated by shape changes of its modules, which, under the influence of the nonholonomic constraints on the wheels, induce a global motion of the assembly. We formulate the kinematics for a generic assembly of this type and specialize to the 2-module case in order to study the motion planning problem in greater detail.
Book Synopsis Control of Nonholonomic Systems: from Sub-Riemannian Geometry to Motion Planning by : Frédéric Jean
Download or read book Control of Nonholonomic Systems: from Sub-Riemannian Geometry to Motion Planning written by Frédéric Jean and published by Springer. This book was released on 2014-07-30 with total page 104 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Book Synopsis Multi-View Geometry Based Visual Perception and Control of Robotic Systems by : Jian Chen
Download or read book Multi-View Geometry Based Visual Perception and Control of Robotic Systems written by Jian Chen and published by CRC Press. This book was released on 2018-06-14 with total page 303 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Book Synopsis Motion Control and Coupled Oscillators by :
Download or read book Motion Control and Coupled Oscillators written by and published by . This book was released on 1995 with total page 16 pages. Available in PDF, EPUB and Kindle. Book excerpt: It is remarkable that despite the presence of large numbers of degrees of freedom, motion control problems are effectively solved in biological systems. While feedback, regulation, and tracking have served us well in engineering, as useful solution paradigms for a wide variety of control problems including motion control, it appears that nature gives prominent roles to planning and co-ordination as well. There is also complex interplay between sensory feedback and motion planning to achieve effective operation in uncertain environments, for example, in movement on uneven terrain cluttered with obstacles. Recent investigations by neurophysiologists have brought to increasing prominence the idea of central pattern generators, a class of coupled oscillators, as sources of motion "scripts" as well as a means for coordinating multiple degrees of freedom. The role of coupled oscillators in motion control systems is currently under intense investigation. In this paper we examine sone unifying themes relating movement in biological systems and machines. An important insight in this direction comes from the natural groupings of degrees of freedom and time scales in biological and engineering systems. Such grouping and separation can be treated from a geometric viewpoint using the formalisms and methods of differential geometry, Lis groups, and fiber bundles. Coupled oscillators provide the means to bind degrees of freedom either directly through phase locking or indirectly through geometric phases. This point of view leads to fresh ways of organizing the control structures of complex technological systems.
Book Synopsis Computer Science Handbook by : Allen B. Tucker
Download or read book Computer Science Handbook written by Allen B. Tucker and published by CRC Press. This book was released on 2004-06-28 with total page 2742 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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
