Read Books Online and Download eBooks, EPub, PDF, Mobi, Kindle, Text Full Free.
Download Unicycle Dynamics And Stability full books in PDF, epub, and Kindle. Read online Unicycle Dynamics And Stability ebook anywhere anytime directly on your device. Fast Download speed and no annoying ads. We cannot guarantee that every ebooks is available!
Author : R. L. Huston
Publisher :
ISBN 13 :
Total Pages : 9 pages
Book Rating : 4.:/5 (388 download)
Download or read book Unicycle Dynamics and Stability written by R. L. Huston and published by . This book was released on 1984 with total page 9 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Michał Niełaczny
Publisher : Springer
ISBN 13 : 3319953842
Total Pages : 85 pages
Book Rating : 4.3/5 (199 download)
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 85 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.
Author : Veysel Gazi
Publisher : Springer Science & Business Media
ISBN 13 : 3642180418
Total Pages : 299 pages
Book Rating : 4.6/5 (421 download)
Download or read book Swarm Stability and Optimization written by Veysel Gazi and published by Springer Science & Business Media. This book was released on 2011-02-01 with total page 299 pages. Available in PDF, EPUB and Kindle. Book excerpt: Swarming species such as flocks of birds or schools of fish exhibit fascinating collective behaviors during migration and predator avoidance. Similarly, engineered multi-agent dynamic systems such as groups of autonomous ground, underwater, or air vehicles (“vehicle swarms”) exhibit sophisticated collective behaviors while maneuvering. In this book we show how to model and control a wide range of such multi-agent dynamic systems and analyze their collective behavior using both stability theoretic and simulation-based approaches. In particular, we investigate problems such as group aggregation, social foraging, formation control, swarm tracking, distributed agreement, and engineering optimization inspired by swarm behavior.
Author : Buddhika Lakmal Aththanayaka
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (134 download)
Download or read book Dynamics Modelling of a Multi Body Unicycle in Three-dimensional Space written by Buddhika Lakmal Aththanayaka and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Self-balanced unicycle has received the attention of researchers for decades. Over the years, unicycle models with several different assemblies have been introduced by them. A thorough analysis of the dynamics of a unicycle with a frame and a rotating disk is discussed in this research. A torque applied to the rolling wheel maintains the longitudinal stability of the system by moving forward and backward. The rotating disk mounted on the top of the frame maintains the lateral stability of the system by providing a torque. Due to this torque the rolling wheel precess and change its yaw direction. The components of the unicycle assembly are addressed separately for the analysis of the dynamics. First, only the rolling wheel considered. Then, the rolling wheel and the frame are analyzed. Finally, the completed assembly with the rotating disk considered to build the dynamics model. In each of these cases both Newton-Euler and Lagrangian methods are used to obtain the dynamics equations for the unicycle.
Author : Andrei A. Agrachev
Publisher : Springer Science & Business Media
ISBN 13 : 3662064049
Total Pages : 415 pages
Book Rating : 4.6/5 (62 download)
Download or read book Control Theory from the Geometric Viewpoint written by Andrei A. Agrachev and published by Springer Science & Business Media. This book was released on 2013-03-14 with total page 415 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents some facts and methods of the Mathematical Control Theory treated from the geometric point of view. The book is mainly based on graduate courses given by the first coauthor in the years 2000-2001 at the International School for Advanced Studies, Trieste, Italy. Mathematical prerequisites are reduced to standard courses of Analysis and Linear Algebra plus some basic Real and Functional Analysis. No preliminary knowledge of Control Theory or Differential Geometry is required. What this book is about? The classical deterministic physical world is described by smooth dynamical systems: the future in such a system is com pletely determined by the initial conditions. Moreover, the near future changes smoothly with the initial data. If we leave room for "free will" in this fatalistic world, then we come to control systems. We do so by allowing certain param eters of the dynamical system to change freely at every instant of time. That is what we routinely do in real life with our body, car, cooker, as well as with aircraft, technological processes etc. We try to control all these dynamical systems! Smooth dynamical systems are governed by differential equations. In this book we deal only with finite dimensional systems: they are governed by ordi nary differential equations on finite dimensional smooth manifolds. A control system for us is thus a family of ordinary differential equations. The family is parametrized by control parameters.
Author : Spyros G Tzafestas
Publisher : Elsevier
ISBN 13 : 0124171036
Total Pages : 718 pages
Book Rating : 4.1/5 (241 download)
Download or read book Introduction to Mobile Robot Control written by Spyros G Tzafestas and published by Elsevier. This book was released on 2013-10-03 with total page 718 pages. Available in PDF, EPUB and Kindle. Book excerpt: Introduction to Mobile Robot Control provides a complete and concise study of modeling, control, and navigation methods for wheeled non-holonomic and omnidirectional mobile robots and manipulators. The book begins with a study of mobile robot drives and corresponding kinematic and dynamic models, and discusses the sensors used in mobile robotics. It then examines a variety of model-based, model-free, and vision-based controllers with unified proof of their stabilization and tracking performance, also addressing the problems of path, motion, and task planning, along with localization and mapping topics. The book provides a host of experimental results, a conceptual overview of systemic and software mobile robot control architectures, and a tour of the use of wheeled mobile robots and manipulators in industry and society. Introduction to Mobile Robot Control is an essential reference, and is also a textbook suitable as a supplement for many university robotics courses. It is accessible to all and can be used as a reference for professionals and researchers in the mobile robotics field. Clearly and authoritatively presents mobile robot concepts Richly illustrated throughout with figures and examples Key concepts demonstrated with a host of experimental and simulation examples No prior knowledge of the subject is required; each chapter commences with an introduction and background
Author : D. J. N. Limebeer
Publisher : Oxford University Press
ISBN 13 : 0192559818
Total Pages : 480 pages
Book Rating : 4.1/5 (925 download)
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.
Author : David William Vos
Publisher :
ISBN 13 :
Total Pages : 340 pages
Book Rating : 4.:/5 (28 download)
Download or read book Dynamics and Nonlinear, Adaptive Control of an Autonomous Unicycle written by David William Vos and published by . This book was released on 1989 with total page 340 pages. Available in PDF, EPUB and Kindle. Book excerpt: Studies the dynamics and active control of a mechanical unicycle with the human rider replaced by a turntable. The unicycle equations of motion are derived, linear in all states except yaw rate which is not considered a perturbation quantity. Using the specialized linear equations with yaw rate also linearized, the dynamics of the open loop system are studied and shown to decouple into longitudinal and lateral systems for zero turntable angular velocity, and linear controllers are proposed for stabilization. The systems reduce to lower order models by exploitation of the time scale separation of the open loop dynamics. A variation of the LQG control design method is derived and used in both the lateral and longitudinal controller designs. This method allows recovery of LQ regulator inner loop without use of pole zero cancellation strategy, hence potentially offering greater parameter uncertainty robustness. The lateral controller is continuously gain scheduled and implemented in a bang-bang setting in order to deal with coulomb friction effects between the tire and the ground. An estimation algorithm is defined to continuously determine estimates of the friction and hence adapt the bang-bang control algorithm.
Author : Salvatore Nicosia
Publisher : Springer
ISBN 13 : 3540450009
Total Pages : 292 pages
Book Rating : 4.5/5 (44 download)
Download or read book RAMSETE written by Salvatore Nicosia and published by Springer. This book was released on 2003-07-01 with total page 292 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotics applications, initially developed for industrial and manufacturing contexts, are now strongly present in several elds. Besides well-known space and high-technology applications, robotics for every day life and medical s- vices is becoming more and more popular. As an example, robotic manipu- tors are particularly useful in surgery and radiation treatments, they could be employed for civil demining, for helping disabled people, and ultimately for domestic tasks, entertainment and education. Such a kind of robotic app- cations require the integration of many di erent skills. Autonomous vehicles and mobile robots in general must be integrated with articulated manipu- tors. Many robotic technologies (sensors, actuators and computing systems) must be properly used with speci c technologies (localisation, planning and control technologies). The task of designing robots for these applications is a hard challenge: a speci c competence in each area is demanded, in the e ort of a truly integrated multidisciplinary design.
Author : Lazaros S. Iliadis
Publisher : Springer
ISBN 13 : 3642239609
Total Pages : 517 pages
Book Rating : 4.6/5 (422 download)
Download or read book Artificial Intelligence Applications and Innovations written by Lazaros S. Iliadis and published by Springer. This book was released on 2011-09-15 with total page 517 pages. Available in PDF, EPUB and Kindle. Book excerpt: The two-volume set IFIP AICT 363 and 364 constitutes the refereed proceedings of the 12th International Conference on Engineering Applications of Neural Networks, EANN 2011, and the 7th IFIP WG 12.5 International Conference, AIAI 2011, held jointly in Corfu, Greece, in September 2011. The 52 revised full papers and 28 revised short papers presented together with 31 workshop papers were carefully reviewed and selected from 150 submissions. The second volume includes the papers that were accepted for presentation at the AIAI 2011 conference. They are organized in topical sections on computer vision and robotics, classification/pattern recognition, financial and management applications of AI, fuzzy systems, learning and novel algorithms, recurrent and radial basis function ANN, machine learning, generic algorithms, data mining, reinforcement learning, Web applications of ANN, medical applications of ANN and ethics of AI, and environmental and earth applications of AI. The volume also contains the accepted papers from the First Workshop on Computational Intelligence in Software Engineering (CISE 2011) and the Workshop on Artificial Intelligence Applications in Biomedicine (AIAB 2011).
Author : Kikuo Fujimura
Publisher : Springer Science & Business Media
ISBN 13 : 4431681655
Total Pages : 190 pages
Book Rating : 4.4/5 (316 download)
Download or read book Motion Planning in Dynamic Environments written by Kikuo Fujimura and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 190 pages. Available in PDF, EPUB and Kindle. Book excerpt: Computer Science Workbench is a monograph series which will provide you with an in-depth working knowledge of current developments in computer technology. Every volume in this series will deal with a topic of importance in computer science and elaborate on how you yourself can build systems related to the main theme. You will be able to develop a variety of systems, including computer software tools, computer graphics, computer animation, database management systems, and computer-aided design and manufacturing systems. Computer Science Workbench represents an important new contribution in the field of practical computer technology. TOSIYASU L. KUNII To my parents Kenjiro and Nori Fujimura Preface Motion planning is an area in robotics that has received much attention recently. Much of the past research focuses on static environments - various methods have been developed and their characteristics have been well investigated. Although it is essential for autonomous intelligent robots to be able to navigate within dynamic worlds, the problem of motion planning in dynamic domains is relatively little understood compared with static problems.
Author : Miomir Vukobratovic
Publisher : Springer Science & Business Media
ISBN 13 : 3642830064
Total Pages : 366 pages
Book Rating : 4.6/5 (428 download)
Download or read book Biped Locomotion written by Miomir Vukobratovic and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 366 pages. Available in PDF, EPUB and Kindle. Book excerpt: Here for the first time in one book is a comprehensive and systematic approach to the dynamic modeling and control of biped locomotion robots. A survey is included of various approaches to the control of biped robots, and a new approach to the control of biped systems based on a complete dynamic model is presented in detail. The stability of complete biped system is presented for the first time as a highly nonlinear dynamic system. Also included is new software for the synthesis of a dynamically stable walk for arbitrary biped systems, presented here for the first time. A survey of various realizations of biped systems and numerous numerical examples are given. The reader is given a deep insight into the entire area of biped locomotion. The book covers all relevant approaches to the subject and gives the most complete account to date of dynamic modeling, control and realizations of biped systems.
Author : Romain Postoyan
Publisher : Springer Nature
ISBN 13 : 3031495551
Total Pages : 336 pages
Book Rating : 4.0/5 (314 download)
Download or read book Hybrid and Networked Dynamical Systems written by Romain Postoyan and published by Springer Nature. This book was released on with total page 336 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author :
Publisher :
ISBN 13 :
Total Pages : 1208 pages
Book Rating : 4.:/5 (318 download)
Download or read book Applied Mechanics Reviews written by and published by . This book was released on 1995 with total page 1208 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Paul Newton
Publisher : Springer Science & Business Media
ISBN 13 : 0387217916
Total Pages : 573 pages
Book Rating : 4.3/5 (872 download)
Download or read book Geometry, Mechanics, and Dynamics written by Paul Newton and published by Springer Science & Business Media. This book was released on 2006-05-11 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.
Author : J. Angeles
Publisher : Springer
ISBN 13 : 3709143624
Total Pages : 344 pages
Book Rating : 4.7/5 (91 download)
Download or read book Kinematics and Dynamics of Multi-Body Systems written by J. Angeles and published by Springer. This book was released on 2014-05-04 with total page 344 pages. Available in PDF, EPUB and Kindle. Book excerpt: Three main disciplines in the area of multibody systems are covered: kinematics, dynamics, and control, as pertaining to systems that can be modelled as coupling or rigid bodies. The treatment is intended to give a state of the art of the topics discussed.
Author : Matthew T. Mason
Publisher : MIT Press
ISBN 13 : 9780262263740
Total Pages : 282 pages
Book Rating : 4.2/5 (637 download)
Download or read book Mechanics of Robotic Manipulation written by Matthew T. Mason and published by MIT Press. This book was released on 2001-06-08 with total page 282 pages. Available in PDF, EPUB and Kindle. Book excerpt: The science and engineering of robotic manipulation. "Manipulation" refers to a variety of physical changes made to the world around us. Mechanics of Robotic Manipulation addresses one form of robotic manipulation, moving objects, and the various processes involved—grasping, carrying, pushing, dropping, throwing, and so on. Unlike most books on the subject, it focuses on manipulation rather than manipulators. This attention to processes rather than devices allows a more fundamental approach, leading to results that apply to a broad range of devices, not just robotic arms. The book draws both on classical mechanics and on classical planning, which introduces the element of imperfect information. The book does not propose a specific solution to the problem of manipulation, but rather outlines a path of inquiry.
