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Dynamics and Advanced Motion Control of Off-Road UGVs

Dynamics and Advanced Motion Control of Off-Road UGVs
  • Author : Yue Ma
  • Publisher :Unknown
  • Release Date :2020-08-19
  • Total pages :354
  • ISBN : 9780128188002
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Summary : Dynamics and Advanced Motion Control of Unmanned Ground Off-Road Vehicles details both theoretical concepts such as planning and perception when working with UGVs, as well as more practical, hands-on aspects such as torque vectoring control. The book also covers related technologies such as intelligent and electrification of ground vehicles. After an introduction, initial chapters include an exploration of wheel-soil and track-soil interaction mechanisms, motion stability, motion control, fault detection and identification, and fault tolerance control. This book offers readers a detailed understanding of Unmanned Ground Vehicles by combining theory, applications and further developments. Topics are covered in such a way that readers will be well versed on the current field of UGVs and will be able to implement future design and research in a feasible and effective way. Gives a comprehensive analysis and introduction to the dynamics and advanced motion control of unmanned ground off-road vehicles Covers key related technology concepts, such as intelligent and electrification of ground vehicles Details the entire control framework of off-road UGVs and the implementation of controller design

Design and Advanced Robust Chassis Dynamics Control for X-by-Wire Unmanned Ground Vehicle

Design and Advanced Robust Chassis Dynamics Control for X-by-Wire Unmanned Ground Vehicle
  • Author : Jun NI,Jibin Hu,Changle Xiang
  • Publisher :Unknown
  • Release Date :2018-01-04
  • Total pages :130
  • ISBN : 9781681732527
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Summary : X-by-wire Unmanned Ground Vehicles (UGVs) have been attracting increased attention for various civilian or military applications. The x-by-wire techniques (drive-by-wire, steer-by-wire, and brake-by-wire techniques) provide the possibility of achieving novel vehicle design and advanced dynamics control, which can significantly improve the overall performance, maneuverability, and mobility of the UGVs. However, there are few full x-by-wire UGVs prototype models reported in the world. Therefore, there is no book that can fully describe the design, configuration, and dynamics control approach of full x-by-wire UGVs, which makes it difficult for readers to study this hot and interesting topic. In this book, we use a full x-by-wire UGV, developed by our group, as the example. This UGV is completely x-by-wire with four in-wheel motors driven and a four-wheel independent steer steer. In this book, the overall design of the UGV, the design of the key subsystems (battery pack system, in-wheel motor-driven system, independent steer system, remote and autonomous control system), and the dynamics control approach will be introduced in detail, and the experiment's results will be provided to validate the proposed dynamics control approach.

Technology Development for Army Unmanned Ground Vehicles

Technology Development for Army Unmanned Ground Vehicles
  • Author : National Research Council,Division on Engineering and Physical Sciences,Board on Army Science and Technology,Committee on Army Unmanned Ground Vehicle Technology
  • Publisher :Unknown
  • Release Date :2003-02-01
  • Total pages :180
  • ISBN : 9780309086202
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Summary : Unmanned ground vehicles (UGV) are expected to play a key role in the Army’s Objective Force structure. These UGVs would be used for weapons platforms, logistics carriers, and reconnaissance, surveillance, and target acquisition among other things. To examine aspects of the Army’s UGV program, assess technology readiness, and identify key issues in implementing UGV systems, among other questions, the Deputy Assistant Secretary of the Army for Research and Technology asked the National Research Council (NRC) to conduct a study of UGV technologies. This report discusses UGV operational requirements, current development efforts, and technology integration and roadmaps to the future. Key recommendations are presented addressing technical content, time lines, and milestones for the UGV efforts.

Electron Dynamics in Molecular Interactions

Electron Dynamics in Molecular Interactions
  • Author : Frank Hagelberg
  • Publisher :Unknown
  • Release Date :2013-12-23
  • Total pages :968
  • ISBN : 9781783264537
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Summary : This volume provides a comprehensive introduction to the theory of electronic motion in molecular processes — an increasingly relevant and rapidly expanding segment of molecular quantum dynamics. Emphasis is placed on describing and interpreting transitions between electronic states in molecules as they occur typically in cases of reactive scattering between molecules, photoexcitation or nonadiabatic coupling between electronic and nuclear degrees of freedom. Electron Dynamics in Molecular Interactions aims at a synoptic presentation of some very recent theoretical efforts to solve the electronic problem in quantum molecular dynamics, contrasting them with more traditional schemes. The presented models are derived from their roots in basic quantum theory, their interrelations are discussed, and their characteristic applications to concrete chemical systems are outlined. This volume also includes an assessment of the present status of electron dynamics and a report on novel developments to meet the current challenges in the field. Further, this monograph responds to a need for a systematic comparative treatise on nonadiabatic theories of quantum molecular dynamics, which are of considerably higher complexity than the more traditional adiabatic approaches and are steadily gaining in importance. This volume addresses a broad readership ranging from physics or chemistry graduate students to specialists in the field of theoretical quantum dynamics. Contents:Preparations:Ab Initio Theory of Electronic StructureThe Adiabatic and the Diabatic RepresentationBasic Concepts of Scattering TheorySemiclassical NotionsOpen Systems: Elements of Rate TheoryMethods:Time-Independent Theory of Molecular Collisions I: Multichannel ScatteringTime-Independent Theory of Molecular Collisions II: The Electronic ProblemThe Time-Dependent Self-consistent Field TheoryEvolution of Coherent Molecular States: Electron Nuclear Dynamics TheoryThe Classical Electron AnalogHopping and SpawningSemiclassical Propagator TechniquesQuantum Hydrodynamics I: Coupled Trajectories in Bohmian MechanicsQuantum Hydrodynamics II: The Semiclassical Liouville-Von Neumann EquationWavepacket Propagation MethodsDensity Functional DynamicsDecoherenceSpecial Topics:Ultrafast Optical SpectroscopyOptical Control of Electron Multistate Molecular DynamicsElectron Transfer in Condensed MediaElectronic Friction in Molecule-Surface Interactions Readership: Graduate students and researchers in physical chemistry and computational physics; industrial chemists and physicists interested in the field. Key Features:This book provides an overview of the recent nonadiabatic theories of quantum molecular dynamics that are widely used and highly acknowledged in the community of physical chemistsThere is currently no other book available in the market that shares the publication scope of this bookIt can be used as a supplementary textbook to graduate level course in quantum chemistry or chemical dynamicsKeywords:Nonadiabatic Processes;Electronic Transitions;Molecular Dynamics;Quantum Trajectories;Wavepacket Propagation

Building Services Engineering

Building Services Engineering
  • Author : Tarik Al-Shemmeri,Neil Packer
  • Publisher :Unknown
  • Release Date :2021-01-26
  • Total pages :400
  • ISBN : 9781119722984
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Summary : Building Services Engineering: Smart and Sustainable Design for Health and Wellbeing covers the design practices of existing engineering building services and how these traditional methods integrate with newer, smarter developments. These new developments include areas such as smart ventilation, smart glazing systems, smart batteries, smart lighting, smart soundproofing, smart sensors and meters. Combined, these all amount to a healthier lifestyle for the people living within these indoor climates. With over one hundred fully worked examples and tutorial questions, Building Services Engineering: Smart and Sustainable Design for Health and Wellbeing encourages the reader to consider sustainable alternatives within their buildings in order to create a healthier environment for users.

Autonomous Vehicles in Support of Naval Operations

Autonomous Vehicles in Support of Naval Operations
  • Author : National Research Council,Division on Engineering and Physical Sciences,Naval Studies Board,Committee on Autonomous Vehicles in Support of Naval Operations
  • Publisher :Unknown
  • Release Date :2005-08-05
  • Total pages :256
  • ISBN : 0309181232
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Summary : Autonomous vehicles (AVs) have been used in military operations for more than 60 years, with torpedoes, cruise missiles, satellites, and target drones being early examples.1 They have also been widely used in the civilian sector--for example, in the disposal of explosives, for work and measurement in radioactive environments, by various offshore industries for both creating and maintaining undersea facilities, for atmospheric and undersea research, and by industry in automated and robotic manufacturing. Recent military experiences with AVs have consistently demonstrated their value in a wide range of missions, and anticipated developments of AVs hold promise for increasingly significant roles in future naval operations. Advances in AV capabilities are enabled (and limited) by progress in the technologies of computing and robotics, navigation, communications and networking, power sources and propulsion, and materials. Autonomous Vehicles in Support of Naval Operations is a forward-looking discussion of the naval operational environment and vision for the Navy and Marine Corps and of naval mission needs and potential applications and limitations of AVs. This report considers the potential of AVs for naval operations, operational needs and technology issues, and opportunities for improved operations.

Field and Service Robotics

Field and Service Robotics
  • Author : Peter Corke,Salah Sukkarieh
  • Publisher :Unknown
  • Release Date :2006-08-03
  • Total pages :616
  • ISBN : 9783540334521
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Summary : The 5th International Conference on Field and Service Robotics (FSR05) was held in Port Douglas, Australia, on 29th - 31st July 2005, and brought together the worlds' leading experts in field and service automation. The goal of the conference was to report and encourage the latest research and practical results towards the use of field and service robotics in the community with particular focus on proven technology. The conference provided a forum for researchers, professionals and robot manufacturers to exchange up-to-date technical knowledge and experience. Field robots are robots which operate in outdoor, complex, and dynamic environments. Service robots are those that work closely with humans, with particular applications involving indoor and structured environments. There are a wide range of topics presented in this issue on field and service robots including: Agricultural and Forestry Robotics, Mining and Exploration Robots, Robots for Construction, Security & Defence Robots, Cleaning Robots, Autonomous Underwater Vehicles and Autonomous Flying Robots. This meeting was the fifth in the series and brings FSR back to Australia where it was first held. FSR has been held every 2 years, starting with Canberra 1997, followed by Pittsburgh 1999, Helsinki 2001 and Lake Yamanaka 2003.

Intelligent Vehicle Systems

Intelligent Vehicle Systems
  • Author : Raj Madhavan,Elena R. Messina
  • Publisher :Unknown
  • Release Date :2006
  • Total pages :342
  • ISBN : 1600212603
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Summary : This book presents new research on autonomous mobility capabilities and shows how technological advances can be anticipated in the coming two decades. An in-depth description is presented on the theoretical foundations and engineering approaches that enable these capabilities. Chapter 1 provides a brief introduction to the 4D/RCS reference model architecture and design methodology that has proven successful in guiding the development of autonomous mobility systems. Chapters 2 to 7 provide more detailed descriptions of research that has been conducted and algorithms that have been developed to implement the various aspects of the 4D/RCS reference model architecture and design methodology. Chapters 8 and 9 discuss applications, performance measures, and standards. Chapter 10 provides a history of Army and DARPA research in autonomous ground mobility. Chapter 11 provides a perspective on the potential future developments in autonomous mobility.

Theory of Ground Vehicles

Theory of Ground Vehicles
  • Author : J. Y. Wong
  • Publisher :Unknown
  • Release Date :2001-03-20
  • Total pages :528
  • ISBN : 0471354619
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Summary : An updated edition of the classic reference on the dynamics of road and off-road vehicles As we enter a new millennium, the vehicle industry faces greater challenges than ever before as it strives to meet the increasing demand for safer, environmentally friendlier, more energy efficient, and lower emissions products. Theory of Ground Vehicles, Third Edition gives aspiring and practicing engineers a fundamental understanding of the critical factors affecting the performance, handling, and ride essential to the development and design of ground vehicles that meet these requirements. As in previous editions, this book focuses on applying engineering principles to the analysis of vehicle behavior. A large number of practical examples and problems are included throughout to help readers bridge the gap between theory and practice. Covering a wide range of topics concerning the dynamics of road and off-road vehicles, this Third Edition is filled with up-to-date information, including: * The Magic Formula for characterizing pneumatic tire behavior from test data for vehicle handling simulations * Computer-aided methods for performance and design evaluation of off-road vehicles, based on the author's own research * Updated data on road vehicle transmissions and operating fuel economy * Fundamentals of road vehicle stability control * Optimization of the performance of four-wheel-drive off-road vehicles and experimental substantiation, based on the author's own investigations * A new theory on skid-steering of tracked vehicles, developed by the author.

Effective Field Theories For Nuclei And Compact-star Matter: Chiral Nuclear Dynamics (Cnd-iii)

Effective Field Theories For Nuclei And Compact-star Matter: Chiral Nuclear Dynamics (Cnd-iii)
  • Author : Rho Mannque,Ma Yong-liang
  • Publisher :Unknown
  • Release Date :2018-10-23
  • Total pages :380
  • ISBN : 9789813273337
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Summary : Effective field theories have been widely used in nuclear physics. This volume is devoted to exploring the intricate structure of compact-star matter inaccessible directly from QCD. It is principally anchored on hidden symmetries and topology presumed to be encoded in QCD. It differs from standard effective field theory and energy density functional approaches in that it exploits renormalization-group flow in the complex 'vacuum' sliding with density inferred from topology change identified as a manifestation of baryon-quark continuity in dense matter. It makes a variety of predictions that drastically differ from the conventional treatments that could be tested by upcoming terrestrial and astrophysical experiments.This monograph recounts how to go, in one unique field theoretic formalism in terms of hadronic degrees of freedom, from finite nuclei to dense compact-star matter that could be explored in RIB-type machines in nuclear physics as well as in LIGO-type gravity waves in astrophysics.

The Dynamics of Language and Inequality in Education

The Dynamics of Language and Inequality in Education
  • Author : Joel Austin Windle,Dánie de Jesus,Prof. Lesley Bartlett
  • Publisher :Unknown
  • Release Date :2020-02-13
  • Total pages :229
  • ISBN : 9781788926966
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Summary : This book contributes new perspectives from the Global South on the ways in which linguistic and discursive boundaries shape inequalities in educational contexts, ranging from Amazonian missions to Mongolian universities. Through critical ethnographic and sociolinguistic analysis, the chapters explore how such boundaries contribute to the geopolitics of colonialism, capitalism and myriad, interwoven, forms of social life that structure both oppression and resistance. Boundaries are examined across time and space as relational constructs that mark the terms upon which admission to groups, institutions, territories, or practices are granted. The studies further present alternative educational approaches that demonstrate the potential for agency and transgression, highlighting moments of boundary crossing that disrupt existing linguistic ideologies, language policies and curriculum structures.

Intelligent Unmanned Ground Vehicles

Intelligent Unmanned Ground Vehicles
  • Author : Martial H. Hebert,Charles E. Thorpe,Anthony Stentz
  • Publisher :Unknown
  • Release Date :2012-12-06
  • Total pages :309
  • ISBN : 9781461563259
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Summary : Intelligent Unmanned Ground Vehicles describes the technology developed and the results obtained by the Carnegie Mellon Robotics Institute in the course of the DARPA Unmanned Ground Vehicle (UGV) project. The goal of this work was to equip off-road vehicles with computer-controlled, unmanned driving capabilities. The book describes contributions in the area of mobility for UGVs including: tools for assembling complex autonomous mobility systems; on-road and off-road navigation; sensing techniques; and route planning algorithms. In addition to basic mobility technology, the book covers a number of integrated systems demonstrated in the field in realistic scenarios. The approaches presented in this book can be applied to a wide range of mobile robotics applications, from automated passenger cars to planetary exploration, and construction and agricultural machines. Intelligent Unmanned Ground Vehicles shows the progress that was achieved during this program, from brittle specially-built robots operating under highly constrained conditions, to groups of modified commercial vehicles operating in tough environments. One measure of progress is how much of this technology is being used in other applications. For example, much of the work in road-following, architectures and obstacle detection has been the basis for the Automated Highway Systems (AHS) prototypes currently under development. AHS will lead to commercial prototypes within a few years. The cross-country technology is also being used in the development of planetary rovers with a projected launch date within a few years. The architectural tools built under this program have been used in numerous applications, from an automated harvester to an autonomous excavator. The results reported in this work provide tools for further research development leading to practical, reliable and economical mobile robots.

Backstepping Control of Nonlinear Dynamical Systems

Backstepping Control of Nonlinear Dynamical Systems
  • Author : Sundarapandian Vaidyanathan,Ahmad Taher Azar
  • Publisher :Unknown
  • Release Date :2020-08-15
  • Total pages :532
  • ISBN : 9780128175835
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Summary : Backstepping Control of Nonlinear Dynamical Systems addresses both the fundamentals of backstepping control and advances in the field. The latest techniques explored include ‘active backstepping control’, ‘adaptive backstepping control’, ‘fuzzy backstepping control’ and ‘adaptive fuzzy backstepping control’. The reference book provides numerous simulations using MATLAB and circuit design. These illustrate the main results of theory and applications of backstepping control of nonlinear control systems. Backstepping control encompasses varied aspects of mechanical engineering and has many different applications within the field. For example, the book covers aspects related to robot manipulators, aircraft flight control systems, power systems, mechanical systems, biological systems and chaotic systems. This multifaceted view of subject areas means that this useful reference resource will be ideal for a large cross section of the mechanical engineering community. Details the real-world applications of backstepping control Gives an up-to-date insight into the theory, uses and application of backstepping control Bridges the gaps for different fields of engineering, including mechanical engineering, aeronautical engineering, electrical engineering, communications engineering, robotics and biomedical instrumentation

Robot and Multibody Dynamics

Robot and Multibody Dynamics
  • Author : Abhinandan Jain
  • Publisher :Unknown
  • Release Date :2010-12-17
  • Total pages :510
  • ISBN : 1441972676
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Summary : Robot and Multibody Dynamics: Analysis and Algorithms provides a comprehensive and detailed exposition of a new mathematical approach, referred to as the Spatial Operator Algebra (SOA), for studying the dynamics of articulated multibody systems. The approach is useful in a wide range of applications including robotics, aerospace systems, articulated mechanisms, bio-mechanics and molecular dynamics simulation. The book also: treats algorithms for simulation, including an analysis of complexity of the algorithms, describes one universal, robust, and analytically sound approach to formulating the equations that govern the motion of complex multi-body systems, covers a range of more advanced topics including under-actuated systems, flexible systems, linearization, diagonalized dynamics and space manipulators. Robot and Multibody Dynamics: Analysis and Algorithms will be a valuable resource for researchers and engineers looking for new mathematical approaches to finding engineering solutions in robotics and dynamics.

Vehicle Suspension System Technology and Design

Vehicle Suspension System Technology and Design
  • Author : Avesta Goodarzi,Amir Khajepour
  • Publisher :Unknown
  • Release Date :2017-05-05
  • Total pages :77
  • ISBN : 9781627056335
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Summary : The purpose of this book is to cover essential aspects of vehicle suspension systems and provide an easy approach for their analysis and design. It is intended specifically for undergraduate students and anyone with an interest in design and analysis of suspension systems. In order to simplify the understanding of more difficult concepts, the book uses a step-by-step approach along with pictures, graphs and examples. The book begins with the introduction of the role of suspensions in cars and a description of their main components. The types of suspensions are discussed and their differences reviewed. The mechanisms or geometries of different suspension systems are introduced and the tools for their analysis are discussed. In addition, vehicle vibration is reviewed in detail and models are developed to study vehicle ride comfort.

Field and Service Robotics

Field and Service Robotics
  • Author : Marco Hutter,Roland Siegwart
  • Publisher :Unknown
  • Release Date :2017-11-01
  • Total pages :715
  • ISBN : 9783319673615
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Summary : This book contains the proceedings of the 11th FSR (Field and Service Robotics), which is the leading single-track conference on applications of robotics in challenging environments. This conference was held in Zurich, Switzerland from 12-15 September 2017. The book contains 45 full-length, peer-reviewed papers organized into a variety of topics: Control, Computer Vision, Inspection, Machine Learning, Mapping, Navigation and Planning, and Systems and Tools. The goal of the book and the conference is to report and encourage the development and experimental evaluation of field and service robots, and to generate a vibrant exchange and discussion in the community. Field robots are non-factory robots, typically mobile, that operate in complex and dynamic environments: on the ground (Earth or other planets), under the ground, underwater, in the air or in space. Service robots are those that work closely with humans to help them with their lives. The first FSR was held in Canberra, Australia, in 1997. Since that first meeting, FSR has been held roughly every two years, cycling through Asia, Americas, and Europe.

Modeling, Optimization, and Control of Zinc Hydrometallurgical Purification Process

Modeling, Optimization, and Control of Zinc Hydrometallurgical Purification Process
  • Author : Chunhua Yang,Bei Sun
  • Publisher :Unknown
  • Release Date :2021-01-23
  • Total pages :244
  • ISBN : 9780128207291
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Summary : Modeling, Optimization and Control of Zinc Hydrometallurgical Purification Process provides a clear picture on how to develop a mathematical model for complex industrial processes, how to design the optimization strategy, and how to apply control methods in order to achieve desired production target. This book shares the authors’ recent ideas/methodologies/algorithms on the intelligent manufacturing of complex industry processes, e.g., how to develop a descriptive framework which could enable the digitalization and visualization of a process and how to develop the controller when the process model is not available. Presents an extended state-space descriptive framework for complex industrial processes Presents scientific problems extracted from real industrial process Proposes novel modeling and control tools for intelligent manufacturing of continuous industries

Energy Optimization in Process Systems and Fuel Cells

Energy Optimization in Process Systems and Fuel Cells
  • Author : Stanislaw Sieniutycz,Jacek Jezowski
  • Publisher :Unknown
  • Release Date :2013-02-14
  • Total pages :818
  • ISBN : 9780080982274
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Summary : Energy Optimization in Process Systems and Fuel Cells, Second Edition covers the optimization and integration of energy systems, with a particular focus on fuel cell technology. With rising energy prices, imminent energy shortages, and increasing environmental impacts of energy production, energy optimization and systems integration is critically important. The book applies thermodynamics, kinetics and economics to study the effect of equipment size, environmental parameters, and economic factors on optimal power production and heat integration. Author Stanislaw Sieniutycz, highly recognized for his expertise and teaching, shows how costs can be substantially reduced, particularly in utilities common in the chemical industry. This second edition contains substantial revisions, with particular focus on the rapid progress in the field of fuel cells, related energy theory, and recent advances in the optimization and control of fuel cell systems. New information on fuel cell theory, combined with the theory of flow energy systems, broadens the scope and usefulness of the book Discusses engineering applications including power generation, resource upgrading, radiation conversion, and chemical transformation in static and dynamic systems Contains practical applications of optimization methods that help solve the problems of power maximization and optimal use of energy and resources in chemical, mechanical, and environmental engineering

Autonomous Control of Unmanned Aerial Vehicles

Autonomous Control of Unmanned Aerial Vehicles
  • Author : Victor Becerra
  • Publisher :Unknown
  • Release Date :2019-06-24
  • Total pages :270
  • ISBN : 9783039210305
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Summary : Unmanned aerial vehicles (UAVs) are being increasingly used in different applications in both military and civilian domains. These applications include surveillance, reconnaissance, remote sensing, target acquisition, border patrol, infrastructure monitoring, aerial imaging, industrial inspection, and emergency medical aid. Vehicles that can be considered autonomous must be able to make decisions and react to events without direct intervention by humans. Although some UAVs are able to perform increasingly complex autonomous manoeuvres, most UAVs are not fully autonomous; instead, they are mostly operated remotely by humans. To make UAVs fully autonomous, many technological and algorithmic developments are still required. For instance, UAVs will need to improve their sensing of obstacles and subsequent avoidance. This becomes particularly important as autonomous UAVs start to operate in civilian airspaces that are occupied by other aircraft. The aim of this volume is to bring together the work of leading researchers and practitioners in the field of unmanned aerial vehicles with a common interest in their autonomy. The contributions that are part of this volume present key challenges associated with the autonomous control of unmanned aerial vehicles, and propose solution methodologies to address such challenges, analyse the proposed methodologies, and evaluate their performance.

Simulation, Modeling, and Programming for Autonomous Robots

Simulation, Modeling, and Programming for Autonomous Robots
  • Author : Davide Brugali,Jan Broenink,Torsten Kroeger,Bruce MacDonald
  • Publisher :Unknown
  • Release Date :2014-09-19
  • Total pages :594
  • ISBN : 9783319119007
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Summary : This book constitutes the refereed proceedings of the 4th International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2014, held in Bergamo, Italy, in October 2014. The 49 revised full papers presented were carefully reviewed and selected from 62 submissions. The papers are organized in topical sections on simulation, modeling, programming, architectures, methods and tools, and systems and applications.

Unmanned Ground Vehicle Technology

Unmanned Ground Vehicle Technology
  • Author : Anonim
  • Publisher :Unknown
  • Release Date :2001
  • Total pages :229
  • ISBN : UOM:39015049126702
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Summary :