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Cover image for Mobile intelligent autonomous systems
Title:
Mobile intelligent autonomous systems
Publication Information:
Boca Raton, F.L. : Taylor & Francis, 2013
Physical Description:
xxviii, 804 p. : ill. ; 27 cm.
ISBN:
9781439863008
Abstract:
"Written for systems, mechanical, aero, electrical, civil, industrial, and robotics engineers, this book covers robotics from a theoretical and systems point of view, with an emphasis on the sensor modeling and data analysis aspects. With the novel infusion of NN-FL-GA paradigms for MIAS, this reference blends modeling, sensors, control, estimation, optimization, signal processing, and heuristic methods in MIAS/robotics, and includes examples and applications throughout. The organization of the book is based on fundamental concepts, with sections covering fundamental concepts, methods and approaches, block/flow diagrams, and numerical examples. A MATLAB-based approach is used through selected case studies in the text"-- Provided by publisher.

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30000010315109 TJ217.5 M636 2013 Open Access Book Book
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33000000000761 TJ217.5 M636 2013 Open Access Book Book
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Summary

Summary

Going beyond the traditional field of robotics to include other mobile vehicles, Mobile Intelligent Autonomous Systems describes important theoretical concepts, techniques, approaches, and applications that can be used to build truly mobile intelligent autonomous systems (MIAS). It offers a comprehensive treatment of robotics and MIAS, as well as related disciplines, helping readers understand the subject from a system-theoretic and practical point of view. Organized into three sections, the book progresses from conceptual foundations to MIAS and robotics systems and then examines allied technologies. With an emphasis on recent research and developments, experts from various fields cover key aspects of this rapidly emerging area, including:

Path and motion planning Obstacle avoidance in a dynamic environment Direct biological-brain control of a mobile robot Sensor and image data fusion Autonomous decision making and behavior modeling in robots Hydro-MiNa robot technology Adaptive algorithms for smart antennas Control methods for autonomous micro-air vehicles Neuro-fuzzy fault-tolerant auto-landing for aircraft H-infinity filter based estimation for simultaneous localization and mapping

Where relevant, concepts and theories are illustrated with block/flow diagrams and numerical simulations in MATLABĀ®. An integrated exploration of the theory and practice of MIAS and robotics, this is a valuable reference and recipe book for research and industry.


Author Notes

Jitendra R. Raol, Ph.D., is retired from the National Aerospace Laboratories (NAL), where he was Scientist-G and head of the Flight Mechanics and Control Division (FMCD). He was elected a fellow of the IEE (UK), was a senior member of the IEEE (US), is a life-fellow of the Aeronautical Society of India, and a life member of the System Society of India. Dr. Raol has published 110 research papers and several reports and has guest-edited two special issues each of Sadhana and the Defense Science Journal. He is a reviewer of several national and international journals and has served as a chairman and member of several technical and examination committees. He is the (co-) author of Modelling and Parameter Estimation for Dynamic Systems, (IEE/IET, 2004), Flight Mechanics Modeling and Analysis (CRC Press, 2008) and Multi-Sensor Data Fusion with MATLAB (CRC Press, 2009). He has also written collections of poems: Poetry of Life, Sandy Bonds, Timeless Quest, and Naked Emotions.

Ajith K. Gopal, Ph.D., is currently an engineering manager at Land Systems South Africa, where he is responsible for new technology strategy and development for the company. In 2007, Dr. Gopal established the MIAS (Mobile, Intelligent, Autonomous Systems) research group at the Council of Scientific and Industrial Research (CSIR) in South Africa, where he served as the research leader for 2007 and 2008. He has published four papers relating to composite and smart materials in the Journal of Composite Materials and International Conferences on Composite Science and Technology . He has also published a paper on path planning in the Defense Science Journal and a book chapter on data fusion in robotics in Multi-Sensor Data Fusion with MATLAB (CRC Press, 2009) and has guest-edited a special issue of the Defense Science Journal on MIAS.


Table of Contents

Jitendra R. RaolA. RamachandranAjith K. GopalA. N. MynaV. P. S. NaiduM. R. Kaimal and R. VrinthavaniS. Seshadhri and R. AyyagariA. RamachandranJitendra R. RaolJitendra R. RaolBhekisipho TwalaG. K. Singh and Ajith K. GopalMotlatsi SeotsanyanaLouise Leenen and Alexander Terlunen and Herman le RouxJitendra R. RaolJitendra R. RaolIsaac O. OsunmakindeKevin Warwick and Dimitris Xydas and Slawomir J. Nasuto and Victor M. Becerra and Mark W. Hammond and Julia H. Downes and Simon Marshall and Benjamin J. WhalleyRahee WalambeRadhakant Padhi and Cham ChawlaKostadin Kostadinov and Dimitar ChakarovKostadin KostadinovJitendra R. Raol and C. Kamali and Abhay A. PashilkarHema Singh and R. M. JhaNitin K. Gupta and N. AnanthkrishnanJitendra R. Raol and V. P. S. NaiduM. Meenakshi and Seetharama M. BhatAbhay A. Pashilkar and Rong Haijun and N. SundararajanC. M. AnandaVishal C. Ravindra and Venkatesh K. Madyastha and Girija GopalratnamRahee Walambe and Nitin K. Gupta and Niteen Bhange and N. Ananthkrishnan and Ik Soo Park and Jong Ho Choi and Hyun Gull YoonAmbalal V. Patel and Shobha R. SavanurMarelize Kriel and Herman le RouxIsaac O. Osunmakinde and Chika O. Yinka-Banjo and Antoine BagulaBhekisipho Twala
Prefacep. xi
Acknowledgementsp. xiii
Editorsp. xv
Contributorsp. xvii
Introductionp. xxi
Part I Conceptual Foundations for MIAS
Chapter 1 Neuro-Fuzzy-GA-AI Paradigmsp. 3
Chapter 2 Mathematical Models of Robot Motionp. 31
Chapter 3 Data Fusion in Mobile Intelligent Autonomous Systemsp. 43
Chapter 4 Image Registration and Fusionp. 53
Chapter 5 Multi-Sensor Image Fusion Using Discrete Cosine Transformp. 83
Chapter 6 Motion Segmentation Using Spectral Frameworkp. 99
Chapter 7 Formation Control in Multi-Agent Systems over Packet Dropping Linksp. 113
Part II MIAS and Robotics
Chapter 8 Robot's Sensors and Instrumentationp. 129
Chapter 9 Robot Navigation and Guidancep. 141
Chapter 10 Robot Path and Motion Planningp. 151
Chapter 11 Out-of-Sequence Measurements: Missing Data Problemp. 171
Chapter 12 Robotic Path-Planning in Dynamic and Uncertain Environment Using Genetic Algorithmp. 189
Chapter 13 Temporal Logic Motion Planning in Roboticsp. 199
Chapter 14 A Constraint Programming Solution for the Military Unit Path Finding Problemp. 225
Chapter 15 Simultaneous Localization and Mapping for a Mobile Vehiclep. 241
Chapter 16 Robotic and Moving Vehicle Architecturesp. 259
Chapter 17 Multi-Robot Coordinationp. 271
Chapter 18 Autonomous Mobile Robot with a Biological Brainp. 281
Chapter 19 Safe and Effective Autonomous Decision Making in Mobile Robotsp. 295
Chapter 20 Partially Integrated Guidance and Control of Unmanned Aerial Vehicles for Reactive Obstacle Avoidancep. 357
Chapter 21 Impedance-Controlled Mechatronic Systems for Autonomous Intelligent Devicesp. 385
Chapter 22 Hydro-MiNa Robot Technology for Micro- and Nano-Manipulation in Manufacturing of Micro-Productsp. 409
Part III Allied Technologies for MIAS/Robotics
Chapter 23 Real-Time System Identification of an Unstable Vehicle within a Closed Loopp. 423
Chapter 24 Smart Antennas for Mobile Autonomous Systems: Adaptive Algorithms for Accelerationp. 439
Chapter 25 Integrated Modelling, Simulation and Controller Design for an Autonomous Quadrotor Micro Air Vehiclep. 511
Chapter 26 Determination of Impact and Launch Points of a Mobile Vehicle Using Kalman Filter and Smootherp. 525
Chapter 27 Novel Stability Augmentation System for Micro Air Vehicle: Towards Autonomous Flightp. 539
Chapter 28 Neuro-Fuzzy Fault-Tolerant Aircraft Autoland Controllersp. 561
Chapter 29 Reconfiguration in Flight Critical Aerospace Applicationsp. 611
Chapter 30 Study of Three Different Philosophies to Automatic Target Recognition: Classical, Bayesian and Neural Networksp. 651
Chapter 31 Real-Time Implementation of a Novel Fault Detection and Accommodation Algorithm for an Air-Breathing Combustion Systemp. 687
Chapter 32 Fuzzy Logic-Based Sensor and Control Surface Fault Detection and Reconfigurationp. 715
Chapter 33 Target Tracking Using a 2D Radarp. 737
Chapter 34 Investigating the Use of Bayesian Network and k-NN Models to Develop Behaviours for Autonomous Robotsp. 751
Chapter 35 Modelling Out-of-Sequence Measurements: A Copulas-Based Approachp. 765
Appendix A Statistical and Numerical Conceptsp. 771
Appendix B Notes on Software and Algorithms Related to Roboticsp. 779
Indexp. 783
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