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Multi-View Geometry Based Visual Perception and Control of Robotic Systems
by Jian Chen Bingxi Jia Kaixiang ZhangThis 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.
Multi-Wafer Rotating MEMS Machines
by Jeffrey LangThe collaboration and research that was developed to produce the MIT Gas Turbine Engine are described in this book. Both the engine and generator are fabricated from silicon using a combination of bulk and surface microfabrication technologies. The book discusses the technical details that have gone into producing the engine and the overall systems-level tradeoffs, in particular its motor compressors and turbine generators, and the decisions that have been made.
Multi-wave Electromagnetic-Acoustic Sensing and Imaging
by Fei GaoThis thesis covers a broad range of interdisciplinary topics concerning electromagnetic-acoustic (EM-Acoustic) sensing and imaging, mainly addressing three aspects: fundamental physics, critical biomedical applications, and sensing/imaging system design. From the fundamental physics perspective, it introduces several highly interesting EM-Acoustic sensing and imaging methods, which can potentially provide higher sensitivity, multi-contrast capability, and better imaging performance with less distortion. From the biomedical applications perspective, the thesis introduces useful techniques specifically designed to address selected challenging biomedical applications, delivering rich contrast, higher sensitivity and finer spatial resolution. Both phantom and ex vivo experiments are presented, and in vivo validations are progressing towards real clinical application scenarios. From the sensing and imaging system design perspective, the book proposes several promising sensing/imaging prototypes. Further, it offers concrete suggestions that could bring these systems closer to becoming "real" products and commercialization, such as replacing costly lasers with portable laser diodes, or integrating transmitting and data recording on a single board.
Multiaxial Notch Fracture and Fatigue
by Xiangqiao YanThis book presents the unified fatigue life prediction equation for low/medium/high cycle fatigue of metallic materials relevant to plain materials and notched components. The unified fatigue life prediction equation is the Wöhler equation, in which the "stress-based intensity parameter" is calculated based on the linear-elastic analysis. A local approach for the static fracture analysis for notched components is presented based on the notch linear-elastic stress field. In the local approach, a stress intensity parameter is taken as a stress-based intensity parameter. Experimental verifications show that the local approach is also suited for the static fracture analysis for notched components made of ductile materials. The book is also concerned with a material failure problem under the multiaxial stress states. A concept of the material intensity parameter is introduced in this book. It is a material property parameter that depends on both Mode-I fracture toughness and Mode-II (or Mode-III) fracture toughness and the multiaxial parameter to characterize the variation of the material failure resistance (notch fracture toughness) with the multiaxial stresses states. The failure condition to assess mixed-mode fracture of notched (or cracked) components is stated as the stress-based intensity parameter being equal to the material intensity parameter. With respect to the traditional S-N equation, a similar S-N equation is presented and verified to have high accuracy. This book will be of interest to professionals in the field of fatigue and fracture for both brittle and ductile materials.
Multiband Dual-Function CMOS RFIC Filter-Switches (SpringerBriefs in Electrical and Computer Engineering)
by Cam Nguyen Youngman UmThis book presents the theory, analysis, and design of multiband dual-function microwave and millimeter-wave CMOS radio frequency integrated circuit (RFIC) filter-switches capable of simultaneous switching and filtering, which are relevant for advanced multiband RF systems. Typical microwave and millimeter-wave switches are designed only for switching purposes without considering frequency selectivity or filtering. A separate filter is normally needed to be used with a switch to provide a filtering function. This conventional design approach hence leads to higher insertion loss, larger size and higher cost for RF systems. RF systems operating over multiple bands provide numerous advantages and offer more capabilities for communications and sensing than their single-band counterparts. A concurrent multiband system enables one single system to be used over multiple bands simultaneously, leading to optimum size, cost, and power consumption, together with ease of system implementation. Truly concurrent multiband systems require many components to work on multiple bands simultaneously, including concurrent multiband switches. Microwave and millimeter-wave integrated circuits using silicon-based CMOS (or related BiCMOS) RFICs are less expensive and better suited to direct integration with digital ICs than those using III-V compound semiconductor devices. CMOS RFICs are also small and offer low power consumption, making them suitable for portable battery-operated systems. Accordingly, CMOS RFICs are very attractive for RF systems and are the principal choice for commercial wireless markets. The content is divided into six chapters, the first four of which describe and address band-pass, high-pass, and low-pass filters, as well as multiband band-pass filters, the fundamentals of switches, and various switch architectures including single-pole single-throw (SPST), single-pole double-throw (SPDT), transmit/receive (T/R), and ultra-high-isolation switches, the fundamentals and models of MOSFETs used in the design of switches, and the essentials of CMOS RFIC design needed for the filter-switches presented in this book. In turn, the fifth chapter presents the core of the book, namely the design, simulation, and measurement of various CMOS dual-band dual-function SPDT and T/R switches capable of concurrent switching and filtering, as examples to illustrate the design of multiband dual-function filter-switches. These components operate in two different frequency bands centered at approximately 40 and 60 GHz and 24 and 60 GHz. Lastly, a summary and conclusion are provided in Chapter 6.
Multiband Non-Invasive Microwave Sensor: Design and Analysis
by Brijesh Iyer Nagendra Prasad PathakThis monograph focuses on the design, implementation and characterization of a concurrent dual band RF sensor for non-invasive detection of human vital signs. Exclusive title on multiband short range sensors and their biomedical applications, offers detailed analysis of subsystems based on fabricated and measured prototypes and verifies and discusses the system in the real-time environment. <P><P> Discusses the practical difficulties of the design process and offers case studies based on the design.
Multiband RF Circuits and Techniques for Wireless Transmitters
by Wenhua Chen Karun Rawat Fadhel M. GhannouchiThis book introduces systematic design methods for passive and active RF circuits and techniques, including state-of-the-art digital enhancement techniques. As the very first book dedicated to multiband RF circuits and techniques, this work provides an overview of the evolution of transmitter architecture and discusses current digital predistortion techniques. Readers will find a collection of novel research ideas and new architectures in concurrent multiband power dividers, power amplifiers and related digital enhancement techniques. This book will be of great interest to academic researchers, R&D engineers, wireless transmitter and protocol designers, as well as graduate students who wish to learn the core architectures, principles and methods of multiband RF circuits and techniques.
Multibeam Phased Array Antennas as Satellite Constellation Ground Station (Modern Antenna)
by Guolong He Xin Gao Rentian Zhang Liangliang Sun Hui ZhouThis book focuses on the multi-beam phased array antenna as a satellite ground station. As there are already many excellent books on phased array antennas in the literature, this book focuses mainly on some engineering practices and fills the gap between principles and practices, such as array excitation error impact analysis and calibration methods, array geometry design for hemispherical coverage, multiple beam resource management, etc. This book is particularly suitable for readers interested in satellite constellation design or satellite ground station design. This book also benefits researchers and engineers in the fields of phased array antennas, aerospace engineering, telecommunications, etc.
Multibody Dynamics
by Wojciech Blajer Marek Wojtyra Krzysztof Arczewski Janusz FraczekThe ECCOMAS Thematic Conference "Multibody Dynamics 2009" was held in Warsaw, representing the fourth edition of a series which began in Lisbon (2003), and was then continued in Madrid (2005) and Milan (2007), held under the auspices of the European Community on Computational Methods in Applied Sciences (ECCOMAS). The conference provided a forum for exchanging ideas and results of several topics related to computational methods and applications in multibody dynamics, through the participation of 219 scientists from 27 countries, mostly from Europe but also from America and Asia. This book contains the revised and extended versions of invited conference papers, reporting on the state-of-the-art in the advances of computational multibody models, from the theoretical developments to practical engineering applications. By providing a helpful overview of the most active areas and the recent efforts of many prominent research groups in the field of multibody dynamics, this book can be highly valuable for both experienced researches who want to keep updated with the latest developments in this field and researches approaching the field for the first time.
Multibody Dynamics
by Josep M. Font-LlagunesThis book includes selected papers from the ECCOMAS Thematic Conference on Multibody Dynamics, that took place in Barcelona, Spain, from June 29 to July 2, 2015. By having its origin in analytical and continuum mechanics, as well as in computer science and applied mathematics, multibody dynamics provides a basis for analysis and virtual prototyping of innovative applications in many fields of contemporary engineering. With the utilization of computational models and algorithms that classically belonged to different fields of applied science, multibody dynamics delivers reliable simulation platforms for diverse highly-developed industrial products such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, smart structures, biomechanical systems, and nanotechnologies.
Multibody Dynamics 2019: Proceedings of the 9th ECCOMAS Thematic Conference on Multibody Dynamics (Computational Methods in Applied Sciences #53)
by Andrés Kecskeméthy Francisco Geu FloresIn this work, outstanding, recent developments in various disciplines, such as structural dynamics, multiphysic mechanics, computational mathematics, control theory, biomechanics, and computer science, are merged together in order to provide academicians and professionals with methods and tools for the virtual prototyping of complex mechanical systems. Each chapter of the work represents an important contribution to multibody dynamics, a discipline that plays a central role in the modelling, analysis, simulation and optimization of mechanical systems in a variety of fields and for a wide range of applications.
Multibody Mechatronic Systems
by Marco Ceccarelli Eusebio Eduardo Hernández MartinezThis volume contains the Proceedings of MUSME 2014, held at Huatulco in Oaxaca, Mexico, October 2014. Topics include analysis and synthesis of mechanisms; dynamics of multibody systems; design algorithms for mechatronic systems; simulation procedures and results; prototypes and their performance; robots and micromachines; experimental validations; theory of mechatronic simulation; mechatronic systems; and control of mechatronic systems. The MUSME symposium on Multibody Systems and Mechatronics was held under the auspices of IFToMM, the International Federation for Promotion of Mechanism and Machine Science, and FeIbIM, the Iberoamerican Federation of Mechanical Engineering. Since the first symposium in 2002, MUSME events have been characterised by the way they stimulate the integration between the various mechatronics and multibody systems dynamics disciplines, present a forum for facilitating contacts among researchers and students mainly in South American countries, and serve as a joint conference for the IFToMM and FeIbIM communities.
Multibody Mechatronic Systems: Papers from the MuSMe Conference in 2020 (Mechanisms and Machine Science #94)
by Martín Pucheta Alberto Cardona Sergio Preidikman Rogelio HeckerThis book gathers the latest advances, innovations, and applications in the field of multibody and mechatronic systems. Topics addressed include the analysis and synthesis of mechanisms; dynamics of multibody systems; design algorithms for mechatronic systems; robots and micromachines; experimental validations; theory of mechatronic simulation; mechatronic systems for rehabilitation and assistive technologies; mechatronic systems for energy harvesting; virtual reality integration in multibody and mechatronic systems; multibody design in robotic systems; and control of mechatronic systems. The contents reflect the outcomes of the 7th International Symposium on Multibody Systems and Mechatronics (7th MuSMe) in 2020, within the framework of the FEIbIM Commission for Robotics and Mechanisms and IFToMM Technical Committees for Multibody Dynamics and for Robotics and Mechatronics.
Multibody Mechatronic Systems: MuSMe 2021 (Mechanisms and Machine Science #110)
by Martín Pucheta Alberto Cardona Sergio Preidikman Rogelio HeckerThis book gathers the latest advances, innovations, and applications in the field of multibody and mechatronic systems. Topics addressed include the analysis and synthesis of mechanisms; modelling and simulation of multibody systems; railway and vehicle dynamics; mechatronic systems for energy harvesting; robot design and optimization; and mechatronic design. It gathers the second volume of the proceedings of the 7th International Symposium on Multibody Systems and Mechatronics (MuSMe), virtually held in Cordoba, Argentina, on October 12-15, 2021, within the framework of the FEIbIM Commission for Robotics and Mechanisms and IFToMM Technical Committees for Multibody Dynamics and for Robotics and Mechatronics.
Multibody System Dynamics, Robotics and Control
by Hubert Gattringer Johannes GerstmayrThe volume contains 19 contributions by international experts in the field of multibody system dynamics, robotics and control. The book aims to bridge the gap between the modeling of mechanical systems by means of multibody dynamics formulations and robotics. In the classical approach, a multibody dynamics model contains a very high level of detail, however, the application of such models to robotics or control is usually limited. The papers aim to connect the different scientific communities in multibody dynamics, robotics and control. Main topics are flexible multibody systems, humanoid robots, elastic robots, nonlinear control, optimal path planning, and identification.
Multibody Systems: An Introduction to the Kinematics and Dynamics of Systems of Rigid Bodies
by Christoph WoernleThe book Multibody Systems guides the reader from the fundamentals of engineering mechanics to the formulations of the kinematic and dynamic equations of systems of rigid bodies suitable for computational generation. Multibody systems are used for the numerical simulation of complex mechanical systems in mechanical engineering, automotive engineering, aerospace engineering, and biomechanics. The presentation focuses on the implicit and explicit mathematical formulations of the bonds that geometrically constrain the motion of the partial bodies and define the directions of the reaction forces and reaction moments. This results in a consistent and common approach to the various known forms of the equations of motion of multibody systems. In addition to open multibody systems with a tree structure, closed multibody systems with kinematic loops are also treated in detail. In the third edition, planar multibody systems are presented in a separate chapter to facilitate the transition from mass point systems to spatial multibody systems.
Multicomponent and Multiscale Systems
by Juergen GeiserThis book examines the latest research results from combined multi-component and multi-scale explorations. It provides theory, considers underlying numerical methods and presents brilliant computational experimentation. Engineering computations featured in this monograph further offer particular interest to many researchers, engineers and computational scientists working in frontier modeling and applications of multicomponent and multiscale problems. Professor Geiser gives specific attention to the aspects of decomposing and splitting delicate structures and controlling decomposition and the rationale behind many important applications of multi-component and multi-scale analysis. Multicomponent and Multiscale Systems: Theory, Methods and Applications in Engineering also considers the question of why iterative methods can be powerful and more appropriate for well-balanced multiscale and multicomponent coupled nonlinear problems. The book is ideal for engineers and scientists working in theoretical and applied areas.
Multicomponent Polymeric Materials
by Jin Kuk Kim Sabu Thomas Prosenjit SahaThe book offers an in-depth review of the materials design and manufacturing processes employed in the development of multi-component or multiphase polymer material systems. This field has seen rapid growth in both academic and industrial research, as multiphase materials are increasingly replacing traditional single-component materials in commercial applications. Many obstacles can be overcome by processing and using multiphase materials in automobile, construction, aerospace, food processing, and other chemical industry applications. The comprehensive description of the processing, characterization, and application of multiphase materials presented in this book offers a world of new ideas and potential technological advantages for academics, researchers, students, and industrial manufacturers from diverse fields including rubber engineering, polymer chemistry, materials processing and chemical science. From the commercial point of view it will be of great value to those involved in processing, optimizing and manufacturing new materials for novel end-use applications. The book takes a detailed approach to the description of process parameters, process optimization, mold design, and other core manufacturing information. Details of injection, extrusion, and compression molding processes have been provided based on the most recent advances in the field. Over two comprehensive sections the book covers the entire field of multiphase polymer materials, from a detailed description of material design and processing to the cutting-edge applications of such multiphase materials. It provides both precise guidelines and general concepts for the present and future leaders in academic and industrial sectors.
Multicopter Design and Control Practice: A Series Experiments based on MATLAB and Pixhawk
by Quan Quan Xunhua Dai Shuai WangAs the sister book to “Introduction to Multicopter Design and Control,” published by Springer in 2017, this book focuses on using a practical process to help readers to deepen their understanding of multicopter design and control. Novel tools with tutorials on multicopters are presented, which can help readers move from theory to practice. Experiments presented in this book employ: (1) The most widely-used flight platform – multicopters – as a flight platform; (2) The most widely-used flight pilot hardware – Pixhawk – as a control platform; and (3) One of the most widely-used programming languages in the field of control engi-neering – MATLAB + Simulink – as a programming language. Based on the current advanced development concept Model-Based Design (MBD)process, the three aspects mentioned above are closely linked. Each experiment is implemented in MATLAB and Simulink, and the numerical simula-tion test is carried out on a built simulation platform. Readers can upload the controller to the Pixhawk autopilot using automatic code generation technology and form a closed loop with a given real-time simulator for Hardware-In-the-Loop (HIL) testing. After that, the actual flight with the Pixhawk autopilot can be performed. This is by far the most complete and clear guide to modern drone fundamentals I’ve seen.It covers every element of these advanced aerial robots and walks through examples and tutorials based on the industry’s leading open-source software and tools. Read this book, and you’ll be well prepared to work at the leading edge of this exciting new industry. Chris Anderson, CEO 3DR and Chairman, the Linux Foundation’s Dronecode Project The development of a multicopter and its applications is very challenging in the robotics area due to the multidomain knowledge involved. This book systematically addresses the design, simulation and implementation of multicopters with the industrial leading workflow – Model-Based Design, commonly used in the automotive and aero-defense industries. With this book, researchers and engineers can seamlessly apply the concepts, workflows, and tools in other engineering areas, especially robot design and robotics ap-plication development. Dr. Yanliang Zhang, Founder of Weston Robot, EX-product Manager of Robotics System Toolbox at the MathWorks
Multicore DSP: From Algorithms to Real-time Implementation on the TMS320C66x SoC
by Naim DahnounThe only book to offer special coverage of the fundamentals of multicore DSP for implementation on the TMS320C66xx SoC This unique book provides readers with an understanding of the TMS320C66xx SoC as well as its constraints. It offers critical analysis of each element, which not only broadens their knowledge of the subject, but aids them in gaining a better understanding of how these elements work so well together. Written by Texas Instruments’ First DSP Educator Award winner, Naim Dahnoun, the book teaches readers how to use the development tools, take advantage of the maximum performance and functionality of this processor and have an understanding of the rich content which spans from architecture, development tools and programming models, such as OpenCL and OpenMP, to debugging tools. It also covers various multicore audio and image applications in detail. Additionally, this one-of-a-kind book is supplemented with: A rich set of tested laboratory exercises and solutions Audio and Image processing applications source code for the Code Composer Studio (integrated development environment from Texas Instruments) Multiple tables and illustrations With no other book on the market offering any coverage at all on the subject and its rich content with twenty chapters, Multicore DSP: From Algorithms to Real-time Implementation on the TMS320C66x SoC is a rare and much-needed source of information for undergraduates and postgraduates in the field that allows them to make real-time applications work in a relatively short period of time. It is also incredibly beneficial to hardware and software engineers involved in programming real-time embedded systems.
Multicore Technology: Architecture, Reconfiguration, and Modeling (Embedded Multi-Core Systems)
by Muhammad Yasir Qadri Stephen J. SangwineThe saturation of design complexity and clock frequencies for single-core processors has resulted in the emergence of multicore architectures as an alternative design paradigm. Nowadays, multicore/multithreaded computing systems are not only a de-facto standard for high-end applications, they are also gaining popularity in the field of embedded computing. The start of the multicore era has altered the concepts relating to almost all of the areas of computer architecture design, including core design, memory management, thread scheduling, application support, inter-processor communication, debugging, and power management. This book gives readers a holistic overview of the field and guides them to further avenues of research by covering the state of the art in this area. It includes contributions from industry as well as academia.
Multicriteria Analysis: Applications to Water and Environment Management
by Ferenc Szidarovszky Mahdi ZarghamiMulticriteria analysis is one of the most important fields of decision science. This book gives an outline of the formulation of an appropriate model and presents a comprehensive summary of the most popular methods for solving multicriteria decision problems. In addition to the classical approach the book introduces fuzzy and stochastic methodology, models with uncertainty, social choice and conflict resolution. All methods are illustrated with easy to follow simple examples. At the end of each chapter detailed case studies are given in water and environment management including inter-basin water transfer, urban water management, water allocation, groundwater quality management, forest treatment, ranking water resources projects, reservoir planning, water distribution network design and long-term watershed management. The new methodology and the wide variety of case studies are not easily accessible elsewhere.
Multicriteria Analysis and LCA Techniques
by Francesco Garbati Pegna Paolo Boncinelli Marco Vieri Daniele Sarri Enrico Cini Lucia RecchiaMulticriteria Analysis and LCA Techniques introduces the reader to the basic principles of multicriteria analysis (MCA) and life cycle assessment (LCA) techniques. The use of these tools is rapidly becoming essential in any feasibility study for comparing different solutions, selecting the most suitable ones, and for analyzing the interface of economy and environment. The main feature of Multicriteria Analysis and LCA Techniques is the application of a new approach to the analysis of energy balance and environmental impact of agro-industrial production chains. It gives detailed descriptions of a number of food and non-food agro-industrial applications of MCA and LCA, thereby providing the reader with practical examples of the implementation of these tools in the field of agro-industry. Multicriteria Analysis and LCA Techniques represents a subsidiary reference book for both undergraduate and graduate students, and can also be used for basic or applied academic research.
Multicriteria Analysis in Agriculture: Current Trends and Recent Applications (Multiple Criteria Decision Making)
by Julio Berbel Thomas Bournaris Basil Manos Nikolaos Matsatsinis Davide ViaggiThis book outlines the latest trends in the use of multicriteria analysis in agriculture by highlighting recent applications for modeling agricultural decision-making. It introduces specific case studies using multicriteria analysis as a method for selecting multiattribute discrete alternatives or solving multiobjective planning problems. The book is intended for a broad readership, including agricultural and environmental economists, engineers and all scientists whose work involves the management of agricultural resources and decision-making in agriculture. The methods and applications presented in this book cover decision-making processes in agricultural and environmental contexts. The methodologies described consider multiple criteria simultaneously in a wide range of complex decision-making contexts by taking into account multiple, conflicting criteria. Given the wide range of case studies covered, the book offers a comprehensive guide to decision-making in the agricultural context and beyond.
Multicriteria and Optimization Models for Risk, Reliability, and Maintenance Decision Analysis: Recent Advances (International Series in Operations Research & Management Science #321)
by Adiel Teixeira de Almeida Love Ekenberg Philip Scarf Enrico Zio Ming J. ZuoThis book considers a broad range of areas from decision making methods applied in the contexts of Risk, Reliability and Maintenance (RRM). Intended primarily as an update of the 2015 book Multicriteria and Multiobjective Models for Risk, Reliability and Maintenance Decision Analysis, this edited work provides an integration of applied probability and decision making. Within applied probability, it primarily includes decision analysis and reliability theory, amongst other topics closely related to risk analysis and maintenance. In decision making, it includes multicriteria decision making/aiding (MCDM/A) methods and optimization models. Within MCDM, in addition to decision analysis, some of the topics related to mathematical programming areas are considered, such as multiobjective linear programming, multiobjective nonlinear programming, game theory and negotiations, and multiobjective optimization. Methods related to these topics have been applied to the context of RRM. In MCDA, several other methods are considered, such as outranking methods, rough sets and constructive approaches. The book addresses an innovative treatment of decision making in RRM, improving the integration of fundamental concepts from both areas of RRM and decision making. This is accomplished by presenting current research developments in decision making on RRM. Some pitfalls of decision models on practical applications on RRM are discussed and new approaches for overcoming those drawbacks are presented.