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Switchable Constraints for Robust Simultaneous Localization and Mapping and Satellite-Based Localization (Springer Tracts in Advanced Robotics #137)
by Niko SünderhaufSimultaneous Localization and Mapping (SLAM) has been a long-standing research problem in robotics. It describes the problem of a robot mapping an unknown environment, while simultaneously localizing in it with the help of the incomplete map. This book describes a technique called Switchable Constraints.Switchable Constraints help to increase the robustness of SLAM against data association errors and in particular against false positive loop closure detections. Such false positive loop closure detections can occur when the robot erroneously assumes it re-observed a landmark it has already mapped or when the appearance of the observed surroundings is very similar to the appearance of other places in the map. Ambiguous observations and appearances are very common in human-made environments such as office floors or suburban streets, making robustness against spurious observations a key challenge in SLAM. The book summarizes the foundations of factor graph-based SLAM techniques. It explains the problem of data association errors before introducing the novel idea of Switchable Constraints. We present a mathematical derivation and probabilistic interpretation of Switchable Constraints along with evaluations on different datasets. The book shows that Switchable Constraints are applicable beyond SLAM problems and demonstrates the efficacy of this technique to improve the quality of satellite-based localization in urban environments, where multipath and non-line-of-sight situations are common error sources.
Switched Inductor Power IC Design
by Gabriel Alfonso Rincón-MoraThis textbook uses design insight, real-life examples, illustrative figures, easy-to-follow equations, and simple SPICE code to show how semiconductor devices (diodes, bipolar-junction transistors (BJTs), and metal–oxide–semiconductor (MOS) field-effect transistors (FETs) ) work independently and collectively in switched-inductor power supplies; how these power supplies transfer power, consume power, and react and respond across frequency; how feedback loops switch, control, and stabilize them; and how the building blocks that comprise them are implemented and designed. This book is focused and complete, with a holistic approach and perspective on power IC design that extends from semiconductor devices to fully-closed feedback systems. Readers will develop the insight needed to interpret, assess, and design switched inductor power ICs, which almost all electronic systems need, yet no other book addresses this way.
Switched Reluctance Motor Drives: Fundamentals to Applications
by Berker Bilgin, James Weisheng Jiang and Ali EmadiElectric motors are the largest consumer of electric energy and they play a critical role in the growing market for electrification. Due to their simple construction, switched reluctance motors (SRMs) are exceptionally attractive for the industry to respond to the increasing demand for high-efficiency, high-performance, and low-cost electric motors with a more secure supply chain. Switched Reluctance Motor Drives: Fundamentals to Applications is a comprehensive textbook covering the major aspects of switched reluctance motor drives. It provides an overview of the use of electric motors in the industrial, residential, commercial, and transportation sectors. It explains the theory behind the operation of switched reluctance motors and provides models to analyze them. The book extensively concentrates on the fundamentals and applications of SRM design and covers various design details, such as materials, mechanical construction, and controls. Acoustic noise and vibration is the most well-known issue in switched reluctance motors, but this can be reduced significantly through a multidisciplinary approach. These methodologies are explained in two chapters of the book. The first covers the fundamentals of acoustic noise and vibration so readers have the necessary tools to analyze the problems and explains the surface waves, spring-mass models, forcing harmonics, and mode shapes that are utilized in modeling and analyzing acoustic noise and vibration. The second applies these fundamentals to switched reluctance motors and provides examples for determining the sources of any acoustic noise in switched reluctance motors. In the final chapter two SRM designs are presented and proposed as replacements for permanent magnet machines in a residential HVAC application and a hybrid-electric propulsion application. It also shows a high-power and compact converter design for SRM drives. Features: Comprehensive coverage of switched reluctance motor drives from fundamental principles to design, operation, and applications A specific chapter on electric motor usage in industrial, residential, commercial, and transportation applications to address the benefits of switched reluctance machines Two chapters address acoustic noise and vibration in detail Numerous illustrations and practical examples on the design, modeling, and analysis of switched reluctance motor drives Examples of switched reluctance motor and drive design
Switched Reluctance Motor Drives: Modeling, Simulation, Analysis, Design, and Applications (Industrial Electronics)
by R. KrishnanThe switched reluctance machine (SRM) is the least expensive electrical machine to produce, yet one of the most reliable. As such, research has blossomed during the last decade, and the SRM and variable drive systems using SRMs are receiving considerable attention from industry. Because they require a power electronic converter and controller to function, however, successful realization of an SRM variable drive system demands an understanding of the converter and controller subsystems and their integration with the machine.Switched Reluctance Motor Drives provides that understanding. It presents a unified view of the machine and its drive system from all of its system and subsystem aspects. With a careful balance of theory and implementation, the author develops the analysis and design of SRMs from first principles, introduces a wide variety of power converters available for driving the SRM, and systematically presents both low- and high-performance controllers. The book includes an in-depth study of acoustic noise and its minimization along with application examples that include comparisons between ac and dc drives and SRM drive.The result is the first book that provides a state-of-the-art knowledge of SRMs, power converters, and their use with both sensor-based and sensorless controllers. Switched Reluctance Motor Drives enables both students and engineers to learn all aspects of SRM drive systems and appreciate the interdependence of the various subsystems in performance optimization.
Switched Time-Delay Systems
by Magdi S. MahmoudThis book is about stability analysis and control design methodologies for a new class of systems, switched time-delay systems (STDs). The author presents an introductory, yet comprehensive, treatment of STD systems by jointly combining the two fundamental attributes: the system dynamics which possesses an inherent time-delay and the system operational mode which undergoes switching among different modes. The material integrates the two main issues of switched systems in a systematic way.
Switchgrass
by Andrea MontiThe demand for renewable energies from biomass is growing steadily as policies are enacted to encourage such development and as industry increasingly sees an opportunity to develop bio-energy enterprises. Recent policy changes in the EU, USA and other countries are spurring interest in the cultivation of energy crops such as switchgrass. Switchgrass has gained and early lead in the race to find a biomass feedstock for energy production (and for the almost requisite need for bio-based products from such feedstocks). Switchgrass: A Valuable Biomass Crop for Energy provides a comprehensive guide to the biology, physiology, breeding, culture and conversion of switchgrass as well as highlighting various environmental, economic and social benefits. Considering this potential energy source, Switchgrass: A Valuable Biomass Crop for Energy brings together chapters from a range of experts in the field, including a foreword from Kenneth P. Vogel, to collect and present the environmental benefits and characteristics of this a crop with the potential to mitigate the risks of global warming by replacing fossil fuels. Including clear figures and tables to support discussions, Switchgrass: A Valuable Biomass Crop for Energy provides a solid reference for anyone with interest or investment in the development of bioenergy; researchers, policy makers and stakeholders will find this a key resource.
Switching and Finite Automata Theory
by Zvi Kohavi Niraj K. JhaUnderstand the structure, behavior, and limitations of logic machines with this thoroughly updated third edition. Many new topics are included, such as CMOS gates, logic synthesis, logic design for emerging nanotechnologies, digital system testing, and asynchronous circuit design, to bring students up-to-speed with modern developments. The intuitive examples and minimal formalism of the previous edition are retained, giving students a text that is logical and easy to follow, yet rigorous. Kohavi and Jha begin with the basics, and then cover combinational logic design and testing, before moving on to more advanced topics in finite-state machine design and testing. Theory is made easier to understand with 200 illustrative examples, and students can test their understanding with over 350 end-of-chapter review questions.
Switching Arc Phenomena in Transmission Voltage Level Vacuum Circuit Breakers
by Zhiyuan Liu Jianhua Wang Yingsan Geng Zhenxing WangVacuum circuit breakers are widely used in distribution power systems for their advantages such as maintenance free and eco-friendly. Nowadays, most circuit breakers used at transmission voltage level are SF6 circuit breakers, but the SF6 they emit is one of the six greenhouse gases defined in Kyoto Protocol. Therefore, the development of transmission voltage level vacuum circuit breaker can help the environment. The switching arc phenomena in transmission voltage level vacuum circuit breakers are key issues to explore. This book focuses on the high-current vacuum arcs phenomena at transmission voltage level, especially on the anode spot phenomena, which significantly influence the success or failure of the short circuit current interruption. Then, it addresses the dielectric recovery property in current interruption. Next it explains how to determine the closing/opening displacement curve of transmission voltage level vacuum circuit breakers based on the vacuum arc phenomena. After that, it explains how to determine key design parameters for vacuum interrupters and vacuum circuit breakers at transmission voltage level. At the end, the most challenging issue for vacuum circuit breakers, capacitive switching in vacuum, is addressed. The contents of this book will benefit researchers and engineers in the field of power engineering, especially in the field of power circuit breakers and power switching technology.
Switching Equipment (CIGRE Green Books)
by Hiroki ItoThis CIGRE Green Book provides the entire know-how about switches in a high voltage system. The switching equipment includes circuit breakers, vacuum interrupters, disconnecting switches, and earthing switches used in AC & DC transmission and distribution systems. The Green book describes different switching equipments and their roles in the power systems. It explains the fundamental switching behaviors in power systems targeted for practitioners and students and joining electrical industries. The Green book also covers fundamental specific subjects including DC circuit breakers, controlled switching, fault current limiting devices and future technologies. Like all Green books, this book covers the cumulative understanding of numerous experts in the CIGRE study committee. It offers the approved and outstanding practical knowledge of CIGRE Study committee A3 and was collected by Dr. Hiroki Ito.
Switching in Electrical Transmission and Distribution Systems
by Mirsad Kapetanovic Lou van der Sluis David F. Peelo René Smeets Anton JanssenSwitching in Electrical Transmission and Distribution Systems presents the issues and technological solutions associated with switching in power systems, from medium to ultra-high voltage.The book systematically discusses the electrical aspects of switching, details the way load and fault currents are interrupted, the impact of fault currents, and compares switching equipment in particular circuit-breakers. The authors also explain all examples of practical switching phenomena by examining real measurements from switching tests.Other highlights include: up to date commentary on new developments in transmission and distribution technology such as ultra-high voltage systems, vacuum switchgear for high-voltage, generator circuit-breakers, distributed generation, DC-interruption, aspects of cable systems, disconnector switching, very fast transients, and circuit-breaker reliability studies.Key features:Summarises the issues and technological solutions associated with the switching of currents in transmission and distribution systems.Introduces and explains recent developments such as vacuum switchgear for transmission systems, SF6 environmental consequences and alternatives, and circuit-breaker testing.Provides practical guidance on how to deal with unacceptable switching transients.Details the worldwide IEC (International Electrotechnical Commission) standards on switching equipment, illustrating current circuit-breaker applications.Features many figures and tables originating from full-power tests and established training courses, or from measurements in real networks.Focuses on practical and application issues relevant to practicing engineers.Essential reading for electrical engineers, utility engineers, power system application engineers, consultants and power systems asset managers, postgraduates and final year power system undergraduates.
Switching Modulator Optimization in Isolated Power Converters (Synthesis Lectures on Power Electronics)
by Ayan Mallik Saikat DeyThis book introduces engineering students and practitioners to the theoretical and applied aspects of the optimization of switching modulation techniques in isolated power electronic converters. Recent modifications to the architecture of converter systems require understanding of switching strategies for different types of power converters and how they affect the systems’ performance. This book presents the pulse width modulation (PWM), pulse frequency modulation (PFM), and phase modulation (PM) methodologies in power electronic converters. It then discusses a range of switching techniques for optimal design of various power converters that find applications in transportation electrification, grid-renewables-storage integration, datacenter energy routers, solid state transformers, aerospace, and space. The text emphasizes the synthesis and implementation methodologies during the converter’s development, to help maximize the system’s performance.
Switching Off: Meeting Our Energy Needs in A Constrained Future (SpringerBriefs in Energy)
by Patrick Moriarty Damon HonneryThe book is about global energy use, its past and present, and its increasingly uncertain future. It lists the various ecological problems facing our planet, not just climate change, and how their gravity has been underestimated. It briefly looks at the various solutions, apart from renewable energy, proposed for solving the problems our present energy use raises, including solar radiation management, carbon dioxide removal, nuclear energy, and energy efficiency. Renewable energy (RE) is seen by many as the panacea for a variety of environmental challenges, and with the New Green Deal, even as a means of accelerating economic growth. The book critically examines the prospects for RE. It concludes that although it is essential that the world shifts to RE, not only will the ecologically sustainable energy from all RE sources likely fall well short of even present global energy use, but the very short time frame left for effective action means that RE cannot be more than of minor help. Hence, deep energy reductions will be needed, especially in high-income OECD countries. The book uses an Earth Systems Science approach, which is necessary because of the interconnection between the various challenges our Earth faces. It aims to combine the latest findings from a diverse array of biophysical as well as socioeconomic sciences to uncover the increasingly constrained energy options we will encounter.
Switching on Plant Innate Immunity Signaling Systems
by P. VidhyasekaranThis book presents the ways and means to switch on plant immune signaling systems using PAMP-PIMP-PRR signaling complex for crop disease management. It also describes bioengineering approaches to develop transgenic plants expressing enhanced disease resistance using genes encoding PAMPs, PRRs and transcription factors and genes involved in generation of PIMPs/HAMPs. It also discusses recent commercial development of PAMP products to switch on plant innate immunity for crop disease management. These unique approaches have been described with more than 100 figures and illustrations and these would make this book attractive for researchers and students to buy this book.
Switching Phenomena in High-Voltage Circuit Breakers (Electrical And Computer Engineering Ser. #75)
by NakanishiShowing the relation of physics to circuit interruption technology, describes for engineers the switching phenomena, test procedures, and applications of modern, high-voltage circuit breakers, especially SF, gas-blast, and the vacuum types used in medium-voltage ranges. Applies the physical arc mode
Switching Power Converters: Medium and High Power, Second Edition
by Dorin O. NeacsuAn examination of all of the multidisciplinary aspects of medium- and high-power converter systems, including basic power electronics, digital control and hardware, sensors, analog preprocessing of signals, protection devices and fault management, and pulse-width-modulation (PWM) algorithms, Switching Power Converters: Medium and High Power, Second Edition discusses the actual use of industrial technology and its related subassemblies and components, covering facets of implementation otherwise overlooked by theoretical textbooks. The updated Second Edition contains many new figures, as well as new and/or improved chapters on: Thermal management and reliability Intelligent power modules AC/DC and DC/AC current source converters Multilevel converters Use of IPM within a "network of switches" concept Power semiconductors Matrix converters Practical aspects in building power converters Providing the latest research and development information, along with numerous examples of successful home appliance, aviation, naval, automotive electronics, industrial motor drive, and grid interface for renewable energy products, this edition highlights advancements in packaging technologies, tackles the advent of hybrid circuits able to incorporate control and power stages within the same package, and examines design for reliability from the system level perspective.
Switching Strategies for Power Electronic Converters: Examples with Python Simulations (Synthesis Lectures on Power Electronics)
by Shivkumar V. Iyer Mohammad Nair AalamThis book provides a concise introduction to switching strategies for power electronics. It provides an in-depth examination of this one concept giving a newcomer a complete immersive experience which has both the depth that is needed to gain confidence yet is simple to understand. The authors examine the basic operation of power electronic systems from scratch and with the help of simulations, how these systems can be constructed. The approach used treats power electronics similar to puzzles and rather than merely presenting them and describing how they work, explore why they came to have the construction they have, and how they could potentially be modified. The authors make extensive use of simulations, with every theory and every result accompanied by a simulation. All simulations are performed by the free and open source Python programming language and the free and open source circuit simulator Python Power Electronics.
Switching to Renewable Power: A Framework for the 21st Century
by Volkmar LauberRenewable energy has enjoyed relatively good - and sometimes extraordinary - growth in recent years, in particular photovoltaics and wind; but it will be difficult to sustain such rates of diffusion on a global basis. A more complete transition to renewable energy is required on a demanding timescale set by climate change and fossil fuel depletion. This book analyses strategies for promoting renewable energy within the context of a rapid energy transition, using case studies from different countries over the past 30 years. Having described the global context in detail, covering oil and gas depletion, climate change, third world development and the potential for renewable energy, the authors evaluate support mechanisms at national and international levels, offering readers a clear understanding of the regulatory framework and an opportunity to promote renewable energy effectively. This book offers energy policy makers, renewable energy professionals, energy consultants and students a platform for development and an invaluable research text. Contributing authors include: Jorg Schindler and Werner Zittel, Ludwig Bohlkow-Systemtechnik, Germany; Ian Rowlands, University of Waterloo, Canada; Giulio Volpi, WWF Europe; Kristian Hvitfelt Nielsen, Aarhus University, Denmark; Staffan Jacobsson, Chalmers University of Technology, Sweden; Peter Connor, University of Warwick, UK; Ole Langniss, Centre of Solar Energy and Hydrogen Research in Baden-Wurttemberg, Germany; Ryan Wiser, Lawrence Berkeley National Laboratory, US; David Elliott, The Open University, UK; and Frede Hvelplund, Aalborg University, Denmark
Sword Point
by Harold CoyleGambling on hostile relations between Iran and the US, the Soviet Union invades Iran. America strikes back but when the Soviet onslaught is stopped by an American counter-attack, the superpowers discover that Iranian fanatics have a nuclear bomb ready to explode.
The Swordfish and the Star: Life on Cornwall's most treacherous stretch of coast
by Gavin KnightThe Penwith Peninsula in Cornwall is where the land ends. In The Swordfish and the Star Gavin Knight takes us into this huddle of grey roofs at the edge of the sea at the beginning of the twenty-first century. He catches the stories of a whole community, but especially those still working this last frontier: the Cornish fishermen. These are the dreamers and fighters who every day prepare for battle with the vast grey Atlantic. Cornwall and its seas are brought to life, mixing drinking and drugs and sea spray, moonlit beaches and shattering storms, myth and urban myth. The result is an arresting tapestry of a place we thought we knew; the precarious reality of life in Cornwall today emerges from behind our idyllic holiday snaps and picture postcards. Even the quaint fishermen’s pubs on the quay at Newlyn, including the Swordfish and its neighbour the Star, turn out to be places where squalls can blow up, and down again, in an instant. Based on immersive research and rich with the voices of a cast of remarkable characters, this is an eye-opening, dramatic, poignant account of life on Britain’s most dangerous stretch of coast.Praise for Hood Rat 'A gripping novelistic immersion' Louis Theroux'A must-read' Owen Jones'Britain's Gomorrah' Independent
SWORDS INTO MARKET SHARES: Technology, Economics, and Security in the New Russia
by Glenn E. SchweitzerWhile researching this book, Glenn Schweitzer met four Moscow physicists who were trying to license Russian technology to western firms for product manufacture. During the worst times, they were reduced to driving taxis to keep things afloat. He asked them, will technological innovation have a discernible impact on the Russian economy in the coming decade? No, was the immediate reply. Are they right?In Swords into Market Shares, Schweitzer examines the roots of such pessimism and the prospects for Russia to prosper from its technology in the post-Soviet world. He explores the different visions of prosperity held by entrepreneurs, technologists, and government officials and goes on to examine the barriers to progress as Russia struggles to build a viable technology industry on its own terms. In accessible language, this book talks about technology's place within Russia's economy and its research and development infrastructure. Schweitzer looks at the impact of the Soviet legacy--central planning, lack of priorities, scant incentives for personal initiative--and the aftermath of the Russian financial meltdown of 1998.He also reviews the experiences of American companies that have invested in Russian technology and examines the results of pressure to reform according to the economic model of the West. Schweitzer goes on to document the problems of economic crime and government corruption, which plague activities designed to generate income in Russia. He discusses the lack of protection for intellectual property and taxation issues that stand in the way of technological innovation. The book looks at the impact of the "brain drain" as Russian experts seek greener pastures--not only the ominous recruitment of Russian biological weapons experts and the acquisition of military technology by "rogue" nations--but also Russia's own program to sell military technology for badly needed funds.Schweitzer's use of case studies and examples puts a human face on these issues. He also discusses Russia's 60 "science cities"--sites of state research centers--with close-ups of three "nuclear cities."Can the technical strengths of the Soviet military complex find a place in civilian Russia? How can this vast country sustain even a minimal standard of living? Swords into Market Shares addresses these and other key questions and explores fundamental policy issues confronting both Russia and the United States as Russia struggles for an economic foothold.
Sydney & Simon: To the Moon! (Sydney & Simon #3)
by Paul A. ReynoldsEager to win a chance to meet a real-life astronaut, twin mice Sydney and Simon use STEAM thinking to create the best science project about the Moon The chance to meet astronaut Kris Kornfield is a dream come true for twins Sydney and Simon. But first they have to come up with the most creative project about the Earth&’s moon. While Sydney&’s work is all about the art, and Simon&’s is all about the data, neither seems creative enough to win the prize. But when they put their heads together, they incorporate S.T.E.A.M. thinking (Science, Technology, Engineering, Arts, Mathematics) and come up with a winning idea. The third installment in the Sydney & Simon series, this kid-friendly story makes science concepts accessible and exciting.
Symbiosis in Fishes: The Biology of Interspecific Partnerships
by Ilan KarplusSymbiosis in Fishes provides comprehensive coverage of the biology of partnerships between fishes and invertebrates, ascending the phylogenetic scale, from luminescent bacteria, sponges and coelenterates to molluscs, crustaceans and echinoderms. Both facultative and obligatory partnerships are reviewed with emphasis on the behavioral, ecological and evolutionary aspects of fish symbiosis. Each of the eight chapters of this book focuses on a different group of partners. The structure, physiology and anti-predatory strategies of each group are described to provide the necessary background for the understanding of their partnerships with fishes. The formation of the associations, the degree of partner specificity and its regulation, as well as the benefits and costs for the fishes and their associates, communication between partners and their possible co-evolution are discussed in each chapter. This is the first attempt to critically review in a single volume all associations of fishes with invertebrates based on the latest studies in these areas, together with studies published many years ago and little cited since then. Symbiosis in Fishes provides a huge wealth of information that will be of great use and interest to many life scientists including fish biologists, ecologists, ethologists, aquatic scientists, physiologists and evolutionary biologists. It is hoped that the contents of the book will stimulate many to further research, to fill in the gaps in our knowledge in this fascinating and important subject. Libraries in all universities and research establishments where biological sciences are studied and taught should have copies of this exciting book.
Symbiosis of Real and Simulated Worlds Under Spatial Grasp Technology (Studies in Systems, Decision and Control #354)
by Peter Simon SapatyThis book investigates new important applications of the Spatial Grasp Technology (SGT) allowing us to effectively simulate and manage large distributed dynamic systems on semantic and holistic levels. This patented technology, developed for decades and in different countries, is based on a completely different philosophy and model allowing us to directly operate in united distributed physical and virtual spaces and provide system solutions much simpler and more compact than under other approaches. The described applications include basic operations suitable for solving many network-related problems, simulation of such mysterious concept as consciousness so important for the design of advanced intelligent systems, modelling the spread of viruses and distribution of antivirus vaccine, and also implementation of the latest decision-centric and mosaic-based organizational concepts important for modern defence and industrial systems. The described technology version with its Spatial Grasp Language can be implemented even within university environments, with communicating language interpreter copies, potentially numbering millions to billions, easily embedded into any existing systems, including Internet, thus converting the whole world into a powerful symbiotic simulation management engine. The book is oriented on system scientists, application programmers, industry managers, and also university students interested in advanced M.Sc. and Ph.D. projects related to distributed system management.
Symbiotic Endophytes
by Ricardo ArocaThis Soil Biology volume examines our current understanding of the mechanisms involved in the beneficial effects transferred to plants by endophytes such as rhizobial, actinorhizal, arbuscular mycorrhizal symbionts and yeasts. Topics presented include how symbiosis starts on the molecular level; chemical signaling in mycorrhizal symbiosis; genomic and functional diversity of endophytes; nitrogen fixation; nutrient uptake and cycling; as well as plant protection against various stress conditions. Further, the use of beneficial microorganisms as biopesticides is discussed, particularly the application of Plant Growth Promoter Rhizobacteria (PGPR) in agriculture with the aim to increase yields.
Symbiotic Soil Microorganisms: Biology and Applications (Soil Biology #60)
by Neeraj Shrivastava Shubhangi Mahajan Ajit VarmaThis book explores microbial symbiosis, with a particular focus on soil microorganisms, highlighting their application in enhancing plant growth and yield. It addresses various types of bacterial and fungal microbes associated with symbiotic phenomena, including rhizobium symbiosis, arbuscular mycorrhizal symbiosis, ectomycorrhizal symbiosis, algal/lichen symbiosis, and Archeal symbiosis.Presenting strategies for employing a diverse range of bacterial and fungal symbioses in nutrient fortification, adaptation of plants in contaminated soils, and mitigating pathogenesis, it investigates ways of integrating diverse approaches to increase crop production under the current conventional agroecosystem.Providing insights into microbial symbioses and the challenges of adopting a plant-microbe synergistic approach towards plant health, this book is a valuable resource for researchers, graduate students and anyone in industry working on bio-fertilizers and their agricultural applications.