Offers a theoretical and practical guide to the communication and navigation of autonomous mobile robots and multi-robot systems This book covers the methods and algorithms for the navigation, motion planning, and control of mobile robots acting individually and in groups. It addresses methods of positioning in global and local coordinates systems, off-line and on-line path-planning, sensing and sensors fusion, algorithms of obstacle avoidance, swarming techniques and cooperative behavior. The book includes ready-to-use algorithms, numerical examples and simulations, which can be directly implemented in both simple and advanced mobile robots, and is accompanied by a website hosting codes, videos, and PowerPoint slides Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication and Swarming consists of four main parts. The first looks at the models and algorithms of navigation and motion planning in global coordinates systems with complete information about the robot´s location and velocity. The second part considers the motion of the robots in the potential field, which is defined by the environmental states of the robot´s expectations and knowledge. The robot´s motion in the unknown environments and the corresponding tasks of environment mapping using sensed information is covered in the third part. The fourth part deals with the multi-robot systems and swarm dynamics in two and three dimensions. Provides a self-contained, theoretical guide to understanding mobile robot control and navigation Features implementable algorithms, numerical examples, and simulations Includes coverage of models of motion in global and local coordinates systems with and without direct communication between the robots Supplemented by a companion website offering codes, videos, and PowerPoint slides Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication and Swarming is an excellent tool for researchers, lecturers, senior undergraduate and graduate students, and engineers dealing with mobile robots and related issues.
This text is an introductory treatment of modern electromechanical devices that prepares the reader with the basis to study and understand the emerging applications of electric machines in the emerging smart grid. It especially covers modern electric drive applications, while also satisfying the power system interest. Tesla´s rotating magnetic field, which is the foundation of reference frame theory, is covered extensively in Chapter 4. This sets the stage for reference frame theory, which is covered in Chapter 5. The permanent magnet ac, synchronous, and induction machine are covered, respectively, in Chapters 6, 7, and 8. In each chapter, the material is arranged so that if steady-state operation is the main concern, the reference frame derivation can be de-emphasized and focus placed on the steady state equations that are similar in form for all machines.
DIY-Roboter bauen und programmieren mit Makeblock Hast du bereits mit LEGO® MINDSTORMS® herumexperimentiert und sehnst dich nach einem Robotik-Set, das dir hinsichtlich Programmierung und Mechanik unendliche Freiheiten bietet? Makeblock-Roboter bieten dir das und noch viel mehr. In diesem Buch erfährst du alles, was du wissen musst, um Roboter ganz nach deinen Vorstellungen zu bauen und zu programmieren - unter Einsatz der smarten Software und Elektronik der Makeblock-Produktwelt. Folgende Themen erwarten dich: - Die bunte Welt der Makeblock-Roboter: mBot, Ultimate Robot Kit & Co. - Programmierung mit der mBlock-Entwicklungsumgebung (inkl. Arduino-Mode) und Steuerung über PC, Fernbedienung & App - Alles rund um Motoren, LEDs, Bluetooth, Spannungsversorgung & Co. - Sensoren im praktischen Einsatz: Ultraschall, Licht, Sound, Line-Finder, PIR-Motion-Sensor und Kompassmodul - Fotos, Videos & Livestreaming mit den Makeblock-Robotern - IoT-Anwendungen mit Makeblock und Microsoft Azure - Mit 15 Projekten: Hindernis- und Gesichtserkennung, Rundumsicht-Scanner, Soundmaschine, Alarmsystem, Kameraroboter u.v.m. Wenn du darauf brennst, deine eigenen Ideen zu verwirklichen, dann liefert dir dieses Buch alle Skills, um mit der Makeblock-Software und -Hardware deinen ganz persönlichen Roboter zu bauen und zu programmieren - wie ein richtiger Entwickler!
Electrical drives convert in a controlled manner, electrical energy into mechanical energy. Electrical drives comprise an electrical machine, i.e. an electro-mechanical energy converter, a power electronic converter, i.e. an electrical-to-electrical converter, and a controller/communication unit. Today, electrical drives are used as propulsion systems in high-speed trains, elevators, escalators, electric ships, electric forklift trucks and electric vehicles. Advanced control algorithms (mostly digitally implemented) allow torque control over a high-bandwidth. Hence, precise motion control can be achieved. Examples are drives in robots, pick-and-place machines, factory automation hardware, etc. Most drives can operate in motoring and generating mode. Wind turbines use electrical drives to convert wind energy into electrical energy. More and more, variable speed drives are used to save energy for example, in air-conditioning units, compressors, blowers, pumps and home appliances. Key to ensure stable operation of a drive in the aforementioned applications are torque control algorithms. In Advanced Electrical Drives , a unique approach is followed to derive model based torque controllers for all types of Lorentz force machines, i.e. DC, synchronous and induction machines. The rotating transformer model forms the basis for this generalized modeling approach that ultimately leads to the development of universal field-oriented control algorithms. In case of switched reluctance machines, torque observers are proposed to implement direct torque algorithms. From a didactic viewpoint, tutorials are included at the end of each chapter. The reader is encouraged to execute these tutorials to familiarize him or herself with all aspects of drive technology. Hence, Advanced Electrical Drives encourages ´´learning by doing´´. Furthermore, the experienced drive specialist may find the simulation tools useful to design high-performance controllers for all sorts of electrical drives.