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Autonomous Navigation in Dynamic Environments
The purpose of this book is to address the challenging problem of Autonomous Navigation in Dynamic Environments, and to present new ideas and approaches in this newly emerging technical domain. The book surveys the state-of-the-art, discusses in detail various related challenging technical aspects, and addresses upcoming technologies in this field. The aim of the book is to establish a foundation for a broad class of mobile robot mapping and navigation methodologies for indoor, outdoor, and exploratory missions.Three main topics located on the cutting edge of the state of the art are addressed, from both the theoretical and technological point of views: Dynamic world understanding and modelling for safe navigation, Obstacle avoidance and motion planning in dynamic environments, and Human-robot physical interactions. Several models and approaches are proposed for solving problems such as Simultaneous Localization and Mapping (SLAM) in dynamic environments, Mobile obstacle detection and tracking, World state estimation and motion prediction, Safe navigation in dynamic environments, Motion planning in dynamic environments, Robust decision making under uncertainty, and Human-Robot physical interactions.
Automotive Control Systems : For Engine, Driveline, and Vehicle
Reflecting the trend to optimization through integrative approaches for engine, driveline and vehicle control, this book enables control engineers to understand engine and vehicle models necessary for controller design and also introduces mechanical engineers to vehicle-specific signal processing and automatic control. The emphasis on measurement, comparisons between performance and modelling, and realistic examples derive from the authors’ industrial experience at Bosch and interactions within IFAC and SAE. The second edition offers new or expanded topics such as diesel-engine modelling, diagnosis and anti-jerking control, and vehicle modelling and parameter estimation. The book addresses professional engineers as well as students.
Applied Probability and Statistics
This text is designed for a one-semester course on Probability and Statistics. The exposition unfolds systematically from an introductory chapter to such topics as random variables and vectors, stochastic processes, estimation, testing and regression. The topics are well chosen and the presentation is enriched by many examples from real life. Following every chapter, the reader will find many original, solved and unsolved problems and hundreds of multiple choice questions, enabling those unfamiliar with the topics to master them. Additionally appealing are the interesting historical notes on the mathematicians mentioned throughout and a useful bibliography. A distinguishing character of the book is the thorough and succinct handling of the various topics.
Analysis of variance for random models, Vol. 2 : Unbalanced data : Theory, methods, applications, and data analysis
Analysis of variance (ANOVA) models have become widely used tools and play a fundamental role in much of the application of statistics today. In particular, ANOVA models involving random effects have found widespread application to experimental design in a variety of fields requiring measurements of variance, including agriculture, biology, animal breeding, applied genetics, econometrics, quality control, medicine, engineering, and social sciences. This two-volume work is a comprehensive presentation of different methods and techniques for point estimation, interval estimation, and tests of hypotheses for linear models involving random effects. Both Bayesian and repeated sampling procedures are considered. Volume I examines models with balanced data (orthogonal models); Volume II studies models with unbalanced data (nonorthogonal models).
All of Nonparametric Statistics
The goal of this text is to provide the reader with a single book where they can find a brief account of many, modern topics in nonparametric inference. The book is aimed at Master's level or Ph.D. level students in statistics, computer science, and engineering. It is also suitable for researchers who want to get up to speed quickly on modern nonparametric methods.This text covers a wide range of topics including: the bootstrap, the nonparametric delta method, nonparametric regression, density estimation, orthogonal function methods, minimax estimation, nonparametric confidence sets, and wavelets. The book has a mixture of methods and theory.
Advances in Variable Structure and Sliding Mode Control
Sliding Mode Control is recognized as an efficient tool to design controllers which are robust with respect to uncertainty. The resulting controllers have low sensitivity to plant parameters and perturbations and allow the possibility of decoupling the original plant system into two components of lower dimension. In addition many controllers ensure finite time convergence to the switching surface and can be straightforwardly implemented. However, in addition to this traditional area of exploitation, sliding mode concepts are being increasingly deployed for the design of observers for estimation and identification.
Advances in Unmanned Aerial Vehicles : State of the Art and the Road to Autonomy
There has been tremendous emphasis in unmanned aerial vehicles, both of fixed (airplanes) and rotary wing (vertical take off and landing, helicopters) types over the past ten years. Applications span both civilian and military domains, the latter being the most important at this stage. This edited book provides a solid and diversified reference source related to basic, applied research and development on small and miniature unmanned aerial vehicles, both fixed and rotary wing. As such, the book offers background information on the evolution of such vehicles over the years, followed by modeling and control fundamentals that are of paramount importance due to unmanned aerial vehicle model complexity, nonlinearity, coupling, inhirent instability and parameter values uncertainty. Aspects of navigation, including visual-based navigation and target tracking are discussed, followed by applications to attitude estimation on micro unmanned aerial vehicles, autonomous solar unmanned aerial vehicle, biomimetic sensing for autonomous flights in near-earth environments, localization of air-ground wireless sensor networks, decentralized formation tracking, design of an unmanned aerial vehicle for volcanic gas sampling and design of an on-board processing controller for miniature helicopters.
Adaptive Atmospheric Modeling : Key Techniques in Grid Generation, Data Structures, and Numerical Operations with Applications
This is an overview of the development of adaptive techniques for atmospheric modeling. Written in an educational style, it functions as a starting point for readers interested in adaptive modeling, in atmospheric sciences and beyond. Coverage includes paradigms of adaptive techniques, such as error estimation and adaptation criteria. Mesh generation methods are presented for triangular/tetrahedral and quadrilateral/hexahedral meshes, with a special section on initial meshes for the sphere.
Accelerator-Driven System at Kyoto University Critical Assembly
This book is a unique compilation of experimental benchmark analyses of the accelerator-driven system (ADS) at the Kyoto University Critical Assembly (KUCA) on the most recent advances in the development of computational methods.
A Course in Credibility Theory and its Applications
It covers the subject of Credibility Theory extensively and includes most aspects of this topic from the simplest case to the most general dynamic model. The first four chapters contain plenty of material The book therefore treats explicitly the tasks which the actuary encounters in his daily work such as estimation of loss ratios, claim frequencies and claim sizes. The models are worked out in detail (including the estimation of structural parameters) so that they can immediately be applied in practice. Most exercises are based on real insurance data and real situations from practice and many of them have the characteristics of a case study. The extension to practical problems arising from the general area of finance is often quite straightforward. This book deserves a place on the bookshelf of every actuary and mathematician who works, teaches or does research in the area of insurance and finance.for a first course on Credibility.
3D-Position Tracking and Control for All-Terrain Robots
Rough terrain robotics is a fast evolving field of research and a lot of effort is deployed towards enabling a greater level of autonomy for outdoor vehicles. This book demonstrates how the accuracy of 3D position tracking can be improved by considering rover locomotion in rough terrain as a holistic problem. In this work, a mechanical structure allowing smooth motion across obstacles with limited wheel slip is used. In particular, it enables the use of odometry and inertial sensors to improve the position estimation in rough terrain. A method for computing 3D motion increments based on the wheel encoders and chassis state sensors is developed. The algorithm runs online and can be adapted to any kind of passive wheeled rover. Finally, sensor fusion using 3D-Odometry, inertial sensors and visual motion estimation based on stereovision is presented. The experimental results demonstrate how each sensor contributes to increase the accuracy and robustness of the 3D position estimation.
