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Author:   Euan McGookin ,  Kevin Worrall ,  Chris Watts
Publisher:   Wiley-VCH Verlag GmbH
Imprint:   Wiley-VCH Verlag GmbH
Dimensions:   Width: 15.00cm , Height: 170.00cm , Length: 240.00cm
Weight:   0.666kg
ISBN:  

9783527408092

ISBN 10:   3527408096
Pages:   700
Publication Date:   05 December 2013
Audience:   College/higher education ,  Professional and scholarly ,  Postgraduate, Research & Scholarly ,  Professional & Vocational
Format:   Hardback
Publisher's Status:   Active
Availability:   Not yet available  
This item is yet to be released. You can pre-order this item and we will dispatch it to you upon its release.

Table of Contents

Chapter 1: A Brief History of Robotic Systems: from Asimov to Asimo 1.1 What is a Robotic System? 1.2 Historical Robots 1.3 Asimov and the Laws of Robotics 1.4 Classifications 1.5 Industrial Robotics 1.6 Robot Superstars 1.7 Robots on the move 1.8 Robots in the home 1.9 Biomimetic Robots 1.10 Book outline Chapter 2: Actuation and Propulsion Systems 2.1 Actuation and Propulsion: Robotic Foundation 2.2 Electromechanical Actuators 2.3 Pneumatic Actuators 2.4 Hydraulic Actuators 2.5 Ground Based Propulsion 2.6 Underwater Based Propulsion 2.7 Air Based Propulsion 2.8 Exercises Chapter 3: Kinematics and Dynamics of Robot Manipulators 3.1 Modelling Robot Manipulators 3.2 Types of Robot Manipulators 3.3 Multiple Degrees of Freedom Kinematics 3.4 Manipulator Statics and Dynamics 3.5 Model Representation 3.6 Exercises Chapter 4: Kinematics and Dynamics of Mobile Robotic Systems 4.1 Modelling Mobile Robotic Systems 4.2 Types of Mobile Robotic Systems 4.3 Generic Euler Angle Kinematics 4.4 Generic Rigid Body Dynamics 4.5 Dynamics of Ground Based Robotic Systems 4.6 Dynamics of Underwater Robotic Systems 4.7 Dynamics of Air Based Robotic Systems 4.8 Model Representation 4.9 Exercises Chapter 5: Sensor Systems 5.1 Giving Sense to Robotic Systems 5.2 Sensor Characteristics 5.3 Position Sensors 5.4 Proximity Sensors 5.5 Motion Sensors 5.6 Force and Pressure Sensors 5.7 Temperature Sensors 5.8 Light Sensors 5.9 Sensor Specification 5.10 Exercises Chapter 6: Inertial Measurement for Robotic Systems 6.1 Approaches to Inertial Measurement 6.2 Accelerometers 6.3 Gyroscopes 6.4 Inertial Measurement Units 6.5 MEMS Inertial Measurements 6.6 Vision Based Measurements 6.7 Exercises Chapter 7: Controller Design for Robotic Systems 7.1 Basics of Automatic Control 7.2 Control Methodologies 7.3 Digital Control Design 7.4 Control of Robot Manipulators 7.5 Control of Ground Based Robotic Systems 7.6 Control of Underwater Based Robotic Systems 7.7 Control of Air Based Robotic Systems 7.8 Exercises Chapter 8: Guidance and Navigation 8.1 Robots Finding Their Way 8.2 Path and Trajectory Planning 8.3 Basic Navigation Principles 8.4 Automated Route Planning 8.5 Obstacle Avoidance 8.6 Exercises Chapter 9: Hardware Implementation Considerations 9.1 Putting Robots Together 9.2 Motor Control 9.3 Microcontrollers and Microprocessors 9.4 Sensor Fusion 9.5 Signal Transmission and Conditioning 9.6 Power 9.7 Projects Chapter 10: Robotic System Design and Construction 10.1 Building Your Own Robot 10.2 Design Project for Robot Manipulator 10.3 Design Project for Ground Based Robotic System 10.4 Design Project for Underwater Based Robotic System 10.5 Design Project for Air Based Robotic System 10.6 Further Projects Bibliography Appendices

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Author Information

Euan McGookin is a Senior Lecturer in the Department of Aerospace Engineering at the University of Glasgow. His research and teaching interests cover the fields of robotics, simulation, optimisation, dynamics and control. He has published a large number of papers and supervised many projects in these areas. Prior to his academic career, Professor McGookin worked for the Defence Evaluation and Research Agency in the UK. His duties involved the design and construction of control systems and simulation models of gas turbine engines. This continued some of the work he undertook for his Ph.D. in marine vehicle nonlinear control optimisation and his M.Eng. studies into nonlinear controller design for submarine guidance and navigation. Both projects involved collaboration between the University of Glasgow and the Norwegian University of Science and Technology, Trondheim, Norway. Kevin James Worrall is a researcher in the Faculty of Engineering at the University of Glasgow. He received his B.Eng. (Hons) in Electronic and Electrical Engineering from the University of Glasgow and an M.Sc. in Robotics and Embedded Systems from Essex University where he also received an EPSRC grant to study. The time between these two degrees was spent working in a start-up company as an electronic engineer. His current research interests include mobile robotics, heuristic methods and their application to multi-agent systems and the development of systems for AUVs. Chris Watts is a researcher in the Faculty of Engineering at the University of Glasgow. He obtained an M.Eng. in Electronics and Electrical Engineering from the University of Glasgow in 2005. His M.Eng. placement was with Honeywell where he worked on embedded systems for controllers. He is currently researching Biomimetic Propulsion Systems for Autonomous Underwater Vehicles and he continues to have a strong interest in embedded systems and robotics.

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