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Uniform Coverage of Simple Surfaces Embedded in $\mathbb{R}^3$ for Auto-Body Painting
We develop a procedure for automated trajectory generation for robotic spray painting applications. Painting requires that the spray gun deposit...
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Sampling-Based Motion Planning under Kinematic Loop-Closure Constraints
Kinematic loop-closure constraints significantly increase the difficulty of motion planning for articulated mechanisms. Configurations of...
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Voronoi-Based Outdoor Traversable Region Modelling
Nowadays, the interest in mobile robotics working in outdoor environments is increasing due to the new applications focussed on aiding humans. To...
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Integrated Clustering Modeling with Backpropagation Neural Network for Effcient Customer Relationship Management
The rapid progress in digital data acquisition and storage technology has lead to the fast growing tremendous and amount of data stored in databases,...
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B Experimental Setups and Acoustic Environments
In this chapter, the experimental setup and the acoustic environments are described, which are used in this work for illustrating the properties of...
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12. Orbital Stability and Forced Oscillations
Let us consider a system described by the equation...
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1. Preliminaries
In the sequel, C n is an n-dimensional complex Euclidean space and...
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9. Switched Scalable Video Coding Systems
Scalable video coding means that a video sequence is only encoded once and the coded bitstream has the capability of sending any sub-bitstream...
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6 Stochastic Passivity
Passivity of deterministic linear systems plays an important role in network theory and in adaptive control. The fact that a system is passive...
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C Appendix: The Discrete DLMI Method
We consider the following system: $$ x_{k+1}=A_kx_k + B_k w_k, \quad k=0,1,...
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Introduction
The last few decades have witnessed a dramatic change in the chemical process industries. Modern industrial processes have become now highly...
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Stabilization
In this chapter, we shall deal with the stabilization problem for singular systems. The purpose is the design of controllers such that the...
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Structural Solutions to Disturbance Decoupling
This chapter develops a novel algorithm which solves the disturbance decoupling problem by repeatedly decoupling one output variable at a time. The...
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Marginal Filter Stability
Two fundamental aspects in the use of the Kalman Filter for simultaneous localization and map** are the issues of observability and...
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C Sigma Points
A set of p + 1 sigma points $\mathcal{S} = \{\mathcal{X}^i, W^i\}$...
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13 Usability of an Assistive Robot Manipulator: Toward a Quantitative User Evaluation
This chapter describes our research activity on the integration of a robotic arm in the environment of persons with disabilities. People who have...
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2 Rehabilitation Robotics from Past to Present – A Historical Perspective
Popular culture presents the image of a robot as a mechanical, humanoid device, often evil in intent. Those with a slightly more informed technical...
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12 Risk Reduction Mechanisms for Safe Rehabilitation Robots
Safety is one of the most important features of rehabilitation robots. However, strategies for safe rehabilitation robots are not yet clarified. A...
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4 Welfare-Oriented Service Robotic Systems: Intelligent Sweet Home & KARES II
Utopia – it would be a society where the welfare of the people is properly guaranteed. In the society, each constituent would live his/her life with...
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5 “FRIEND” – An Intelligent Assistant in Daily Life
The research and development in the field of rehabilitation robots produced a multiplicity of rehabilitation robots available as off-the- shelf...