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Handbook of Research on Advancements in Robotics and Mechatronics

Book Description

The field of mechatronics integrates modern engineering science and technologies with new ways of thinking, enhancing the design of products and manufacturing processes. This synergy enables the creation and evolution of new intelligent human-oriented machines. The Handbook of Research on Advancements in Robotics and Mechatronics presents new findings, practices, technological innovations, and theoretical perspectives on the the latest advancements in the field of mechanical engineering. This book is of great use to engineers and scientists, students, researchers, and practitioners looking to develop autonomous and smart products and systems for meeting today’s challenges.

Table of Contents

  1. Cover
  2. Title Page
  3. Copyright Page
  4. Book Series
    1. Mission
    2. Coverage
  5. Preface
  6. Chapter 1: Gait Generation and Transition of a Biped Robot Based on Kinematic Synergy in Human Locomotion
    1. ABSTRACT
    2. 1. INTRODUCTION
    3. 2. KINEMATIC SYNERGY IN HUMAN LOCOMOTION
    4. 3. GAIT GENERATION AND TRANSITION OF A BIPED ROBOT
    5. 4. CONCLUSION AND FUTURE WORKS
    6. ACKNOWLEDGMENT
    7. REFERENCES
    8. KEY TERMS AND DEFINITIONS
  7. Chapter 2: MEMS Microrobot with Pulse-Type Hardware Neural Networks Integrated Circuit
    1. ABSTRACT
    2. INTRODUCTION
    3. MEMS MICROROBOT
    4. LOCOMOTION MECHANISMS OF THE MEMS MICROROBOT
    5. PULSE-TYPE HARDWARE NEURAL NETWORKS INTEGRATED CIRCUIT
    6. RESULTS
    7. FUTURE RESEARCH DIRECTIONS
    8. CONCLUSION
    9. ACKNOWLEDGMENT
    10. REFERENCES
    11. KEY TERMS AND DEFINITIONS
  8. Chapter 3: EMG-Based Control of a Multi-Joint Robot for Operating a Glovebox
    1. ABSTRACT
    2. INTRODUCTION
    3. MAIN FOCUS OF THE CHAPTER
    4. EXPERIMENT
    5. RESULTS AND DISCUSSION
    6. FUTURE RESEARCH DIRECTIONS
    7. CONCLUSION
    8. ACKNOWLEDGMENT
    9. REFERENCES
    10. KEY TERMS AND DEFINITIONS
  9. Chapter 4: Classification of the Emotional State of a Subject Using Machine Learning Algorithms for RehabRoby
    1. ABSTRACT
    2. INTRODUCTION
    3. ROBOT-ASSISTED REHABILITATION SYSTEMS
    4. EMOTIONAL STATE RECOGNITION USING PHYSIOLOGICAL DATA
    5. FEATURE SELECTION
    6. DIMENSIONALITY REDUCTION
    7. LEARNING ALGORITHMS
    8. CASE STUDY
    9. CONCLUSION AND FUTURE RESEARCH DIRECTIONS
    10. REFERENCES
    11. KEY TERMS AND DEFINITIONS
  10. Chapter 5: Bio-Inspired Polarization Vision Techniques for Robotics Applications
    1. ABSTRACT
    2. INTRODUCTION
    3. POLARIZATION BASED VISUAL BEHAVIOR IN THE ANIMAL KINGDOM
    4. POLARIZATION-INSPIRED MACHINE VISION APPLICATIONS
    5. SUMMARY
    6. FUTURE RESEARCH DIRECTIONS
    7. CONCLUSION
    8. REFERENCES
    9. ADDITIONAL READING
    10. KEY TERMS AND DEFINITIONS
  11. Chapter 6: State of the Art in Biomimetic Swimming Robots
    1. ABSTRACT
    2. INTRODUCTION
    3. CASE STUDY: UC-IKA 1
    4. CONCLUSION
    5. REFERENCES
    6. KEY TERMS AND DEFINITIONS
    7. ENDNOTES
  12. Chapter 7: Fundamental Control for a Manta-Like Fish Robot
    1. ABSTRACT
    2. INTRODUCTION
    3. BACKGROUND
    4. MANTA-LIKE FISH ROBOT
    5. PECTRAL FIN ANALYSIS FOR DIVING BY FLUID DYNAMICS
    6. ACTUAL EXPERIMENT
    7. FUTURE RESEARCH DIRECTIONS
    8. CONCLUSION
    9. REFERENCES
    10. KEY TERMS AND DEFINITIONS
  13. Chapter 8: Mobile Worm-Like Robots for Pipe Inspection
    1. ABSTRACT
    2. 1. INTRODUCTION
    3. 2. MOBILE TWO-MASS WORM-LIKE ROBOT
    4. 3. MOBILE THREE-MASS WORM-LIKE ROBOT
    5. 4. MOBILE SIX-LINK WORM-LIKE ROBOT
    6. SUMMARY
    7. CONCLUSION
    8. REFERENCES
  14. Chapter 9: Awareness-Based Recommendation toward a New Preference
    1. ABSTRACT
    2. INTRODUCTION
    3. BACKGROUND
    4. AWARENESS BASED RECOMMENDATION
    5. EXPERIMENT
    6. SOLUTIONS AND RECOMMENDATIONS: EXPERIMENTAL RESULTS
    7. FUTURE RESEARCH DIRECTIONS
    8. CONCLUSION
    9. ACKNOWLEDGMENT
    10. REFERENCES
    11. KEY TERMS AND DEFINITIONS
  15. Chapter 10: From Concept to Market
    1. ABSTRACT
    2. INTRODUCTION
    3. SYSTEM DEVELOPMENT STRATEGIES
    4. FIRST PROTOTYPES
    5. SYSTEM CAPABILITY ASSESSMENT
    6. STANDARDS AND METRICS TO FOLLOW
    7. GENERAL REQUIREMENTS FOR MEDCIAL SOFTWARE
    8. THE ROBODOC CASE
    9. CURRENT TRENDS
    10. FUTURE RESEARCH DIRECTIONS
    11. FUTURE EVOLUTION OF THE FIELD
    12. CONCLUSION
    13. ACKNOWLEDGMENT
    14. REFERENCES
    15. KEY TERMS AND DEFINITIONS
  16. Chapter 11: Cable-Driven Robot for Upper and Lower Limbs Rehabilitation
    1. ABSTRACT
    2. INTRODUCTION
    3. JOINTS AND MOVEMENTS OF THE UPPER AND LOWER HUMAN LIMB
    4. MECHANICAL SYSTEMS FOR REHABILITATION
    5. MATHEMATICAL MODELING OF A CABLE-DRIVEN ROBOT
    6. FUTURE RESEARCH DIRECTIONS
    7. CONCLUSION
    8. REFERENCES
    9. KEY TERMS AND DEFINITIONS
  17. Chapter 12: Human-Inspired Robotic Exoskeleton for Post-Stroke Gait Rehabilitation
    1. ABSTRACT
    2. INTRODUCTION
    3. BACKGROUND
    4. LITERATURE FINDINGS AND RESEARCH MOTIVATION
    5. RESEARCH OUTLINE
    6. HARDWARE DEVELOMENT
    7. SYSTEM MODELLING
    8. CONTROL SYSTEM DESIGN
    9. EXPERIMENT SETUP
    10. RESULTS AND DISCUSSION
    11. CONCLUSION AND RECOMMENDATIONS FOR FUTURE EXTENSION
    12. REFERENCES
    13. KEY TERMS AND DEFINITIONS
  18. Chapter 13: Structural Condition Monitoring with the Use of the Derivative-Free Nonlinear Kalman Filter
    1. ABSTRACT
    2. 1. INTRODUCTION
    3. 2. DYNAMICAL MODEL OF THE BUILDING AND OF THE MECHANICAL STRUCTURE
    4. 3. DIFFERENTIAL FLATNESS FOR NONLINEAR DYNAMICAL SYSTEMS
    5. 4. DIFFERENTIAL FLATNESS OF THE MONITORED BUILDING’S STRUCTURE
    6. 5. DAMAGE DETECTION WITH THE USE OF STATISTICAL CRITERIA
    7. 6. SIMULATION TESTS
    8. 7. CONCLUSION
    9. REFERENCES
    10. KEY TERMS AND DEFINITIONS
  19. Chapter 14: Dynamic Modeling and Control Techniques for a Quadrotor
    1. ABSTRACT
    2. INTRODUCTION
    3. STATE OF THE ART
    4. THE QUADROTOR CONCEPT AND STRUCTURE
    5. SYSTEM MODELING
    6. SYSTEM CONTROL
    7. RESULTS DISCUSSION
    8. CONCLUSION AND FUTURE WORK
    9. REFERENCES
    10. KEY TERMS AND DEFINITIONS
  20. Chapter 15: Kinodynamic Motion Planning for an X4-Flyer
    1. ABSTRACT
    2. INTRODUCTION
    3. KINODYNAMIC MOTION PLANNING USING AN HPF
    4. KINODYNAMIC MOTION PLANNING FOR AN X4-FLYER
    5. KINODYNAMIC MOTION PLANNING FOR AN X4-FLYER
    6. CONCLUSION
    7. REFERENCES
    8. KEY TERMS AND DEFINITIONS
  21. Chapter 16: Control of a Biomimetic Robot Hand Finger
    1. ABSTRACT
    2. 1. INTRODUCTION
    3. 2. PHYSICAL MODEL OF THE BIOMIMETIC FINGER
    4. 3. TRAJECTORY PLANNING
    5. 4. CONTROL APPLICATIONS
    6. 5. NUMERICAL RESULTS AND DISCUSSION
    7. 6. CONCLUSION
    8. REFERENCES
    9. KEY TERMS AND DEFINITIONS
    10. APPENDIX 1
    11. APPENDIX 2
    12. APPENDIX 3
    13. APPENDIX 4
  22. Chapter 17: Comparison of Control Strategies by the Example of the Cooling Fan Control of a Mobile Machine
    1. ABSTRACT
    2. INTRODUCTION
    3. BACKGROUND
    4. IMPLEMENTATION OF CONTROLLERS
    5. EVALUATION OF CONTROLLERS
    6. SOLUTIONS AND RECOMMENDATIONS
    7. STABILITY CONSIDERATIONS
    8. FUTURE RESEARCH DIRECTIONS
    9. CONCLUSION
    10. REFERENCES
    11. ADDITIONAL READING
    12. KEY TERMS AND DEFINITIONS
  23. Chapter 18: Design of Hexapod Walking Robots
    1. ABSTRACT
    2. INTRODUCTION
    3. DESIGN EVOLUTION
    4. DESIGN CHALLENGES FOR HEXAPOD WALKING ROBOTS
    5. A DESIGN CASE OF STUDY AT LARM
    6. FUTURE WORK
    7. CONCLUSION
    8. REFERENCES
    9. KEY TERMS AND DEFINITIONS
  24. Chapter 19: Mechatronic Design of Mobile Robots for Stable Obstacle Crossing at Low and High Speeds
    1. ABSTRACT
    2. 1. MECHATRONIC DESIGN OF MOBILE ROBOTS FOR OBSTACLE CROSSING
    3. 2. AGILE ROBOTS FOR OBSTACLE CROSSING AT LOW SPEED: THE OpenWHEEL i3R ROBOT
    4. 3. MODULAR COOPERATIVE MOBILE ROBOTS FOR VENTRAL LONG PAYLOAD TRANSPORT AND OBSTACLE CROSSING: THE CBots AT/VLP ROBOTS
    5. 4. SYNTHESIS OF SPATIAL PARALLEL MECHANISMS FOR A VERTICAL AND LONGITUDINAL ALL-TERRAIN SUSPENSION: THE Susp4D SUSPENSION AND THE MiniFAST ROVER
    6. 5. DYNAMIC PITCH CONTROL OF A MOBILE ROBOT IN BALLISTIC PHASE: THE RobCAT ROBOT
    7. 6. GENERAL CONCLUSION: TOWARDS NEW AGILE VEHICLES
    8. ACKNOWLEDGMENT
    9. REFERENCES
    10. ADDITIONAL READING
    11. KEY TERMS AND DEFINITIONS
  25. Chapter 20: Tracking Control of a Nonholonomic Mobile Robot Using Neural Network
    1. ABSTRACT
    2. 1. INTRODUCTION
    3. 2. DESCRIPTION OF THE MOBILE ROBOT
    4. 3. DESIGN OF THE PROPOSED CONTROL SYSTEM
    5. 4. EXPERIMENTAL AND SIMULATION RESULTS
    6. 5. CONCLUSION
    7. 6. FUTURE WORK
    8. REFERENCES
    9. KEY TERMS AND DEFINITIONS
    10. APPENDIX: “BACK-PROPAGATION ALGORITHM”
  26. Chapter 21: Modeling and Visual Navigation of Autonomous Surface Vessels
    1. ABSTRACT
    2. ROBOTICS AND MECHATRONICS
    3. PROTOTYPE, HARDWARE, AND MODELING OF AUTONOMOUS SURFACE VESSELS
    4. VISUAL ASV
    5. CASE STUDY OF VISUAL ASV
    6. FUTURE RESEARCH DIRECTIONS
    7. CONCLUSION
    8. REFERENCES
    9. ADDITIONAL READING
    10. KEY TERMS AND DEFINITIONS
    11. APPENDIX
  27. Chapter 22: A Framework for RF-Visual SLAM for Cooperative Multi-Agent System
    1. ABSTRACT
    2. INTRODUCTION
    3. DESIGN CONSIDERATION OF THE COOPERATIVE MULTI-AGENT SYSTEM
    4. FORMULATION OF THE RF-VSLAM PROBLEM
    5. DEVELOPMENT OF THE COOPERATIVE MULTI-AGENT SYSTEM
    6. RF-VISUAL SLAM FRAMEWORK FOR COOPERATIVE MULTI-AGENT SYSTEM
    7. RF- VSLAM FRAMEWORK
    8. COOPERATIVE MAPPING VIA IMAGE MOSAICING
    9. CONCLUSION
    10. ACKNOWLEDGMENT
    11. REFERENCES
    12. ADDITIONAL READING
    13. KEY TERMS AND DEFINITIONS
  28. Chapter 23: Mission Design of a Team of Service Robots
    1. ABSTRACT
    2. INTRODUCTION
    3. ADVANCES AND TRENDS IN MISSION DESIGN OF A TEAM OF SERVICE ROBOTS
    4. THE MISSION DESIGN PROBLEM
    5. CHARACTERISTICS OF A SERVICE ROBOT
    6. THE WORKSPACE MODEL
    7. OPTIMAL MISSION DESIGN
    8. STATIC MISSION DESIGN
    9. DETERMINIG AN OPTIMUM MISSION DESIGN IN STATIC ENVIRONMENT
    10. AVOIDING MOVING OBSTACLES
    11. SIMULATED EXPERIMENTS
    12. CONCLUSION
    13. REFERENCES
  29. Chapter 24: Wheelchair Secure Navigation with RF Signal Triangulation and Genetic Algorithm Optimization
    1. ABSTRACT
    2. INTRODUCTION
    3. MOBILE ROBOT PLATFORM
    4. MOBILE ROBOT MODELING
    5. SUPERVISION AND CONTROL EMBEDDED OPEN ARCHITECTURE
    6. MOBILE ROBOT CONTROL STRUCTURE
    7. POSITION ESTIMATION WITH RF SIGNAL TOF
    8. EXTENDED KALMAN FILTER
    9. GENETIC ALGORITHMS OPTIMIZATION FILTER (GAOF)
    10. MOBILE ROBOT RAPID PROTOTYPING
    11. STUDY OF CASE: WHEELCHAIR EXPERIMENTAL VALIDATION
    12. CONCLUSION
    13. REFERENCES
    14. ADDITIONAL READING
    15. KEY TERMS AND DEFINITIONS
  30. Chapter 25: Industrial Machining Robot with Incorporated Robotic CAM System
    1. ABSTRACT
    2. 1. INTRODUCTION
    3. 2. DESIRED TRAJECTORY
    4. 3. IMPLEMENTATION TO AN INDUSTRIAL ROBOT
    5. 4. EXPERIMENT
    6. 5. ROBOTIC CAM SYSTEM EXTENDED FOR DEALING WITH NC DATA
    7. 6. MACHINING ROBOT FOR FOAMED POLYSTYRENE MATERIALS
    8. 7. CONCLUSION
    9. REFERENCES
    10. KEY TERMS AND DEFINITIONS
  31. Chapter 26: Distributed Robots Path/Tasks Planning on Fetch Scheduling
    1. ABSTRACT
    2. INTRODUCTION
    3. ROBOT’S MOTION MODEL
    4. ROBOTS ACCELERATION MODELS
    5. ROBOTIC TASK SCHEDULER
    6. EXPERIMENTAL RESULTS
    7. FUTURE WORK
    8. CONCLUSION
    9. REFERENCES
    10. ADDITIONAL READING
    11. KEY TERMS AND DEFINITIONS
  32. Chapter 27: Robotic System Design and Development for Medical Treatment, Surgery, and Automated Production Applications
    1. ABSTRACT
    2. INTRODUCTION
    3. BACKGROUND
    4. ROBOTIC CONTROL AND MECHANISM
    5. NEW STUDIES OF ROBOTIC SYSTEMS IN MEDICAL TREATMENT, SURGERY, AND INDUSTRIAL APPLICATIONS
    6. COMPARISON
    7. FUTURE IMPROVEMENT
    8. CONCLUSION
    9. REFERENCES
    10. KEY TERMS AND DEFINITIONS
  33. Chapter 28: Novel Method of Assessing Practical Intelligence Acquired in Mechatronics Laboratory Classes
    1. ABSTRACT
    2. INTRODUCTION
    3. ENGINEERING STUDENTS’ PERCEPTION ON WORKING SKILLS
    4. RESEARCH ON PRACTICAL INTELLIGENCE: ISSUES AND CHALLENGES
    5. ANALYSIS OF THE RESULTS OF PRACTICAL INTELLIGENCE RESEARCH
    6. CONCLUSION
    7. REFERENCES
    8. KEY TERMS AND DEFINITIONS
  34. Chapter 29: Robotics Community Experiences
    1. ABSTRACT
    2. INTRODUCTION
    3. LITERATURE REVIEW
    4. METHODOLOGICAL APPROACH
    5. FINDINGS
    6. DISCUSSION
    7. FUTURE RESEARCH DIRECTIONS
    8. CONCLUSION
    9. REFERENCES
    10. ADDITIONAL READING
    11. KEY TERMS AND DEFINITIONS
  35. Chapter 30: Mechatronic System Design for a Solar Tracker
    1. ABSTRACT
    2. INTRODUCTION
    3. DESIGN OBJECTIVES AND SPECIFICATIONS
    4. ST100’S DESIGN APPROACH
    5. ST100 ELECTRICAL SYSTEM DESIGN
    6. ST100 SOFTWARE DESIGN
    7. MECHATRONIC SYSTEM DESIGN
    8. FABRICATION
    9. CALIBRATION, TESTING, AND SYSTEM VALIDATION
    10. EXPERIMENTS AND DEMONSTRATION RESULTS
    11. FUTURE RESEARCH DIRECTIONS AND IMPROVEMENTS
    12. CONCLUSION
    13. ACKNOWLEDGMENT
    14. REFERENCES
    15. ADDITIONAL READING
    16. KEY TERMS AND DEFINITIONS
  36. Compilation of References
  37. About the Contributors