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Embedded Robotics: Mobile Robot Design and Applications with Embedded Systems [Kõva köide]

  • Formaat: Hardback, 447 pages, kõrgus x laius x paksus: 248x178x25 mm, kaal: 998 g, 203 illus., 33 in color.
  • Ilmumisaeg: 31-May-2003
  • Kirjastus: Springer-Verlag Berlin and Heidelberg GmbH & Co. K
  • ISBN-10: 3540034366
  • ISBN-13: 9783540034360
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Embedded Robotics: Mobile Robot Design and Applications with Embedded SystemsSuurem pilt
  • Formaat: Hardback, 447 pages, kõrgus x laius x paksus: 248x178x25 mm, kaal: 998 g, 203 illus., 33 in color.
  • Ilmumisaeg: 31-May-2003
  • Kirjastus: Springer-Verlag Berlin and Heidelberg GmbH & Co. K
  • ISBN-10: 3540034366
  • ISBN-13: 9783540034360
Teised raamatud teemal:
Püsilink: https://www.kriso.ee/db/9783540034360.html
Märksõnad:
This book presents a unique combination of mobile robots and embedded systems, from introductory to intermediate level. It is structured in three parts, dealing with embedded systems (hardware and software design, actuators, sensors, PID control, multitasking), mobile robot design (driving, balancing, walking, and flying robots), and mobile robot applications (mapping, robot soccer, genetic algorithms, neural networks, behavior-based systems, and simulation). The book is written as a text for courses in computer science, computer engineering, IT, electronic engineering, and mechatronics, as well as a guide for robot hobbyists and researchers.
PART I: EMBEDDED SYSTEMS
1 Introduction
3(12)
1.1 Mobile Robots
4(3)
1.2 Embedded Controllers
7(3)
1.3 Interfaces
10(3)
1.4 References
13(2)
2 Programming Tools
15(10)
2.1 System Installation
15(1)
2.2 Compiler for C and C++
16(2)
2.3 Assembler
18(2)
2.4 Debugging
20(2)
2.5 Download and Upload
22(1)
2.6 References
23(2)
3 ROBIOS Operating System
25(18)
3.1 ROBIOS Structure
25(3)
3.2 Monitor Program
28(6)
3.3 System Function and Device Driver Library
34(2)
3.4 Hardware Description Table
36(4)
3.5 Boot Procedure
40(1)
3.6 References
41(2)
4 Multitasking
43(14)
4.1 Cooperative Multitasking
43(2)
4.2 Preemptive Multitasking
45(2)
4.3 Synchronization
47(4)
4.4 Scheduling
51(3)
4.5 Interrupts and Timer-Activated Tasks
54(2)
4.5 References
56(1)
5 Sensors
57(26)
5.1 Sensor Categories
58(1)
5.2 Binary Sensor
59(1)
5.3 Analog vs. Digital Sensors
59(1)
5.4 Shaft Encoder
60(2)
5.5 A/D Converter
62(1)
5.6 Position Sensitive Device
62(3)
5.7 Compass
65(2)
5.8 Gyroscope, Accelerometer, Inclinometer
67(3)
5.9 Digital Camera
70(11)
5.10 References
81(2)
6 Actuators
83(10)
6.1 DC Motors
83(3)
6.2 H-Bridge
86(2)
6.3 Pulse Width Modulation
88(2)
6.4 Stepper Motors
90(1)
6.5 Servos
91(1)
6.6 References
92(1)
7 Control
93(18)
7.1 On-Off Control
93(5)
7.2 PID Control
98(6)
7.3 Velocity Control and Position Control
104(1)
7.4 Multiple Motors Driving Straight
105(3)
7.5 V-Omega Interface
108(2)
7.6 References
110(1)
8 Real-Time Image Processing
111(20)
8.1 Camera Interface
111(2)
8.2 Auto-Brightness
113(1)
8.3 Edge Detection
114(2)
8.4 Motion Detection
116(1)
8.5 Color Space
117(2)
8.6 Color Object Detection
119(5)
8.7 Image Segmentation
124(2)
8.8 Image Coordinates versus World Coordinates
126(2)
8.9 References
128(3)
9 Wireless Communication
131(14)
9.1 Communication Model
132(2)
9.2 Messages
134(1)
9.3 Fault-Tolerant Self Configuration
135(2)
9.4 User Interface and Remote Control
137(3)
9.5 Sample Application Program
140(1)
9.6 References
141(4)
PART II: MOBILE ROBOT DESIGN
10 Driving Robots
145(26)
10.1 Single Wheel Drive
145(1)
10.2 Differential Drive
146(4)
10.3 Tracked Robots
150(1)
10.4 Synchro-Drive
151(2)
10.5 Ackermann Steering
153(1)
10.6 Model Cars as Robots
154(1)
10.7 Localization
155(5)
10.8 Navigation
160(1)
10.9 Software Architecture
161(7)
10.10 References
168(3)
11 Ommi-Directional Robots
171(8)
11.1 Mecanum Wheels
171(1)
11.2 Omni-Directional Kinematics
172(3)
11.3 Omni-Directional Robot Design
175(1)
11.4 Driving Program
175(2)
11.5 References
177(2)
12 Balancing Robots
179(8)
12.1 Simulation
179(1)
12.2 Inverted Pendulum Robot
180(3)
12.3 Double Inverted Pendulum
183(1)
12.4 References
184(3)
13 Walking Robots
187(18)
13.1 Six-Legged Robot Design
187(3)
13.2 Biped Robot Design
190(3)
13.3 Sensors for Walking Robots
193(1)
13.4 Static Balance
194(3)
13.5 Dynamic Balance
197(5)
13.6 References
202(3)
14 Autonomous Planes
205(10)
14.1 Application
205(3)
14.2 Control System and Sensors
208(1)
14.3 Flight Program
209(4)
14.4 References
213(2)
15 EyeSim Simulator
215(18)
15.1 Mobile Robot Simulators
215(1)
15.2 EyeSim User Interface
216(2)
15.3 Sensor Actuator Modeling
218(2)
15.4 Multiple Robot Simulation
220(1)
15.5 Sample Application
221(1)
15.6 Environment Representations
222(3)
15.7 Parameter Files
225(4)
15.8 References
229(4)
PART III: MOBILE ROBOT APPLICATIONS
16 Maze Exploration
233(12)
16.1 Micro Mouse Contest
233(2)
16.2 Maze Exploration Algorithms
235(8)
16.3 Simulated vs. Real Maze Program
243(1)
16.4 References
244(1)
17 Map Generation
245(14)
17.1 Mapping Algorithm
245(2)
17.2 Data Representation
247(1)
17.3 Boundary-Following Algorithm
248(1)
17.4 Algorithm Execution
249(2)
17.5 Simulation Experiments
251(1)
17.6 Physical Experiments
252(3)
17.7 Results
255(1)
17.8 References
256(3)
18 Robot Soccer
259(14)
18.1 RoboCup and FIRA Competitions
259(3)
18.2 Team Structure
262(1)
18.3 Mechanics and Actuators
263(1)
18.4 Sensing
263(2)
18.5 Image Processing
265(2)
18.6 Trajectory Planning
267(5)
18.7 References
272(1)
19 Neural Networks
273(14)
19.1 Neural Network Principles
273(1)
19.2 Feed-Forward Networks
274(5)
19.3 Learning
279(5)
19.4 Neural Controller
284(1)
19.5 References
285(2)
20 Genetic Algorithms
287(16)
20.1 Genetic Algorithm Principles
288(2)
20.2 Genetic Operators
290(2)
20.3 Applications to Robot Control
292(1)
20.4 Example Evolution
293(4)
20.5 Implementation of Genetic Algorithms
297(3)
20.6 References
300(3)
21 Genetic Programming
303(20)
21.1 Concepts and Applications
303(2)
21.2 Lisp
305(4)
21.3 Genetic Operators
309(2)
21.4 Evolution
311(1)
21.5 Tracking Problem
312(2)
21.6 Evolution of Tracking Behavior
314(6)
21.7 References
320(3)
22 Behavior-Based Systems
323(16)
22.1 Behavior-Based Robotics
323(3)
22.2 Behavior Framework
326(3)
22.3 Adaptive Controller
329(4)
22.4 Tracking Problem
333(1)
22.5 Neural Network Controller
334(2)
22.6 Experiments
336(2)
22.7 References
338(1)
23 Evolution of Walking Gaits
339(12)
23.1 Splines
339(1)
23.2 Control Algorithm
340(2)
23.3 Incorporating Feedback
342(1)
23.4 Controller Evolution
343(2)
23.5 Controller Assessment
345(1)
23.6 Evolved Gaits
346(3)
23.7 References
349(2)
24 Outlook
351(4)
APPENDICES
Laboratories
355(10)
Solutions
365(4)
Hardware Design
369(8)
ROBIOS Library
377(28)
Hardware Description Table
405(16)
Trips and Tricks
421(6)
Index 427