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1. |
Record Nr. |
UNINA9910453143603321 |
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Autore |
Tzafestas S. G. <1939-> |
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Titolo |
Introduction to mobile robot control / / Spyros G. Tzafestas |
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Pubbl/distr/stampa |
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Waltham, MA : , : Elsevier, , [2014] |
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©2014 |
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ISBN |
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0-12-810050-8 |
0-12-417103-6 |
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Edizione |
[First edition.] |
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Descrizione fisica |
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1 online resource (718 p.) |
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Collana |
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Disciplina |
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Soggetti |
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Mobile robots |
Robots - Control systems |
Autonomous robots |
Electronic books. |
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Lingua di pubblicazione |
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Formato |
Materiale a stampa |
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Livello bibliografico |
Monografia |
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Note generali |
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Description based upon print version of record. |
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Nota di bibliografia |
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Includes bibliographical references. |
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Nota di contenuto |
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Front Cover; Introduction to Mobile Robot Control; Copyright Page; Dedication; Contents; Preface; List of acknowledged authors and collaborators; Principal symbols and acronyms; Quotations about robotics; 1 Mobile Robots: General Concepts; 1.1 Introduction; 1.2 Definition and History of Robots; 1.2.1 What Is a Robot?; 1.2.2 Robot History; 1.2.2.1 Ancient and Preindustrial Period; 1.2.2.2 Industrial and Robosapien Period; 1.3 Ground Robot Locomotion; 1.3.1 Legged Locomotion; 1.3.2 Wheeled Locomotion; 1.3.2.1 Wheel Types; 1.3.2.2 Drive Types; 1.3.2.3 WMR Maneuverability; References |
2 Mobile Robot Kinematics 2.1 Introduction; 2.2 Background Concepts; 2.2.1 Direct and Inverse Robot Kinematics; 2.2.2 Homogeneous Transformations; 2.2.3 Nonholonomic Constraints; 2.3 Nonholonomic Mobile Robots; 2.3.1 Unicycle; 2.3.2 Differential Drive WMR; 2.3.3 Tricycle; 2.3.4 Car-Like WMR; 2.3.5 Chain and Brockett-Integrator Models; 2.3.5.1 Unicycle WMR; 2.3.5.2 Rear-Wheel Driving Car; 2.3.6 Car-Pulling Trailer WMR; 2.4 Omnidirectional WMR Kinematic Modeling; 2.4.1 Universal Multiwheel Omnidirectional WMR; 2.4.2 Four-Wheel Omnidirectional WMR with Mecanum Wheels; References |
3 Mobile Robot Dynamics 3.1 Introduction; 3.2 General Robot Dynamic |
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Modeling; 3.2.1 Newton-Euler Dynamic Model; 3.2.2 Lagrange Dynamic Model; 3.2.3 Lagrange Model of a Multilink Robot; 3.2.4 Dynamic Modeling of Nonholonomic Robots; 3.3 Differential-Drive WMR; 3.3.1 Newton-Euler Dynamic Model; 3.3.2 Lagrange Dynamic Model; 3.3.3 Dynamics of WMR with Slip; 3.4 Car-Like WMR Dynamic Model; 3.5 Three-Wheel Omnidirectional Mobile Robot; 3.6 Four Mecanum-Wheel Omnidirectional Robot; References; 4 Mobile Robot Sensors; 4.1 Introduction; 4.2 Sensor Classification and Characteristics |
4.2.1 Sensor Classification 4.2.2 Sensor Characteristics; 4.3 Position and Velocity Sensors; 4.3.1 Position Sensors; 4.3.2 Velocity Sensors; 4.4 Distance Sensors; 4.4.1 Sonar Sensors; 4.4.2 Laser Sensors; 4.4.3 Infrared Sensors; 4.5 Robot Vision; 4.5.1 General Issues; 4.5.2 Sensing; 4.5.2.1 Camera Calibration; 4.5.2.2 Image Acquisition; 4.5.2.3 Illumination; 4.5.2.4 Imaging Geometry; 4.5.3 Preprocessing; 4.5.4 Image Segmentation; 4.5.5 Image Description; 4.5.6 Image Recognition; 4.5.7 Image Interpretation; 4.5.8 Omnidirectional Vision; 4.6 Some Other Robotic Sensors; 4.6.1 Gyroscope |
4.6.2 Compass 4.6.3 Force and Tactile Sensors; 4.6.3.1 Force Sensors; 4.6.3.2 Tactile Sensors; 4.7 Global Positioning System; 4.8 Appendix: Lens and Camera Optics; References; 5 Mobile Robot Control I: The Lyapunov-Based Method; 5.1 Introduction; 5.2 Background Concepts; 5.2.1 State-Space Model; 5.2.2 Lyapunov Stability; 5.2.3 State Feedback Control; 5.2.4 Second-Order Systems; 5.3 General Robot Controllers; 5.3.1 Proportional Plus Derivative Position Control; 5.3.2 Lyapunov Stability-Based Control Design; 5.3.3 Computed Torque Control; 5.3.4 Robot Control in Cartesian Space |
5.3.4.1 Resolved Motion Rate Control |
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Sommario/riassunto |
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Introduction to Mobile Robot Control provides a complete and concise study of modeling, control, and navigation methods for wheeled non-holonomic and omnidirectional mobile robots and manipulators. The book begins with a study of mobile robot drives and corresponding kinematic and dynamic models, and discusses the sensors used in mobile robotics. It then examines a variety of model-based, model-free, and vision-based controllers with unified proof of their stabilization and tracking performance, also addressing the problems of path, motion, and task planning, along with localization |
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2. |
Record Nr. |
UNINA9910585500103321 |
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Autore |
Altamirano Álvaro Monteros |
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Titolo |
Patrimonios alimentarios en América Latina : Recursos locales, actores y globalización / / Nasser Rebaï, Anne-Gaël Bilhaut, Charles-Édouard De Suremain, Esther Katz, Myriam Paredes |
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Pubbl/distr/stampa |
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Marseille, : IRD Éditions, 2022 |
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ISBN |
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Descrizione fisica |
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1 online resource (266 p.) |
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Collana |
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Altri autori (Persone) |
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Bak-GellerSarah |
BilhautAnne-Gaël |
DinizJanaina |
DuarteLaura |
GonzálezNiurka Núñez |
GuéneauStéphane |
KatzEsther |
ParedesMyriam |
PassosCarlos José Sousa |
Peñuela-MoraMaría Cristina |
RebaïNasser |
SammartinoGloria |
SchwarzAnne |
SigristMarie |
SuremainCharles-Édouard de |
ValdezFrancisco |
Zurita-BenavidesMaría Gabriela |
De SuremainCharles-Édouard |
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Soggetti |
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Environmental Studies |
patrimoines |
alimentation |
pratiques alimentaires |
développement |
économie |
sciences humaines |
culture |
Argentine |
Bolivie |
Cuba |
Brésil |
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Équateur |
Mexique |
patrimonios |
alimento |
prácticas de alimentación |
desarrollo |
economía |
Ciencias Humanas |
cultura |
Argentina |
Bolivia |
Brasil |
Ecuador |
México |
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Lingua di pubblicazione |
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Formato |
Materiale a stampa |
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Livello bibliografico |
Monografia |
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Sommario/riassunto |
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En los últimos años, el uso de la noción de «patrimonio alimentario» se generalizó en América Latina, tanto entre los actores públicos como en las asociaciones y académicos. Con el objetivo de discutir esta noción, los autores de las contribuciones que conforman este libro produjeron reflexiones críticas para evitar la trampa de utilizar el «patrimonio alimentario» como un elemento de lenguaje cargado de romanticismo, como suele ser el caso, a veces, en los círculos de activistas y en los discursos de gobiernos. Desde diferentes enfoques disciplinarios, los trabajos empíricos publicados en este libro, producto de investigaciones llevadas a cabo en Argentina, Cuba, Bolivia, Brasil, Ecuador y México, constituyen un aporte clave para los estudios sociales que articulan los temas de la alimentación y del desarrollo. Así, la presente reflexión colectiva busca impulsar nuevas investigaciones y nuevos debates acerca de la utilidad de valorizar la diversidad de las prácticas alimentarias en América Latina a fin de enfrentar los desafíos de la soberanía alimentaria y de la economía local, de conocer mejor la biodiversidad y sus beneficios, y de reconocer la diversidad cultural regional a favor de una mayor inclusión social de los grupos étnicos y de las minorías marginalizadas. |
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3. |
Record Nr. |
UNIORUON00476975 |
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Titolo |
Aspetti dell'agiografia nell'alto Medioevo : testi del 2. Colloquio medievale : Palermo, 20-21 marzo 1983 / S. Boesch Gajano ... [et al.] |
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Pubbl/distr/stampa |
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Edizione |
[Palermo : Officina di Studi Medievali] |
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Descrizione fisica |
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(Scrinium : quaderni ed estratti di schede Medievali ; 4) |
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Soggetti |
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Lingua di pubblicazione |
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Formato |
Materiale a stampa |
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Livello bibliografico |
Monografia |
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