04072nam 2200541 450 991027093670332120200520144314.01-119-38142-81-119-38143-61-119-38144-4(CKB)4100000000641145(Au-PeEL)EBL5043193(CaPaEBR)ebr11438570(CaONFJC)MIL1036936(OCoLC)984512183(CaSebORM)9781119381235(MiAaPQ)EBC5043193(EXLCZ)99410000000064114520171013h20182018 uy 0engurcnu||||||||rdacontentrdamediardacarrierRobot manipulator redundancy resolution /Yunong Zhang, Long Jin, Sun Yatsen University1st editionHoboken, New Jersey :Wiley,2018.©20181 online resource (407 pages)1-119-38123-1 Includes bibliographical references and index.Introduces a revolutionary, quadratic-programming based approach to solving long-standing problems in motion planning and control of redundant manipulators This book describes a novel quadratic programming approach to solving redundancy resolutions problems with redundant manipulators. Known as ``QP-unified motion planning and control of redundant manipulators'' theory, it systematically solves difficult optimization problems of inequality-constrained motion planning and control of redundant manipulators that have plagued robotics engineers and systems designers for more than a quarter century. An example of redundancy resolution could involve a robotic limb with six joints, or degrees of freedom (DOFs), with which to position an object. As only five numbers are required to specify the position and orientation of the object, the robot can move with one remaining DOF through practically infinite poses while performing a specified task. In this case redundancy resolution refers to the process of choosing an optimal pose from among that infinite set. A critical issue in robotic systems control, the redundancy resolution problem has been widely studied for decades, and numerous solutions have been proposed. This book investigates various approaches to motion planning and control of redundant robot manipulators and describes the most successful strategy thus far developed for resolving redundancy resolution problems. Provides a fully connected, systematic, methodological, consecutive, and easy approach to solving redundancy resolution problems Describes a new approach to the time-varying Jacobian matrix pseudoinversion, applied to the redundant-manipulator kinematic control Introduces The QP-based unification of robots' redundancy resolution Illustrates the effectiveness of the methods presented using a large number of computer simulation results based on PUMA560, PA10, and planar robot manipulators Provides technical details for all schemes and solvers presented, for readers to adopt and customize them for specific industrial applications Robot Manipulator Redundancy Resolution is must-reading for advanced undergraduates and graduate students of robotics, mechatronics, mechanical engineering, tracking control, neural dynamics/neural networks, numerical algorithms, computation and optimization, simulation and modelling, analog, and digital circuits. It is also a valuable working resource for practicing robotics engineers and systems designers and ...RobotsControl systemsManipulators (Mechanism)Redundancy (Engineering)RobotsControl systems.Manipulators (Mechanism)Redundancy (Engineering)629.8/933Zhang Yunong1973-886029Jin Long1988-MiAaPQMiAaPQMiAaPQBOOK9910270936703321Robot manipulator redundancy resolution1978385UNINA02083nam 2200421 450 991031782660332120231214145436.0953-51-4023-X953-51-3958-4(CKB)4970000000099818(iGPub)INOP0003091(oapen)https://directory.doabooks.org/handle/20.500.12854/40239(EXLCZ)99497000000009981820200222018 xx c0 0engurcn#|||m|||atxtrdacontentcrdamediacrrdacarrierAdvances in bioremediation and phytoremediationIntechOpen2018[Place of publication not identified] :IntechOpen,2018.©20181 online resource (202 pages)953-51-3957-6 The pollution of soil and groundwater by harmful chemical compounds and heavy metals is becoming very serious in many countries. Although remediation is necessary as soon as possible, the performance of conventional bioremediation processes is not sufficient. This book deals with advances in bioremediation and phytoremediation processes by using excellent strains and a combination of processes. In the chapters of this book, the researchers have introduced the overall status of contamination; the characteristics of bioremediation using halobacteria, Candida yeast, and autochthonous bacteria; and phytoremediation using macrophytes. Moreover, other researchers introduced a process using biochar and electric currents, and this combination of processes and phytoremediation enhances the overall process.SCIENCE / Life Sciences / EcologybisacshLife SciencesEcologyEnvironmental SciencesSCIENCE / Life Sciences / Ecology.628.5Naofumi Shiomiauth1315296Shiomi NaofumiBOOK9910317826603321Advances in bioremediation and phytoremediation3032350UNINA