05322nam 2200553 450 991064293690332120230210181804.01-119-81241-01-119-81239-9(PPN)267629125(MiAaPQ)EBC7069545(Au-PeEL)EBL7069545(CKB)24342152400041(EXLCZ)992434215240004120230107d2022 uy 0engurcnu||||||||txtrdacontentcrdamediacrrdacarrierEmbedded control for mobile robotic applications /Leena Vachhani, Pranjal Vyas, Arunkumar G. KPiscataway, New Jersey ;Hoboken, New Jersey :IEEE Press :Wiley,[2022]©20221 online resource (179 pages)IEEE Press Series on Control Systems Theory and Applications Ser.Print version: Vachhani, Leena Embedded Control for Mobile Robotic Applications Newark : John Wiley & Sons, Incorporated,c2022 9781119812388 Includes bibliographical references and index.Cover -- Title Page -- Copyright -- Contents -- Preface -- Acknowledgments -- Acronyms -- Introduction -- About the Companion Website -- Chapter 1 Embedded Technology for Mobile Robotics -- 1.1 Embedded Control System -- 1.2 Mobile Robotics -- 1.2.1 Robot Model for 2D Motion -- 1.2.1.1 Generic Model -- 1.2.1.2 Unicycle Model -- 1.2.1.3 Differential‐Drive Mobile Robot or DDMR -- 1.2.1.4 Front Wheel Steering Robot or FWSR -- 1.2.1.5 Chained form of Unicycle -- 1.2.1.6 Single Integrator Model of Unicycle -- 1.2.1.7 Discrete‐time Unicycle Model -- 1.2.2 Robot Model for 3D Motion -- 1.2.2.1 Quadcopter - An Aerial Vehicle -- 1.2.2.2 Six‐Thrusters Configuration - An Underwater Vehicle -- 1.3 Embedded Technology -- 1.3.1 Processor Technology -- 1.3.2 IC Technology -- 1.4 Commercially Available Embedded Processors -- 1.4.1 Microprocessor -- 1.4.2 Microcontroller -- 1.4.3 Field Programmable Gate Arrays (FPGA) -- 1.4.4 Digital Signal Processor -- 1.5 Notes and Further Readings -- Chapter 2 Discrete‐time Controller Design -- 2.1 Transfer Function for Equivalent Discrete‐time System -- 2.2 Discrete‐time PID Controller Design -- 2.3 Stability in Embedded Implementation -- 2.3.1 Sampling -- 2.3.2 Quantization -- 2.3.3 Processing Time -- 2.4 Notes and Further Readings -- Chapter 3 Embedded Control and Robotics -- 3.1 Transformations -- 3.1.1 2D Transformations -- 3.1.2 3D Transformations -- 3.2 Collision Detection and Avoidance -- 3.2.1 Vector Field Histogram (VFH) -- 3.2.2 Curvature Velocity Technique (CVM) -- 3.2.3 Dynamic Window Approach (DWA) -- 3.3 Localization -- 3.4 Path Planning -- 3.4.1 Potential Field Path Planning -- 3.4.2 Graph‐based Path Planning -- 3.4.2.1 Dijkstra's Algorithm -- 3.4.2.2 A* Algorithm -- 3.4.2.3 Rapidly‐exploring Random Trees (RRT) Algorithm -- 3.5 Multi‐agent Scenarios -- 3.6 Notes and Further Readings -- Chapter 4 Bottom‐up Method.4.1 Computations Using CORDIC1 -- 4.1.1 Coordinate Transformation -- 4.1.1.1 Cartesian to Polar Coordinates Conversion -- 4.1.1.2 Polar to Cartesian Coordinate Conversion -- 4.1.2 Exponential and Logarithmic Functions -- 4.2 Interval Arithmetic2 -- 4.2.1 Basics of Interval Arithmetic -- 4.2.2 Inclusion Function and Inclusion Tests -- 4.3 Collision Detection Using Interval Technique3 -- 4.4 Free Interval Computation for Collision Avoidance4 -- 4.4.1 Illustration for Detecting Collision and Computing Free interval -- 4.5 Notes for Further Reading -- Chapter 5 Top‐Down Method -- 5.1 Robust Controller Design -- 5.1.1 Basic Definitions -- 5.1.2 State Feedback Control -- 5.1.3 Sliding‐Mode Control -- 5.1.4 Sliding Surface Design for Position Stabilization in 2D -- 5.1.5 Position Stabilization for a Vehicle in 3D -- 5.1.6 Embedded Implementation -- 5.2 Switched Nonlinear System -- 5.2.1 Swarm Aggregation as a Switched Nonlinear System -- 5.2.1.1 Free Subsystem s1 -- 5.2.1.2 Engaged Subsystem s2 -- 5.2.2 Embedded Implementation -- 5.3 Notes and Further Readings -- Chapter 6 Generic FPGA Architecture Design -- 6.1 FPGA Basics and Verilog -- 6.2 Systematic Approach for Designing Architecture Using FSM -- 6.2.1 PID Controller Architecture -- 6.2.2 Sliding‐Mode Controller Architecture -- 6.3 FPGA Implementation -- 6.4 Parallel Implementation of Multiple Controllers -- 6.5 Notes and Further Readings -- Chapter 7 Summary -- Bibliography -- Index -- Books in the IEEE Press Series on Control SystemsTheory and Applications -- EULA.IEEE Press Series on Control Systems Theory and Applications Ser.RoboticsElectronic controllersEmbedded computer systemsField programmable gate arraysRobotics.Electronic controllers.Embedded computer systems.Field programmable gate arrays.629.892Vachhani Leena1276477Vyas PranjalG. K ArunkumarMiAaPQMiAaPQMiAaPQBOOK9910642936903321Embedded control for mobile robotic applications3007818UNINA04586nam 2200781 a 450 991078846980332120200520144314.01-139-01241-X1-107-21970-11-283-01723-797866130172391-139-00955-91-139-00903-61-139-01008-51-139-00793-91-139-00682-70-511-97638-0(CKB)3190000000006440(EBL)667580(OCoLC)707068328(SSID)ssj0000459774(PQKBManifestationID)11326766(PQKBTitleCode)TC0000459774(PQKBWorkID)10472741(PQKB)10675682(UkCbUP)CR9780511976384(Au-PeEL)EBL667580(CaPaEBR)ebr10452872(CaONFJC)MIL301723(MiAaPQ)EBC667580(EXLCZ)99319000000000644020100914d2011 uy 0engur|||||||||||txtccrCriminologists on terrorism and homeland security[electronic resource] /edited by Brian Forst, Jack R. Greene, James P. LynchCambridge ;New York Cambridge University Press20111 online resource (496 p.)Cambridge studies in criminologyDescription based upon print version of record.0-521-72827-4 0-521-89945-1 Includes bibliographical references and index.Machine generated contents note: 1. Introduction and overview Brian Forst, Jack R. Greene and James P. Lynch; Part I. Nature of the Problem: 2. Manifestations of aggression: terrorism, crime, and war David Klinger and Charles 'Sid' Heal; 3. The etiology of terrorism: theory, data, and methods Quint Thurman and Wayman Mullins; 4. An ecological perspective of terrorism Bryan Vila and Joanne Savage; 5. Gangs and terrorist cells David Curry; 6. Women, crime, and terrorism Rita Simon and Adrienne Tranel; Part II. Strategies for Intervention: 7. Crime prevention strategies and terrorism Cynthia Lum and Christopher Koper; 8. Routine activities theory and the prevention of terrorism James P. Lynch; 9. Soldiers and spies, police and detectives Tomas Mijares and Jay Jamieson; 10. Community policing and homeland security Jack R. Greene; 11. Go analyze! (Connecting the dots) Jean-Paul Brodeur; 12. Managing the fear of terrorism Brian Forst; 13. Should profiling be used to prevent terrorism? A. Daktari Alexander; 14. Federal and local coordination in homeland security Ed Maguire and William King; 15. Liberty and security in an era of terrorism John Kleinig; 16. Regulating terrorism John Braithwaite; Part III. Thinking About Tomorrow: 17. Countering myths about terrorism: some lessons learned from the global terrorism database Gary LaFree; 18. Criminal justice and terrorism: a research agenda Brian Forst."This volume presents 19 original essays addressing what is widely regarded as the most serious problem confronting America today and for years to come - terrorism - from the unique perspective of criminology. The chapters collected here address such issues as the prevention of terrorism, the applicability of community policing and routine activities models of crime to the problem of terrorism, how to balance liberty and security, and how to think about and manage the fear of terrorism, as well as the coordination of federal and local efforts to prevent and counter terrorism. Criminologists on Terrorism and Homeland Security will be of interest to anyone concerned about violence prevention in general and terrorism in particular, policing, prosecution, adjudication, sentencing and restorative justice"--Provided by publisher.Cambridge studies in criminology.TerrorismTerrorismPreventionInternal securityNational securityTerrorism.TerrorismPrevention.Internal security.National security.363.325SOC004000bisacshForst Brian1514528Greene Jack R213282Lynch James P(James Patrick),1949-1183948MiAaPQMiAaPQMiAaPQBOOK9910788469803321Criminologists on terrorism and homeland security3749713UNINA