03830oam 2200493 450 991029975790332120190911103511.01-4471-6251-X10.1007/978-1-4471-6251-3(OCoLC)869215335(MiFhGG)GVRL6VBU(EXLCZ)99371000000008333920131219d2014 uy 0engurun|---uuuuatxtccrControl design and analysis for underactuated robotic systems /Xin Xin, Yannian Liu1st ed. 2014.London :Springer,2014.1 online resource (xvii, 319 pages) illustrations (some color)Gale eBooksDescription based upon print version of record.1-4471-6250-1 Includes bibliographical references and index.Fundamental Background -- Directly Driven Acrobat -- Remotely Driven Acrobat -- Pendubot -- Rotational Pendulum -- Counter-Weighted Acrobot -- Variable Length Pendulum -- 2-Link Underactuated Robot with Flexible Elbow Joint -- 3-Link Planar Robot with Passive First Joint -- n-Link Planar Robot with Passive First Joint -- n-Link Planar Robot with Single Passive Joint -- Two Parallel Pendulums on a Cart -- Double Pendulum on a Cart -- 3-Link Planar Robot with Two Passive Joints -- 2-Link Flying Robot.The last two decades have witnessed considerable progress in the study of underactuated robotic systems (URSs). Control Design and Analysis for Underactuated Robotic Systems presents a unified treatment of control design and analysis for a class of URSs, which include systems with multiple-degree-of-freedom and/or with underactuation degree two. It presents novel notions, features, design techniques, and strictly global motion analysis results for these systems. These new materials are shown to be vital in studying the control design and stability analysis of URSs. Control Design and Analysis for Underactuated Robotic Systems includes the modelling, control design, and analysis presented in a systematic way particularly for the following examples: l directly and remotely driven Acrobots l Pendubot l rotational pendulum l counter-weighted Acrobot 2-link underactuated robot with flexible elbow joint l variable-length pendulum l 3-link gymnastic robot with passive first joint l n-link planar robot with passive first joint l n-link planar robot with passive single joint double, or two parallel pendulums on a cart l 3-link planar robots with underactuation degree two 2-link free flying robot The theoretical developments are validated by experimental results for the remotely driven Acrobot and the rotational pendulum. Control Design and Analysis for Underactuated Robotic Systems is intended for advanced undergraduate and graduate students, and researchers in the area of control systems, mechanical and robotics systems, nonlinear systems and oscillation. This text will not only enable the reader to gain a better understanding of the power and fundamental limitations of linear and nonlinear control theory for the control design and analysis for these URSs, but also inspire the reader to address the challenges of more complex URSs.RobotsControl systemsRoboticsRobotsControl systems.Robotics.006.3620629.8629.892Xin Xinauthttp://id.loc.gov/vocabulary/relators/aut987546Liu Yannian(Writer on automatic control),MiFhGGMiFhGGBOOK9910299757903321Control Design and Analysis for Underactuated Robotic Systems2257545UNINA05646nam 2200697 450 991082356310332120200520144314.00-08-101591-70-12-800434-7(CKB)2670000000578335(EBL)1873126(SSID)ssj0001411481(PQKBManifestationID)11872948(PQKBTitleCode)TC0001411481(PQKBWorkID)11401700(PQKB)10042137(Au-PeEL)EBL1873126(CaPaEBR)ebr10992101(CaONFJC)MIL665383(OCoLC)903674185(NjHacI)992670000000578335(CaSebORM)9780080999692(MiAaPQ)EBC1873126(EXLCZ)99267000000057833520141209h20152015 uy 0engur|n|---|||||txtccrHSPA Evolution : The Fundamentals for Mobile Broadband the fundamentals for mobile broadband /Peter von Wrycza1st editionLondon, [England] ;San Diego, California :Academic Press,2015.©20151 online resource (561 p.)Description based upon print version of record.1-322-34101-X 0-08-099969-7 Includes bibliographical references and index.Cover; Title Page; Copyright Page; Contents; List of Figures; List of Tables; Preface; Acknowledgments; Part I - Introduction; Chapter 1 - From 3G to 4G: background and motivation of 3G evolution; 1.1 - History and background of 3G; 1.1.1 - Before 3G; 1.1.2 - Research on 3G; 1.1.3 - 3G standardization roots; 1.2 - Standardization; 1.2.1 - The standardization process; 1.2.2 - 3GPP; 1.2.3 - IMT-2000 and IMT-Advanced activities in ITU; 1.3 - Spectrum for 3G and systems beyond 3G; 1.4 - The motivations behind continuing HSPA evolution; 1.4.1 - General driving forces1.4.1.1 - Technology advancements1.4.1.2 - Services; 1.4.1.3 - User expectations; 1.4.1.4 - Operator business models; 1.4.1.5 - Cost; 1.4.2 - HSPA-specific evolution drivers and philosophy; References; Part II - Technologies for HSPA; Chapter 2 - High data rates in mobile communication; 2.1 - High data rates: Fundamental constraints; 2.1.1 - High data rates in noise-limited scenarios; 2.1.2 - Higher data rates in interference-limited scenarios; 2.2 - Higher data rates within a limited bandwidth: Higher-order modulation; 2.2.1 - Higher-order modulation in combination with channel coding2.2.2 - Variations in instantaneous transmit power2.3 - Wider bandwidth including multi-carrier transmission; 2.3.1 - Multi-carrier transmission; References; Chapter 3 - CDMA transmission principles; 3.1 - Spread spectrum basics; 3.2 - Baseband transmitter model for a CDMA system; 3.3 - Spread spectrum in a real propagation environment; 3.4 - Receiver and equalization strategies; 3.4.1 - Time-domain linear equalization; References; Chapter 4 - Multi-antenna techniques; 4.1 - Multi-antenna configurations; 4.2 - Benefits of multi-antenna techniques; 4.3 - Multiple receive antennas4.4 - Multiple transmit antennas4.4.1 - Transmit-antenna diversity; 4.4.1.1 - Delay diversity; 4.4.1.2 - Diversity by means of space-time coding; 4.4.2 - Transmitter-side beamforming; 4.5 - Spatial multiplexing; 4.5.1 - Basic principles; 4.5.2 - Precoder-based spatial multiplexing; 4.5.3 - Nonlinear receiver processing; References; Chapter 5 - Scheduling, link adaptation, and hybrid-ARQ; 5.1 - Link adaptation: power and rate control; 5.2 - Channel-dependent scheduling; 5.2.1 - Downlink scheduling; 5.2.2 - Uplink scheduling5.2.3 - Link adaptation and channel-dependent scheduling in the frequency domain5.2.4 - Acquiring channel-state information; 5.2.5 - Traffic behavior and scheduling; 5.3 - Retransmission schemes; 5.4 - Hybrid-ARQ with soft combining; References; Part III - HSPA and its evolution; Chapter 6 - Overview of release 99 WCDMA; 6.1 - System architecture; 6.2 - Protocol architecture; 6.3 - Physical layer; downlink; 6.4 - Physical layer; uplink; 6.5 - Resource handling and packet-data session; 6.6 - UE RRC states and state transitions; References; Further Reading; Chapter 7 - Introduction to HSPA7.1 - HSPA emerges from WCDMA: Fundamental building blocks This book is essential reading for those wishing to obtain a systems perspective and a broad view on the background, performance and application of the latest developments in HSPA in the context of the demands on today's mobile broadband devices and networks. It takes the reader behind the scenes of 3GPP and provides an easily accessible understanding of the basic principles, the latest steps in the standard's evolution, and the motivations behind the development of standardized features. It covers important topics such as smartphone related features, multi-carrier and multi-antenna operationBroadband communication systemsStandardsMobile communication systemsStandardsNetwork performance (Telecommunication)Broadband communication systemsStandards.Mobile communication systemsStandards.Network performance (Telecommunication)621.38456Chapman Thomas829533MiAaPQMiAaPQMiAaPQBOOK9910823563103321HSPA Evolution : The Fundamentals for Mobile Broadband3963438UNINA