01639nam2 22003613i 450 SUN007279720091123120000.001-981461-6-720091123d1978 |0latc50 balatGB|||| |||||ˆ2: ‰BrutusOratorDe optimo genere oratorumPartitiones oratoriaeTopicaM. Tulli CiceronisOxoniie typographeo Clarendonianostampa 1978VIII, 254 p.20 cm.001SUN00727912001 RhetoricaM. Tulli Ciceronisrecognovit brevique adnotatione critica instruxit A. S. Wilkins2210 Oxoniie typographeo Clarendoniano215 v.20 cm.GBOxfordSUNL000020Cicero, Marcus TulliusSUNV00988382411ClarendonSUNV000098650Cicerone, Marco TullioCicero, Marcus TulliusSUNV009447CiceroneCicero, Marcus TulliusSUNV009448CicéronCicero, Marcus TulliusSUNV055928Cicero, Marcus T.Cicero, Marcus TulliusSUNV025808ITSOL20181109RICASUN0072797UFFICIO DI BIBLIOTECA DEL DIPARTIMENTO DI LETTERE E BENI CULTURALI07 CONS Xe 5 Cic 07 4798 UFFICIO DI BIBLIOTECA DEL DIPARTIMENTO DI LETTERE E BENI CULTURALIIT-CE01034798CONS Xe 5 CiccaDe optimo genere oratorum15647Orationes15520Partitiones Oratoriae15671Brutus15645Topica15648UNICAMPANIA05661nam 2200757 a 450 991102000440332120200520144314.097811185998601118599861978111859993811185999349781118599976111859997797812991873201299187323(CKB)2550000001005877(EBL)1124318(SSID)ssj0000834363(PQKBManifestationID)11462226(PQKBTitleCode)TC0000834363(PQKBWorkID)10980653(PQKB)10304807(MiAaPQ)EBC1124318(OCoLC)828298971(CaSebORM)9781118599860(PPN)250184621(OCoLC)876268765(OCoLC)ocn876268765(Perlego)1006113(EXLCZ)99255000000100587720100310d2010 uy 0engur|n|---|||||txtccrUnmanned aerial vehicles embedded control /edited by Rogelio Lozano1st editionLondon ISTE ;Hoboken, N.J. Wileyc20101 online resource (346 p.)ISTE"Adapted from Objets volants miniatures : modelisation et commande embarquee published 2007."9781848211278 1848211279 Includes bibliographical references and index.Cover; Unmanned Aerial Vehicles; Title Page; Copyright Page; Table of Contents; Chapter 1. Aerodynamic Configurations and Dynamic Models; 1.1. Aerodynamic configurations; 1.2. Dynamic models; 1.2.1. Newton-Euler approach; 1.2.2. Euler-Lagrange approach; 1.2.3. Quaternion approach; 1.2.4. Example: dynamic model of a quad-rotor rotorcraft; 1.3. Bibliography; Chapter 2. Nested Saturation Control for Stabilizing the PVTOL Aircraft; 2.1. Introduction; 2.2. Bibliographical study; 2.3. The PVTOL aircraft model; 2.4. Control strategy; 2.4.1. Control of the vertical displacement y2.4.2. Control of the roll angle θ and the horizontal displacement x2.4.2.1. Boundedness of θ; 2.4.2.2. Boundedness of θ; 2.4.2.3. Boundedness of x; 2.4.2.4. Boundedness of x; 2.4.2.5. Convergence of θ, θ, x and x to zero; 2.5. Other control strategies for the stabilization of the PVTOL aircraft; 2.6. Experimental results; 2.7. Conclusions; 2.8. Bibliography; Chapter 3. Two-Rotor VTOL Mini UAV: Design, Modeling and Control; 3.1. Introduction; 3.2. Dynamic model; 3.2.1. Kinematics; 3.2.2. Dynamics; 3.2.2.1. Forces acting onthe vehicle; 3.2.2.2. Torques acting on the vehicle3.2.3. Model for control analysis3.3. Control strategy; 3.3.1. Altitude control; 3.3.2. Horizontal motion control; 3.3.3. Attitude control; 3.4. Experimental setup; 3.4.1. Onboard flight system (OFS); 3.4.2. Outboard visual system; 3.4.2.1. Position; 3.4.2.2. Optical flow; 3.4.3. Experimental results; 3.5. Concluding remarks; 3.6. Bibliography; Chapter 4. Autonomous Hovering of a Two-Rotor UAV; 4.1. Introduction; 4.2. Two-rotor UAV; 4.2.1. Description; 4.2.2. Dynamic model; 4.2.2.1. Translational motion; 4.2.2.2. Rotational motion; 4.2.2.3. Reduced model; 4.3. Control algorithm design4.4. Experimental platform4.4.1. Real-time PC-control system (PCCS); 4.4.1.1. Sensors and communication hardware; 4.4.2. Experimental results; 4.5. Conclusion; 4.6. Bibliography; Chapter 5. Modeling and Control of a Convertible Plane UAV; 5.1. Introduction; 5.2. Convertible plane UAV; 5.2.1. Vertical mode; 5.2.2. Transition maneuver; 5.2.3. Horizontal mode; 5.3. Mathematical model; 5.3.1. Translation of the vehicle; 5.3.2. Orientation of the vehicle; 5.3.2.1. Euler angles; 5.3.2.2. Aerodynamic axes; 5.3.2.3. Torques; 5.3.3. Equations of motion; 5.4. Controller design; 5.4.1. Hover control5.4.1.1. Axial system5.4.1.2. Longitudinal system; 5.4.1.3. Lateral system; 5.4.1.4. Simulation and experimental results; 5.4.2. Transition maneuver control; 5.4.3. Horizontal flight control; 5.5. Embedded system; 5.5.1. Experimental platform; 5.5.2. Microcontroller; 5.5.3. Inertial measurement unit (IMU); 5.5.4. Sensor fusion; 5.6. Conclusions and future works; 5.6.1. Conclusions; 5.6.2. Future works; 5.7. Bibliography; Chapter 6. Control of Different UAVs with Tilting Rotors; 6.1. Introduction; 6.2. Dynamic model of a flying VTOL vehicle; 6.2.1. Kinematics; 6.2.2. Dynamics6.3. Attitude control of a flying VTOL vehicleThis book presents the basic tools required to obtain the dynamical models for aerial vehicles (in the Newtonian or Lagrangian approach). Several control laws are presented for mini-helicopters, quadrotors, mini-blimps, flapping-wing aerial vehicles, planes, etc. Finally, this book has two chapters devoted to embedded control systems and Kalman filters applied for aerial vehicles control and navigation. This book presents the state of the art in the area of UAVs. The aerodynamical models of different configurations are presented in detail as well as the control strategies which are validated iISTEDrone aircraftAutomatic controlEmbedded computer systemsDrone aircraftAutomatic control.Embedded computer systems.629.132/6Lozano R(Rogelio),1954-727156MiAaPQMiAaPQMiAaPQBOOK9911020004403321Unmanned aerial vehicles4417990UNINA