00952nam0-22002891i-450-99000036149040332120001010000036149FED01000036149(Aleph)000036149FED0100003614920001010d--------km-y0itay50------baitay-------001yyAnwendung von Fettstoffen und daraus hergesellten Produkten in der Textil-Industrie(von) Franz ErbanHalle a.S.Druck und Verlag Wilhelm Knapp1911XII,364 p. ill. 23 cmMonographien über chemisch-technische Fabrikationsmethodenband XXVIErban,Franz707ITUNINARICAUNIMARCBK99000036149040332104 100-66CIDINCHDINCHAnwendung von Fettstoffen und daraus hergesellten Produkten in der Textil-Industrie126138UNINAING0105661nam 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 vehicles4417990UNINA04759nam 2200577 a 450 991096289700332120251124195746.09786611985448978019154697601915469769780191728273019172827697812819854461281985449(MiAaPQ)EBC7034773(CKB)24235069800041(MiAaPQ)EBC415085(Au-PeEL)EBL415085(CaPaEBR)ebr10288259(CaONFJC)MIL198544(OCoLC)437092653(PPN)149137826(EXLCZ)992423506980004120080624d2009 uy 0engur|||||||||||txtrdacontentcrdamediacrrdacarrierAnimal osmoregulation /Timothy J. Bradley1st ed.Oxford ;New York Oxford University Press20091 online resource (vii, 168 pages) illOxford animal biology seriesIncludes index.9780198569961 Intro -- Contents -- Preface -- 1 The properties of water -- 1.1 Introduction -- 1.2 The structure of pure water -- 1.3 Some unusual attributes of water -- 1.4 The colligative properties of water -- 1.5 The activity coefficient -- 1.6 The activity of water -- Suggested additional readings -- 2 Osmosis -- 2.1 The phenomenon of osmosis -- 2.2 The reflection coefficient -- 2.3 Osmotic pressure -- Suggested additional readings -- 3 The interaction of water with organic solutes -- 3.1 The effects of polar solutes -- 3.2 The primary structure of proteins -- 3.3 The secondary and tertiary structure of proteins -- 3.4 The quaternary structure of proteins -- 3.5 The interaction of lipids with water in the cell -- 3.6 Membranes are ubiquitous -- Suggested additional readings -- 4 The need for, and often conflicting issues of, osmoregulation and volume regulation -- 4.1 Osmotic regulation -- 4.2 Volume regulation -- 4.3 Compatible solutes -- Suggested additional readings -- 5 Osmoconformers -- 5.1 Introduction -- 5.2 Marine invertebrates -- 5.3 Osmoconforming chordates -- Suggested additional readings -- 6 Hyporegulators -- 6.1 Introduction -- 6.2 General principles -- 6.3 Marine teleosts -- 6.4 Marine reptiles -- 6.5 Marine birds -- 6.6 Marine mammals -- 6.7 Saline-tolerant mosquitoes -- 6.8 Brine flies -- 6.9 Crustaceans (brine shrimp) -- Suggested additional readings -- 7 Hyper-regulators: life in fresh water -- 7.1 Introduction -- 7.2 Freshwater fish -- 7.3 Amphibians -- 7.4 Reptiles -- 7.5 Birds and mammals -- 7.6 Insects -- 7.7 Crayfish -- 7.8 Mollusks -- 7.9 Freshwater amoebae -- 7.10 Summary -- Suggested additional readings -- 8 Terrestrial animals -- 8.1 Introduction -- 8.2 The terrestrial environment can be associated with enormous gradients for the activity of water -- 8.3 Osmoregulatory strategies among terrestrial animals.8.4 Terrestrial vertebrates -- 8.5 Water uptake by arthropods from a subsaturated atmosphere -- Suggested additional readings -- 9 Membranes as sites of energy transduction -- 9.1 Introduction -- 9.2 Mitochondrial ATP production -- 9.3 Vertebrate intestinal epithelial cells -- 9.4 The integument of marine larvae -- 9.5 Conclusions -- Suggested additional readings -- 10 Transport of ions and water in epithelia: molecular insights -- 10.1 Introduction -- 10.2 Insect Malpighian tubules -- 10.3 The mitochondria-rich cells of freshwater animals -- 10.4 The collecting tubule of the mammalian kidney -- 10.5 On the more general distribution of aquaporins -- Suggested additional readings -- 11 Volume and osmotic regulation -- 11.1 Introduction -- 11.2 Cell volume regulation -- 11.3 Sensing osmotic concentration -- 11.4 Osmotic homeostasis in insects -- 11.5 The mammalian kidney -- 11.6 Summary -- Suggested additional readings -- Index -- A -- B -- C -- D -- E -- F -- G -- H -- I -- K -- M -- O -- P -- R -- S -- T -- U -- V -- W.Osmoregulation and water balance are essential topics in animal physiology. This book starts with the physical properties of water, and the influence that it has on biological design. It then looks at the effect of the environment on physiology. Finally it studies how the evolutionary history of the animal influences the solution employed.Oxford animal biology series.OsmoregulationOsmoregulation.571.7/5Bradley Timothy J1804779MiAaPQMiAaPQMiAaPQBOOK9910962897003321Animal osmoregulation4352989UNINA