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[null,"1.","Record Nr.",null,"UNINA9910523798403321"]
[null,null,"Autore",null,"Corke Peter I. <1959->"]
[null,null,"Titolo",null,"Robotics and control : fundamental algorithms in MATLAB® / / Peter Corke"]
[null,null,"Pubbl/distr/stampa",null,"Cham, Switzerland : , : Springer, , [2022]"]
[{"$nulls":4},"©2022"]
[null,null,"ISBN",null,"3-030-79179-3"]
[null,null,"Descrizione fisica",null,"1 online resource (370 pages)"]
[null,null,"Collana",null,"Springer tracts in advanced robotics ; ; 141"]
[null,null,"Disciplina",null,"629.892"]
[null,null,"Soggetti",null,"Robots - Control systems"]
[null,null,"Lingua di pubblicazione",null,"Inglese"]
[null,null,"Formato",null,"Materiale a stampa"]
[null,null,null,"Livello bibliografico","Monografia"]
[null,null,"Nota di contenuto",null,"Intro -- Foreword -- Foreword to the Second Edition -- Preface -- Contents -- Nomenclature -- Chapter 1 Introduction -- 1.1 Robots, Jobs and Ethics -- 1.2 About the Book -- 1.2.1 MATLAB Software and the Toolboxes -- 1.2.2 Notation, Conventions and Organization -- 1.2.3 Audience and Prerequisites -- 1.2.4 Learning with the Book -- 1.2.5 Teaching with the Book -- 1.2.6 Outline -- Part I Foundations -- Chapter 2 Representing Position and Orientation -- 2.1 Working in Two Dimensions (2D) -- 2.1.1 Orientation in 2-Dimensions -- 2.1.2 Pose in 2-Dimensions -- 2.2 Working in Three Dimensions (3D) -- 2.2.1 Orientation in 3-Dimensions -- 2.2.2 Pose in 3-Dimensions -- 2.3 Advanced Topics -- 2.3.1 Normalization -- 2.3.2 Understanding the Exponential Mapping -- 2.3.3 More About Twists -- 2.3.4 Dual Quaternions -- 2.3.5 Configuration Space -- 2.4 Using the Toolbox -- 2.5 Wrapping Up -- Chapter 3 Time and Motion -- 3.1 Time-Varying Pose -- 3.1.1 Derivative of Pose -- 3.1.2 Transforming Spatial Velocities -- 3.1.3 Incremental Rotation -- 3.1.4 Incremental Rigid-Body Motion -- 3.2 Accelerating Bodies and Reference Frames -- 3.2.1 Dynamics of Moving Bodies -- 3.2.2 Transforming Forces and Torques -- 3.2.3 Inertial Reference Frame -- 3.3 Creating Time-Varying Pose -- 3.3.1 Smooth One-Dimensional Trajectories -- 3.3.2 Multi-Dimensional Trajectories -- 3.3.3 Multi-Segment Trajectories -- 3.3.4 Interpolation of Orientation in 3D -- 3.3.5 Cartesian Motion in 3D -- 3.4 Application: Inertial Navigation -- 3.4.1 Gyroscopes -- 3.4.2 Accelerometers -- 3.4.3 Magnetometers -- 3.4.4 Sensor Fusion -- 3.5 Wrapping Up -- Part II Mobile Robots -- Chapter 4 Mobile Robot Vehicles -- 4.1 Wheeled Mobile Robots -- 4.1.1 Car-Like Mobile "]
[{"$nulls":4},"Robots -- 4.1.2 Differentially-Steered Vehicle -- 4.1.3 Omnidirectional Vehicle -- 4.2 Flying Robots -- 4.3 Advanced Topics."]
[{"$nulls":4},"4.3.1 Nonholonomic and Under-Actuated Systems -- 4.4 Wrapping Up -- Chapter 5 Navigation -- 5.1 Reactive Navigation -- 5.1.1 Braitenberg Vehicles -- 5.1.2 Simple Automata -- 5.2 Map-Based Planning -- 5.2.1 Distance Transform -- 5.2.2 D* -- 5.2.3 Introduction to Roadmap Methods -- 5.2.4 Probabilistic Roadmap Method (PRM) -- 5.2.5 Lattice Planner -- 5.2.6 Rapidly-Exploring Random Tree (RRT) -- 5.3 Wrapping Up -- Chapter 6 Localization -- 6.1 Dead Reckoning -- 6.1.1 Modeling the Vehicle -- 6.1.2 Estimating Pose -- 6.2 Localizing with a Map -- 6.3 Creating a Map -- 6.4 Localization and Mapping -- 6.5 Rao-Blackwellized SLAM -- 6.6 Pose Graph SLAM -- 6.7 Sequential Monte-Carlo Localization -- 6.8 Application: Scanning Laser Rangefinder -- 6.9 Wrapping Up -- Part III Arm-Type Robots -- Chapter 7 Robot Arm Kinematics -- 7.1 Forward Kinematics -- 7.1.1 2-Dimensional (Planar) Robotic Arms -- 7.1.2 3-Dimensional Robotic Arms -- 7.2 Inverse Kinematics -- 7.2.1 2-Dimensional (Planar) Robotic Arms -- 7.2.2 3-Dimensional Robotic Arms -- 7.3 Trajectories -- 7.3.1 Joint-Space Motion -- 7.3.2 Cartesian Motion -- 7.3.3 Kinematics in Simulink -- 7.3.4 Motion through a Singularity -- 7.3.5 Configuration Change -- 7.4 Advanced Topics -- 7.4.1 Joint Angle Offsets -- 7.4.2 Determining Denavit-Hartenberg Parameters -- 7.4.3 Modified Denavit-Hartenberg Parameters -- 7.5 Applications -- 7.5.1 Writing on a Surface [examples/drawing.m] -- 7.5.2 A Simple Walking Robot [examples/walking.m] -- 7.6 Wrapping Up -- Chapter 8 Manipulator Velocity -- 8.1 Manipulator Jacobian -- 8.1.1 Jacobian in the World Coordinate Frame -- 8.1.2 Jacobian in the End-Effector Coordinate Frame -- 8.1.3 Analytical Jacobian -- 8.2 Jacobian Condition and Manipulability -- 8.2.1 Jacobian Singularities -- 8.2.2 Manipulability -- 8.3 Resolved-Rate Motion Control -- 8.3.1 Jacobian Singularity."]
[{"$nulls":4},"8.4 Under- and Over-Actuated Manipulators -- 8.4.1 Jacobian for Under-Actuated Robot -- 8.4.2 Jacobian for Over-Actuated Robot -- 8.5 Force Relationships -- 8.5.1 Transforming Wrenches to Joint Space -- 8.5.2 Force Ellipsoids -- 8.6 Inverse Kinematics: a General Numerical Approach -- 8.6.1 Numerical Inverse Kinematics -- 8.7 Advanced Topics -- 8.7.1 Computing the Manipulator Jacobian Using Twists -- 8.8 Wrapping Up -- Chapter 9 Dynamics and Control -- 9.1 Independent Joint Control -- 9.1.1 Actuators -- 9.1.2 Friction -- 9.1.3 Effect of the Link Mass -- 9.1.4 Gearbox -- 9.1.5 Modeling the Robot Joint -- 9.1.6 Velocity Control Loop -- 9.1.7 Position Control Loop -- 9.1.8 Independent Joint Control Summary -- 9.2 Rigid-Body Equations of Motion -- 9.2.1 Gravity Term -- 9.2.2 Inertia Matrix -- 9.2.3 Coriolis Matrix -- 9.2.4 Friction -- 9.2.5 Effect of Payload -- 9.2.6 Base Force -- 9.2.7 Dynamic Manipulability -- 9.3 Forward Dynamics -- 9.4 Rigid-Body Dynamics Compensation -- 9.4.1 Feedforward Control -- 9.4.2 Computed Torque Control -- 9.4.3 Operational Space Control -- 9.5 Applications -- 9.5.1 Series-Elastic Actuator (SEA) -- 9.6 Wrapping Up -- Appendices -- Appendix A Installing the Toolbox -- Appendix B Linear Algebra Refresher -- B.1 Vectors -- B.2 Matrices -- B.2.1 Square Matrices -- B.2.2 Nonsquare and Singular Matrices -- Appendix C Geometry -- C.1 Euclidean Geometry -- C.1.1 Points -- C.1.2 Lines -- C.1.3 Planes -- C.1.4 Ellipses and Ellipsoids -- C.2 Homogeneous Coordinates -- C.2.1 Two Dimensions -- C.2.2 Three Dimensions -- Appendix D Lie Groups and Algebras -- Appendix E Linearization, Jacobians and Hessians -- Appendix F Solving Systems of Equations -- F.1 Linear Problems -- F.1.1 Nonhomogeneous Systems -- F.1.2 Homogeneous Systems -- F.2 Nonlinear Problems -- F.2.1 Finding "]
[{"$nulls":4},"Roots -- F.2.2 Nonlinear Minimization."]
[{"$nulls":4},"F.2.3 Nonlinear Least Squares Minimization -- F.2.4 Sparse Nonlinear Least Squares -- Appendix G Gaussian Random Variables -- Appendix H Kalman Filter -- H.1 Linear Systems - Kalman Filter -- H.2 Nonlinear Systems - Extended Kalman Filter -- Appendix I Graphs -- Bibliography -- Index."]
[null,"2.","Record Nr.",null,"UNIORUON00081676"]
[null,null,"Autore",null,"MURRAY, Helen"]
[null,null,"Titolo",null,"A handlist to Howard Carter's catalogue of objects in Tut'Ankhamun's tomb / compiled by Helen Murray, Mary Nuttall"]
[null,null,"Pubbl/distr/stampa",null,"Oxford, : printed for the Griffith Institute at The University Press by Vivian Ridler, 1963"]
[null,null,"Descrizione fisica",null,"viii, 22 p. ; 29 cm"]
[null,null,"Disciplina",null,"932.074"]
[null,null,"Soggetti",null,"TUTANKHAMUN <Faraone> - Corredo funerario - Indice dei reperti"]
[null,null,"Lingua di pubblicazione",null,"Inglese"]
[null,null,"Formato",null,"Materiale a stampa"]
[null,null,null,"Livello bibliografico","Monografia"]
[null,"3.","Record Nr.",null,"UNINA9910141038803321"]
[null,null,"Autore",null,"Demaria Cyril"]
[null,null,"Titolo",null,"Introduction to private equity / / Cyril Demaria"]
[null,null,"Pubbl/distr/stampa",null,"Hoboken, N.J., : Wiley, 2010"]
[null,null,"ISBN",null,"9786612939495"]
[{"$nulls":4},"9781282939493"]
[{"$nulls":4},"1282939491"]
[{"$nulls":4},"9781118467350"]
[{"$nulls":4},"1118467353"]
[{"$nulls":4},"9780470660942"]
[{"$nulls":4},"0470660945"]
[null,null,"Edizione",null,"[1st edition]"]
[null,null,"Descrizione fisica",null,"1 online resource (245 p.)"]
[null,null,"Collana",null,"The Wiley Finance Series ; ; v.560"]
[null,null,"Disciplina",null,"332.6"]
[null,null,"Soggetti",null,"Private equity"]
[null,null,"Lingua di pubblicazione",null,"Inglese"]
[null,null,"Formato",null,"Materiale a stampa"]
[null,null,null,"Livello bibliografico","Monografia"]
[null,null,null,"Note generali","Description based upon print version of record."]
[null,null,null,"Nota di bibliografia","Includes bibliographical references and index."]
[null,null,"Nota di contenuto",null,"Private equity as an economic driver : an historical perspective -- Modern private equity : a french invention? -- Private equity : a business system perspective -- The universe of investment -- The process of investment : a matter of trust and mutual interest -- Private equity evolutions : trends or buzzes?."]
[null,null,null,"Sommario/riassunto","Introduction to Private Equity is a critical yet grounded guide to the private equity industry. Far more than just another introductory guide, the book blends academic rigour with practical experience to provide a critical perspective of the industry from a professional who has worked at many levels within the industry, including insurance, funds of funds, funds and portfolio companies.  The book looks at private equity from the point of view of the individual or the business. How is a private business valued? How is the acquisition transaction processed? What are the due diligence"]