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Mobile robots : navigation, control and remote sensing / / by Gerald Cook
| Mobile robots : navigation, control and remote sensing / / by Gerald Cook |
| Autore | Cook Gerald <1937-> |
| Pubbl/distr/stampa | Oxford : , : IEEE, , c2011 |
| Descrizione fisica | 1 online resource (325 p.) |
| Disciplina |
629.8/932
629.8932 |
| Soggetto topico | Mobile robots |
| ISBN |
1-283-29457-5
9786613294579 1-118-02904-6 1-118-02640-3 1-118-02719-1 |
| Classificazione | TEC036000 |
| Formato | Materiale a stampa  |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto | Kinematic Models for Mobile Robots -- Mobile Robot Control -- Robot Attitude -- Robot Navigation -- Application of Kalman Filtering -- Remote Sensing -- Target Tracking Including Multiple Targets with Multiple Sensors -- Obstacle Mapping and its Application to Robot Navigation -- Operating a Robotic Manipulator -- Remote Sensing via UAVS -- |
| Record Nr. | UNINA-9910139575003321 |
Cook Gerald <1937->
|
||
| Oxford : , : IEEE, , c2011 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
Mobile robots : navigation, control and remote sensing / / by Gerald Cook
| Mobile robots : navigation, control and remote sensing / / by Gerald Cook |
| Autore | Cook Gerald <1937-> |
| Pubbl/distr/stampa | Oxford : , : IEEE, , c2011 |
| Descrizione fisica | 1 online resource (325 p.) |
| Disciplina |
629.8/932
629.8932 |
| Soggetto topico | Mobile robots |
| ISBN |
1-283-29457-5
9786613294579 1-118-02904-6 1-118-02640-3 1-118-02719-1 |
| Classificazione | TEC036000 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto | Kinematic Models for Mobile Robots -- Mobile Robot Control -- Robot Attitude -- Robot Navigation -- Application of Kalman Filtering -- Remote Sensing -- Target Tracking Including Multiple Targets with Multiple Sensors -- Obstacle Mapping and its Application to Robot Navigation -- Operating a Robotic Manipulator -- Remote Sensing via UAVS -- |
| Record Nr. | UNISA-996218079603316 |
|
Cook Gerald <1937->
|
||
| Oxford : , : IEEE, , c2011 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. di Salerno | ||
| ||
Mobile robots : navigation, control and remote sensing / / by Gerald Cook
| Mobile robots : navigation, control and remote sensing / / by Gerald Cook |
| Autore | Cook Gerald <1937-> |
| Pubbl/distr/stampa | Oxford : , : IEEE, , c2011 |
| Descrizione fisica | 1 online resource (325 p.) |
| Disciplina |
629.8/932
629.8932 |
| Soggetto topico | Mobile robots |
| ISBN |
1-283-29457-5
9786613294579 1-118-02904-6 1-118-02640-3 1-118-02719-1 |
| Classificazione | TEC036000 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto | Kinematic Models for Mobile Robots -- Mobile Robot Control -- Robot Attitude -- Robot Navigation -- Application of Kalman Filtering -- Remote Sensing -- Target Tracking Including Multiple Targets with Multiple Sensors -- Obstacle Mapping and its Application to Robot Navigation -- Operating a Robotic Manipulator -- Remote Sensing via UAVS -- |
| Record Nr. | UNINA-9910830712303321 |
|
Cook Gerald <1937->
|
||
| Oxford : , : IEEE, , c2011 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
Photonic sensing [[electronic resource] ] : principles and applications for safety and security monitoring / / Gaozhi Xiao, Wojtek J. Bock
| Photonic sensing [[electronic resource] ] : principles and applications for safety and security monitoring / / Gaozhi Xiao, Wojtek J. Bock |
| Autore | Xiao George |
| Edizione | [1st edition] |
| Pubbl/distr/stampa | Hoboken, NJ, : Wiley, c2012 |
| Descrizione fisica | 1 online resource (334 p.) |
| Disciplina | 681/.25 |
| Altri autori (Persone) | BockWojtek J |
| Collana | Wiley series in microwave and optical engineering |
| Soggetto topico |
Optical fiber detectors
Optical fiber detectors - Safety measures Optical fiber detectors - Security measures |
| ISBN |
1-283-59886-8
1-118-31021-7 9786613911315 1-118-31012-8 |
| Classificazione | TEC036000 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto |
Photonic Sensing; Contents; Preface; Contributors; 1 Surface Plasmons for Biodetection; 1.1 Introduction; 1.2 Principles of SPR Biosensors; 1.2.1 Surface Plasmons; 1.2.2 Excitation of Surface Plasmons; 1.2.3 Sensors Based on Surface Plasmons; 1.2.4 SPR Affinity Biosensors; 1.2.5 Performance Characteristics of SPR Biosensors; 1.3 Optical Platforms for SPR Sensors; 1.3.1 Prism-Based SPR Sensors; 1.3.2 SPR Sensors Based on Grating Couplers; 1.3.3 SPR Sensors Based on Optical Waveguides; 1.3.4 Commercial SPR Sensors; 1.4 Functionalization Methods for SPR Biosensors; 1.4.1 Functional Layers
1.4.2 Attachment of Receptors to Functional Surfaces1.4.3 Molecular Recognition Elements; 1.5 Applications of SPR Biosensors; 1.5.1 Detection Formats; 1.5.2 Medical Diagnostics; 1.5.3 Environmental Monitoring; 1.5.4 Food Quality and Safety; 1.6 Summary; References; 2 Microchip-Based Flow Cytometry in Photonic Sensing: Principles and Applications for Safety and Security Monitoring; 2.1 Introduction; 2.2 Microchip-Based Flow Cytometry; 2.3 Microchip-Based Flow Cytometry with Integrated Optics; 2.4 Applications; 2.5 Conclusion; References 3 Optofluidic Techniques for the Manipulation of Micro Particles: Principles and Applications to Bioanalyses3.1 Introduction; 3.2 Optofluidic Techniques for the Manipulation of Particles; 3.2.1 Fiber-Based Optofluidic Techniques; 3.2.2 Near-Field Optofluidic Techniques; 3.2.3 Optical Chromatography Techniques: Axial-Type and Cross-Type; 3.3 Enhancing Optical Manipulation with a Monolithically Integrated on-Chip Structure; 3.4 Applications; 3.5 Conclusion; Acknowledgments; References; 4 Optical Fiber Sensors and Their Applications for Explosive Detection; 4.1 Introduction 4.2 A Brief Review of Existing Fiber-Optic-Based Explosive Detectors4.3 High Performance Fiber-Optic Explosive Detector Based on the AFP Thin Film; 4.3.1 Optimizing Fiber-Optic Explosive Detector Architecture; 4.3.2 Experimental Demonstration of Fluorescent Quenching Detection and Discussion; 4.3.3 Unique Advantage of the Optimized Detector-Dramatically Increased Fluorescence Collection through the End-Face-TIR Process; 4.4 Generating High Quality Polymer Film-Pretreatment with Adhesion Promoter; 4.5 Effect of Photodegradation on AFP Polymer 4.6 Optimizing Polymer Concentration for Optimized AFP-Film Thickness4.7 Explosive Vapor Preconcentration and Delivery; 4.7.1 Adsorption/Desorption Zone 40; 4.7.2 Equilibrium Zone 46; 4.7.3 Chromatography Zone 52; 4.7.4 Preconditioning Zone 60; 4.7.5 Sensing Zone 42; 4.8 Future Directions and Conclusions; References; 5 Photonic Liquid Crystal Fiber Sensors for Safety and Security Monitoring; 5.1 Introduction; 5.2 Materials and Experimental Setups; 5.3 Principle of Operation; 5.3.1 Mechanism of Propagation in a PLCF; 5.3.2 LC Arrangement in PCF; 5.4 Tuning Possibility; 5.4.1 Thermal Tuning 5.4.2 Electrical Tuning |
| Record Nr. | UNINA-9910141397403321 |
|
Xiao George
|
||
| Hoboken, NJ, : Wiley, c2012 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
Photonic sensing [[electronic resource] ] : principles and applications for safety and security monitoring / / Gaozhi Xiao, Wojtek J. Bock
| Photonic sensing [[electronic resource] ] : principles and applications for safety and security monitoring / / Gaozhi Xiao, Wojtek J. Bock |
| Autore | Xiao George |
| Edizione | [1st edition] |
| Pubbl/distr/stampa | Hoboken, NJ, : Wiley, c2012 |
| Descrizione fisica | 1 online resource (334 p.) |
| Disciplina | 681/.25 |
| Altri autori (Persone) | BockWojtek J |
| Collana | Wiley series in microwave and optical engineering |
| Soggetto topico |
Optical fiber detectors
Optical fiber detectors - Safety measures Optical fiber detectors - Security measures |
| ISBN |
1-283-59886-8
1-118-31021-7 9786613911315 1-118-31012-8 |
| Classificazione | TEC036000 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto |
Photonic Sensing; Contents; Preface; Contributors; 1 Surface Plasmons for Biodetection; 1.1 Introduction; 1.2 Principles of SPR Biosensors; 1.2.1 Surface Plasmons; 1.2.2 Excitation of Surface Plasmons; 1.2.3 Sensors Based on Surface Plasmons; 1.2.4 SPR Affinity Biosensors; 1.2.5 Performance Characteristics of SPR Biosensors; 1.3 Optical Platforms for SPR Sensors; 1.3.1 Prism-Based SPR Sensors; 1.3.2 SPR Sensors Based on Grating Couplers; 1.3.3 SPR Sensors Based on Optical Waveguides; 1.3.4 Commercial SPR Sensors; 1.4 Functionalization Methods for SPR Biosensors; 1.4.1 Functional Layers
1.4.2 Attachment of Receptors to Functional Surfaces1.4.3 Molecular Recognition Elements; 1.5 Applications of SPR Biosensors; 1.5.1 Detection Formats; 1.5.2 Medical Diagnostics; 1.5.3 Environmental Monitoring; 1.5.4 Food Quality and Safety; 1.6 Summary; References; 2 Microchip-Based Flow Cytometry in Photonic Sensing: Principles and Applications for Safety and Security Monitoring; 2.1 Introduction; 2.2 Microchip-Based Flow Cytometry; 2.3 Microchip-Based Flow Cytometry with Integrated Optics; 2.4 Applications; 2.5 Conclusion; References 3 Optofluidic Techniques for the Manipulation of Micro Particles: Principles and Applications to Bioanalyses3.1 Introduction; 3.2 Optofluidic Techniques for the Manipulation of Particles; 3.2.1 Fiber-Based Optofluidic Techniques; 3.2.2 Near-Field Optofluidic Techniques; 3.2.3 Optical Chromatography Techniques: Axial-Type and Cross-Type; 3.3 Enhancing Optical Manipulation with a Monolithically Integrated on-Chip Structure; 3.4 Applications; 3.5 Conclusion; Acknowledgments; References; 4 Optical Fiber Sensors and Their Applications for Explosive Detection; 4.1 Introduction 4.2 A Brief Review of Existing Fiber-Optic-Based Explosive Detectors4.3 High Performance Fiber-Optic Explosive Detector Based on the AFP Thin Film; 4.3.1 Optimizing Fiber-Optic Explosive Detector Architecture; 4.3.2 Experimental Demonstration of Fluorescent Quenching Detection and Discussion; 4.3.3 Unique Advantage of the Optimized Detector-Dramatically Increased Fluorescence Collection through the End-Face-TIR Process; 4.4 Generating High Quality Polymer Film-Pretreatment with Adhesion Promoter; 4.5 Effect of Photodegradation on AFP Polymer 4.6 Optimizing Polymer Concentration for Optimized AFP-Film Thickness4.7 Explosive Vapor Preconcentration and Delivery; 4.7.1 Adsorption/Desorption Zone 40; 4.7.2 Equilibrium Zone 46; 4.7.3 Chromatography Zone 52; 4.7.4 Preconditioning Zone 60; 4.7.5 Sensing Zone 42; 4.8 Future Directions and Conclusions; References; 5 Photonic Liquid Crystal Fiber Sensors for Safety and Security Monitoring; 5.1 Introduction; 5.2 Materials and Experimental Setups; 5.3 Principle of Operation; 5.3.1 Mechanism of Propagation in a PLCF; 5.3.2 LC Arrangement in PCF; 5.4 Tuning Possibility; 5.4.1 Thermal Tuning 5.4.2 Electrical Tuning |
| Record Nr. | UNINA-9910808733103321 |
|
Xiao George
|
||
| Hoboken, NJ, : Wiley, c2012 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
Remote sensing and actuation using networked unmanned vehicles / / Haiyang Chao, Yangquan Chen
| Remote sensing and actuation using networked unmanned vehicles / / Haiyang Chao, Yangquan Chen |
| Autore | Chao Haiyang |
| Pubbl/distr/stampa | Hoboken, New Jersey : , : Wiley-IEEE Press, , 2012 |
| Descrizione fisica | 1 online resource (236 p.) |
| Disciplina | 621.3678 |
| Altri autori (Persone) | ChenYangquan <1966-> |
| Collana |
IEEE press series on systems science and engineering
IEEE Press series on systems science and engineering |
| Soggetto topico |
Geomorphology - Remote sensing
Environmental monitoring - Remote sensing Vehicles, Remotely piloted |
| ISBN |
1-283-94127-9
1-118-37718-4 1-118-37716-8 1-118-37717-6 |
| Classificazione | TEC036000 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto |
List of Figures xv -- List of Tables xix -- Foreword xxi -- Preface xxiii -- Acknowledgments xxv -- Acronyms xxvii -- 1 Introduction 1 -- 1.1 Monograph Roadmap 1 -- 1.1.1 Sensing and Control in the Information-Rich World 1 -- 1.1.2 Typical Civilian Application Scenarios 3 -- 1.1.3 Challenges in Sensing and Control Using Unmanned Vehicles 5 -- 1.2 Research Motivations 7 -- 1.2.1 Small Unmanned Aircraft System Design for Remote Sensing 7 -- 1.2.2 State Estimation for Small UAVs 8 -- 1.2.3 Advanced Flight Control for Small UAVs 9 -- 1.2.4 Cooperative Remote Sensing Using Multiple UAVs 10 -- 1.2.5 Diffusion Control Using Mobile Actuator and Sensor Networks 11 -- 1.3 Monograph Contributions 11 -- 1.4 Monograph Organization 12 -- References 12 -- 2 AggieAir: A Low-Cost Unmanned Aircraft System for Remote Sensing 15 -- 2.1 Introduction 15 -- 2.2 Small UAS Overview 17 -- 2.2.1 Autopilot Hardware 19 -- 2.2.2 Autopilot Software 21 -- 2.2.3 Typical Autopilots for Small UAVs 22 -- 2.3 AggieAir UAS Platform 26 -- 2.3.1 Remote Sensing Requirements 26 -- 2.3.2 AggieAir System Structure 27 -- 2.3.3 Flying-Wing Airframe 30 -- 2.3.4 OSAM-Paparazzi Autopilot 31 -- 2.3.5 OSAM Image Payload Subsystem 32 -- 2.3.6 gRAID Image Georeference Subsystem 36 -- 2.4 OSAM-Paparazzi Interface Design for IMU Integration 39 -- 2.4.1 Hardware Interface Connections 40 -- 2.4.2 Software Interface Design 41 -- 2.5 AggieAir UAS Test Protocol and Tuning 45 -- 2.5.1 AggieAir UAS Test Protocol 45 -- 2.5.2 AggieAir Controller Tuning Procedure 46 -- 2.6 Typical Platforms and Flight Test Results 47 -- 2.6.1 Typical Platforms 47 -- 2.6.2 Flight Test Results 48 -- 2.7 Chapter Summary 50 -- References 50 -- 3 Attitude Estimation Using Low-Cost IMUs for Small Unmanned Aerial Vehicles 53 -- 3.1 State Estimation Problem Definition 54 -- 3.2 Rigid Body Rotations Basics 55 -- 3.2.1 Frame Definition 55 -- 3.2.2 Rotation Representations 56 -- 3.2.3 Conversion Between Rotation Representations 57 -- 3.2.4 UAV Kinematics 58.
3.3 Low-Cost Inertial Measurement Units: Hardware and Sensor Suites 60 -- 3.3.1 IMU Basics and Notations 60 -- 3.3.2 Sensor Packs 61 -- 3.3.3 IMU Categories 63 -- 3.3.4 Example Low-Cost IMUs 63 -- 3.4 Attitude Estimation Using Complementary Filters on SO(3) 65 -- 3.4.1 Passive Complementary Filter 66 -- 3.4.2 Explicit Complementary Filter 66 -- 3.4.3 Flight Test Results 67 -- 3.5 Attitude Estimation Using Extended Kalman Filters 68 -- 3.5.1 General Extended Kalman Filter 68 -- 3.5.2 Quaternion-Based Extended Kalman Filter 69 -- 3.5.3 Euler Angles-Based Extended Kalman Filter 69 -- 3.6 AggieEKF: GPS-Aided Extended Kalman Filter 70 -- 3.7 Chapter Summary 74 -- References 74 -- 4 Lateral Channel Fractional Order Flight Controller Design for a Small UAV 77 -- 4.1 Introduction 77 -- 4.2 Preliminaries of UAV Flight Control 78 -- 4.3 Roll-Channel System Identification and Control 79 -- 4.3.1 System Model 80 -- 4.3.2 Excitation Signal for System Identification 80 -- 4.3.3 Parameter Optimization 81 -- 4.4 Fractional Order Controller Design 81 -- 4.4.1 Fractional Order Operators 81 -- 4.4.2 PIλ Controller Design 82 -- 4.4.3 Fractional Order Controller Implementation 85 -- 4.5 Simulation Results 86 -- 4.5.1 Introduction to Aerosim Simulation Platform 87 -- 4.5.2 Roll-Channel System Identification 87 -- 4.5.3 Fractional-Order PI Controller Design Procedure 89 -- 4.5.4 Integer-Order PID Controller Design 90 -- 4.5.5 Comparison 90 -- 4.6 UAV Flight Testing Results 92 -- 4.6.1 The ChangE UAV Platform 92 -- 4.6.2 System Identification 94 -- 4.6.3 Proportional Controller and Integer Order PI Controller Design 96 -- 4.6.4 Fractional Order PI Controller Design 97 -- 4.6.5 Flight Test Results 98 -- 4.7 Chapter Summary 99 -- References 99 -- 5 Remote Sensing Using Single Unmanned Aerial Vehicle 101 -- 5.1 Motivations for Remote Sensing 102 -- 5.1.1 Water Management and Irrigation Control Requirements 102 -- 5.1.2 Introduction of Remote Sensing 102 -- 5.2 Remote Sensing Using Small UAVs 103. 5.2.1 Coverage Control 103 -- 5.2.2 Georeference Problem 105 -- 5.3 Sample Applications for AggieAir UAS 109 -- 5.3.1 Real-Time Surveillance 109 -- 5.3.2 Farmland Coverage 109 -- 5.3.3 Road Surveying 111 -- 5.3.4 Water Area Coverage 112 -- 5.3.5 Riparian Surveillance 112 -- 5.3.6 Remote Data Collection 115 -- 5.3.7 Other Applications 116 -- 5.4 Chapter Summary 119 -- References 119 -- 6 Cooperative Remote Sensing Using Multiple Unmanned Vehicles 121 -- 6.1 Consensus-Based Formation Control 122 -- 6.1.1 Consensus Algorithms 122 -- 6.1.2 Implementation of Consensus Algorithms 123 -- 6.1.3 MASnet Hardware Platform 123 -- 6.1.4 Experimental Results 125 -- 6.2 Surface Wind Profile Measurement Using Multiple UAVs 129 -- 6.2.1 Problem Definition: Wind Profile Measurement 131 -- 6.2.2 Wind Profile Measurement Using UAVs 133 -- 6.2.3 Wind Profile Measurement Using Multiple UAVs 135 -- 6.2.4 Preliminary Simulation and Experimental Results 136 -- 6.3 Chapter Summary 140 -- References 140 -- 7 Diffusion Control Using Mobile Sensor and Actuator Networks 143 -- 7.1 Motivation and Background 143 -- 7.2 Mathematical Modeling and Problem Formulation 144 -- 7.3 CVT-Based Dynamical Actuator Motion Scheduling Algorithm 146 -- 7.3.1 Motion Planning for Actuators with the First-Order Dynamics 146 -- 7.3.2 Motion Planning for Actuators with the Second-Order Dynamics 147 -- 7.3.3 Neutralizing Control 147 -- 7.4 Grouping Effect in CVT-Based Diffusion Control 147 -- 7.4.1 Grouping for CVT-Based Diffusion Control 148 -- 7.4.2 Diffusion Control Simulation with Different Group Sizes 148 -- 7.4.3 Grouping Effect Summary 150 -- 7.5 Information Consensus in CVT-Based Diffusion Control 154 -- 7.5.1 Basic Consensus Algorithm 154 -- 7.5.2 Requirements of Diffusion Control 154 -- 7.5.3 Consensus-Based CVT Algorithm 155 -- 7.6 Simulation Results 158 -- 7.7 Chapter Summary 164 -- References 164 -- 8 Conclusions and Future Research Suggestions 167 -- 8.1 Conclusions 167 -- 8.2 Future Research Suggestions 168. 8.2.1 VTOL UAS Design for Civilian Applications 168 -- 8.2.2 Monitoring and Control of Fast-Evolving Processes 169 -- 8.2.3 Other Future Research Suggestions 169 -- References 170 -- Appendix 171 -- A.1 List of Documents for CSOIS Flight Test Protocol 171 -- A.1.1 Sample CSOIS-OSAM Flight Test Request Form 171 -- A.1.2 Sample CSOIS-OSAM 48 in. UAV (IR) In-lab Inspection Form 172 -- A.1.3 Sample Preflight Checklist 172 -- A.2 IMU/GPS Serial Communication Protocols 173 -- A.2.1 u-blox GPS Serial Protocol 173 -- A.2.2 Crossbow MNAV IMU Serial Protocol 173 -- A.2.3 Microstrain GX2 IMU Serial Protocol 174 -- A.2.4 Xsens Mti-g IMU Serial Protocol 178 -- A.3 Paparazzi Autopilot Software Architecture: A Modification Guide 182 -- A.3.1 Autopilot Software Structure 182 -- A.3.2 Airborne C Files 183 -- A.3.3 OSAM-Paparazzi Interface Implementation 184 -- A.3.4 Configuration XML Files 185 -- A.3.5 Roll-Channel Fractional Order Controller Implementation 189 -- A.4 DiffMas2D Code Modification Guide 192 -- A.4.1 Files Description 192 -- A.4.2 Diffusion Animation Generation 193 -- A.4.3 Implementation of CVT-Consensus Algorithm 193 -- References 195 -- Topic Index 197. |
| Record Nr. | UNINA-9910130592203321 |
|
Chao Haiyang
|
||
| Hoboken, New Jersey : , : Wiley-IEEE Press, , 2012 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
Remote sensing and actuation using networked unmanned vehicles / / Haiyang Chao, Yangquan Chen
| Remote sensing and actuation using networked unmanned vehicles / / Haiyang Chao, Yangquan Chen |
| Autore | Chao Haiyang |
| Pubbl/distr/stampa | Hoboken, New Jersey : , : Wiley-IEEE Press, , 2012 |
| Descrizione fisica | 1 online resource (236 p.) |
| Disciplina | 621.3678 |
| Altri autori (Persone) | ChenYangquan <1966-> |
| Collana |
IEEE press series on systems science and engineering
IEEE Press series on systems science and engineering |
| Soggetto topico |
Geomorphology - Remote sensing
Environmental monitoring - Remote sensing Vehicles, Remotely piloted |
| ISBN |
1-283-94127-9
1-118-37718-4 1-118-37716-8 1-118-37717-6 |
| Classificazione | TEC036000 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto |
List of Figures xv -- List of Tables xix -- Foreword xxi -- Preface xxiii -- Acknowledgments xxv -- Acronyms xxvii -- 1 Introduction 1 -- 1.1 Monograph Roadmap 1 -- 1.1.1 Sensing and Control in the Information-Rich World 1 -- 1.1.2 Typical Civilian Application Scenarios 3 -- 1.1.3 Challenges in Sensing and Control Using Unmanned Vehicles 5 -- 1.2 Research Motivations 7 -- 1.2.1 Small Unmanned Aircraft System Design for Remote Sensing 7 -- 1.2.2 State Estimation for Small UAVs 8 -- 1.2.3 Advanced Flight Control for Small UAVs 9 -- 1.2.4 Cooperative Remote Sensing Using Multiple UAVs 10 -- 1.2.5 Diffusion Control Using Mobile Actuator and Sensor Networks 11 -- 1.3 Monograph Contributions 11 -- 1.4 Monograph Organization 12 -- References 12 -- 2 AggieAir: A Low-Cost Unmanned Aircraft System for Remote Sensing 15 -- 2.1 Introduction 15 -- 2.2 Small UAS Overview 17 -- 2.2.1 Autopilot Hardware 19 -- 2.2.2 Autopilot Software 21 -- 2.2.3 Typical Autopilots for Small UAVs 22 -- 2.3 AggieAir UAS Platform 26 -- 2.3.1 Remote Sensing Requirements 26 -- 2.3.2 AggieAir System Structure 27 -- 2.3.3 Flying-Wing Airframe 30 -- 2.3.4 OSAM-Paparazzi Autopilot 31 -- 2.3.5 OSAM Image Payload Subsystem 32 -- 2.3.6 gRAID Image Georeference Subsystem 36 -- 2.4 OSAM-Paparazzi Interface Design for IMU Integration 39 -- 2.4.1 Hardware Interface Connections 40 -- 2.4.2 Software Interface Design 41 -- 2.5 AggieAir UAS Test Protocol and Tuning 45 -- 2.5.1 AggieAir UAS Test Protocol 45 -- 2.5.2 AggieAir Controller Tuning Procedure 46 -- 2.6 Typical Platforms and Flight Test Results 47 -- 2.6.1 Typical Platforms 47 -- 2.6.2 Flight Test Results 48 -- 2.7 Chapter Summary 50 -- References 50 -- 3 Attitude Estimation Using Low-Cost IMUs for Small Unmanned Aerial Vehicles 53 -- 3.1 State Estimation Problem Definition 54 -- 3.2 Rigid Body Rotations Basics 55 -- 3.2.1 Frame Definition 55 -- 3.2.2 Rotation Representations 56 -- 3.2.3 Conversion Between Rotation Representations 57 -- 3.2.4 UAV Kinematics 58.
3.3 Low-Cost Inertial Measurement Units: Hardware and Sensor Suites 60 -- 3.3.1 IMU Basics and Notations 60 -- 3.3.2 Sensor Packs 61 -- 3.3.3 IMU Categories 63 -- 3.3.4 Example Low-Cost IMUs 63 -- 3.4 Attitude Estimation Using Complementary Filters on SO(3) 65 -- 3.4.1 Passive Complementary Filter 66 -- 3.4.2 Explicit Complementary Filter 66 -- 3.4.3 Flight Test Results 67 -- 3.5 Attitude Estimation Using Extended Kalman Filters 68 -- 3.5.1 General Extended Kalman Filter 68 -- 3.5.2 Quaternion-Based Extended Kalman Filter 69 -- 3.5.3 Euler Angles-Based Extended Kalman Filter 69 -- 3.6 AggieEKF: GPS-Aided Extended Kalman Filter 70 -- 3.7 Chapter Summary 74 -- References 74 -- 4 Lateral Channel Fractional Order Flight Controller Design for a Small UAV 77 -- 4.1 Introduction 77 -- 4.2 Preliminaries of UAV Flight Control 78 -- 4.3 Roll-Channel System Identification and Control 79 -- 4.3.1 System Model 80 -- 4.3.2 Excitation Signal for System Identification 80 -- 4.3.3 Parameter Optimization 81 -- 4.4 Fractional Order Controller Design 81 -- 4.4.1 Fractional Order Operators 81 -- 4.4.2 PIλ Controller Design 82 -- 4.4.3 Fractional Order Controller Implementation 85 -- 4.5 Simulation Results 86 -- 4.5.1 Introduction to Aerosim Simulation Platform 87 -- 4.5.2 Roll-Channel System Identification 87 -- 4.5.3 Fractional-Order PI Controller Design Procedure 89 -- 4.5.4 Integer-Order PID Controller Design 90 -- 4.5.5 Comparison 90 -- 4.6 UAV Flight Testing Results 92 -- 4.6.1 The ChangE UAV Platform 92 -- 4.6.2 System Identification 94 -- 4.6.3 Proportional Controller and Integer Order PI Controller Design 96 -- 4.6.4 Fractional Order PI Controller Design 97 -- 4.6.5 Flight Test Results 98 -- 4.7 Chapter Summary 99 -- References 99 -- 5 Remote Sensing Using Single Unmanned Aerial Vehicle 101 -- 5.1 Motivations for Remote Sensing 102 -- 5.1.1 Water Management and Irrigation Control Requirements 102 -- 5.1.2 Introduction of Remote Sensing 102 -- 5.2 Remote Sensing Using Small UAVs 103. 5.2.1 Coverage Control 103 -- 5.2.2 Georeference Problem 105 -- 5.3 Sample Applications for AggieAir UAS 109 -- 5.3.1 Real-Time Surveillance 109 -- 5.3.2 Farmland Coverage 109 -- 5.3.3 Road Surveying 111 -- 5.3.4 Water Area Coverage 112 -- 5.3.5 Riparian Surveillance 112 -- 5.3.6 Remote Data Collection 115 -- 5.3.7 Other Applications 116 -- 5.4 Chapter Summary 119 -- References 119 -- 6 Cooperative Remote Sensing Using Multiple Unmanned Vehicles 121 -- 6.1 Consensus-Based Formation Control 122 -- 6.1.1 Consensus Algorithms 122 -- 6.1.2 Implementation of Consensus Algorithms 123 -- 6.1.3 MASnet Hardware Platform 123 -- 6.1.4 Experimental Results 125 -- 6.2 Surface Wind Profile Measurement Using Multiple UAVs 129 -- 6.2.1 Problem Definition: Wind Profile Measurement 131 -- 6.2.2 Wind Profile Measurement Using UAVs 133 -- 6.2.3 Wind Profile Measurement Using Multiple UAVs 135 -- 6.2.4 Preliminary Simulation and Experimental Results 136 -- 6.3 Chapter Summary 140 -- References 140 -- 7 Diffusion Control Using Mobile Sensor and Actuator Networks 143 -- 7.1 Motivation and Background 143 -- 7.2 Mathematical Modeling and Problem Formulation 144 -- 7.3 CVT-Based Dynamical Actuator Motion Scheduling Algorithm 146 -- 7.3.1 Motion Planning for Actuators with the First-Order Dynamics 146 -- 7.3.2 Motion Planning for Actuators with the Second-Order Dynamics 147 -- 7.3.3 Neutralizing Control 147 -- 7.4 Grouping Effect in CVT-Based Diffusion Control 147 -- 7.4.1 Grouping for CVT-Based Diffusion Control 148 -- 7.4.2 Diffusion Control Simulation with Different Group Sizes 148 -- 7.4.3 Grouping Effect Summary 150 -- 7.5 Information Consensus in CVT-Based Diffusion Control 154 -- 7.5.1 Basic Consensus Algorithm 154 -- 7.5.2 Requirements of Diffusion Control 154 -- 7.5.3 Consensus-Based CVT Algorithm 155 -- 7.6 Simulation Results 158 -- 7.7 Chapter Summary 164 -- References 164 -- 8 Conclusions and Future Research Suggestions 167 -- 8.1 Conclusions 167 -- 8.2 Future Research Suggestions 168. 8.2.1 VTOL UAS Design for Civilian Applications 168 -- 8.2.2 Monitoring and Control of Fast-Evolving Processes 169 -- 8.2.3 Other Future Research Suggestions 169 -- References 170 -- Appendix 171 -- A.1 List of Documents for CSOIS Flight Test Protocol 171 -- A.1.1 Sample CSOIS-OSAM Flight Test Request Form 171 -- A.1.2 Sample CSOIS-OSAM 48 in. UAV (IR) In-lab Inspection Form 172 -- A.1.3 Sample Preflight Checklist 172 -- A.2 IMU/GPS Serial Communication Protocols 173 -- A.2.1 u-blox GPS Serial Protocol 173 -- A.2.2 Crossbow MNAV IMU Serial Protocol 173 -- A.2.3 Microstrain GX2 IMU Serial Protocol 174 -- A.2.4 Xsens Mti-g IMU Serial Protocol 178 -- A.3 Paparazzi Autopilot Software Architecture: A Modification Guide 182 -- A.3.1 Autopilot Software Structure 182 -- A.3.2 Airborne C Files 183 -- A.3.3 OSAM-Paparazzi Interface Implementation 184 -- A.3.4 Configuration XML Files 185 -- A.3.5 Roll-Channel Fractional Order Controller Implementation 189 -- A.4 DiffMas2D Code Modification Guide 192 -- A.4.1 Files Description 192 -- A.4.2 Diffusion Animation Generation 193 -- A.4.3 Implementation of CVT-Consensus Algorithm 193 -- References 195 -- Topic Index 197. |
| Record Nr. | UNINA-9910830993103321 |
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Chao Haiyang
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| Hoboken, New Jersey : , : Wiley-IEEE Press, , 2012 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
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Synthetic aperture radar polarimetry [[electronic resource] /] / Jakob van Zyl, Yunjin Kim
| Synthetic aperture radar polarimetry [[electronic resource] /] / Jakob van Zyl, Yunjin Kim |
| Autore | Van Zyl Jakob <1967-> |
| Edizione | [1st ed.] |
| Pubbl/distr/stampa | Hoboken, N.J., : Wiley, 2011 |
| Descrizione fisica | 1 online resource (334 p.) |
| Disciplina | 621.3848/5 |
| Altri autori (Persone) | KimYun-jin |
| Collana | JPL space science and technology series |
| Soggetto topico |
Synthetic aperture radar
Polarimetric remote sensing |
| ISBN |
1-282-24257-1
9786613813695 1-118-11609-7 1-118-11610-0 1-118-11607-0 |
| Classificazione | TEC036000 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto |
SYNTHETIC APERTURERADAR POLARIMETRY; CONTENTS; NOTE FROM THE SERIES EDITOR; FOREWORD; PREFACE; ACKNOWLEDGMENTS; AUTHORS; 1 SYNTHETIC APERTURE RADAR (SAR) IMAGING BASICS; 1.1 Basic Principles of Radar Imaging; 1.2 Radar Resolution; 1.3 Radar Equation; 1.4 Real Aperture Radar; 1.5 Synthetic Aperture Radar; 1.6 Radar Image Artifacts and Noise; 1.6.1 Range and Azimuth Ambiguities; 1.6.2 Geometric Effects and Projections; 1.6.3 Signal Fading and Speckle; 1.7 Summary; References; 2 BASIC PRINCIPLES OF SAR POLARIMETRY; 2.1 Polarization of Electromagnetic Waves
2.2 Mathematical Representations of Scatterers2.3 Implementation of a Radar Polarimeter; 2.4 Polarization Response; 2.5 Optimum Polarizations; 2.5.1 General (Bistatic) Case; 2.5.2 Backscatter (Monostatic) Case; 2.5.3 Special Case: Single Scatterer in Backscatter (Monostatic) Case; 2.5.4 Special Case: Multiple Scatterers with Reflection Symmetry; 2.5.5 A Numerical Example; 2.6 Contrast Enhancement; 2.6.1 Numerical Example; 2.6.2 Image Example; 2.7 Summary; References; 3 ADVANCED POLARIMETRIC CONCEPTS; 3.1 Vector-Matrix Duality of Scatterer Representation 3.2 Eigenvalue- and Eigenvector-Based Polarimetric Parameters3.2.1 Parameters Used to Describe Randomness in Scattering; 3.2.2 Alpha Angle; 3.3 Decomposition of Polarimetric Scattering; 3.3.1 Scattering Decomposition in the Incoherent Case Using Orthonormal Bases; 3.3.2 Model-Based Scattering Decomposition in the Incoherent Case; 3.4 Image Classification; 3.4.1 Supervised Classification; 3.4.2 Physics-Based Unsupervised Classification; 3.4.3 Combined Unsupervised and Bayes Classification Algorithms; 3.5 Polarimetric SAR Interferometry; 3.6 Summary; References; 4 POLARIMETRIC SAR CALIBRATION 4.1 Polarimetric Radar System Model4.2 Cross Talk Estimation and Removal; 4.3 Copolarized Channel Imbalance Calibration; 4.4 Absolute Radiometric Calibration; 4.4.1 Effect of Topography on Scattering Area; 4.4.2 Effect of Topography on Antenna Pattern Corrections; 4.4.3 AIRSAR Image Example; 4.5 Faraday Rotation; 4.6 Summary; References; 5 APPLICATIONS: MEASUREMENT OF SURFACE SOIL MOISTURE; 5.1 Surface Electrical and Geometrical Properties; 5.1.1 Geometrical Properties; 5.1.2 Electrical Properties; 5.1.3 Penetration Depth; 5.1.4 Soil Moisture Profile; 5.2 Scattering from Bare Rough Surfaces 5.2.1 First-Order Small-Perturbation Model5.2.2 The Integral Equation Model; 5.3 Example Bare Surface Soil Moisture Inversion Models; 5.3.1 The First-Order Small-Perturbation Model; 5.3.2 Algorithm Proposed by Oh et al. (1992); 5.3.3 Algorithm Proposed by Dubois et al.; 5.3.4 Algorithm Proposed by Shi et al. (1997); 5.4 Comparison of the Performance of Bare Surface Inversion Models; 5.5 Parameterizing Scattering Models; 5.6 Inverting the IEM Model; 5.6.1 Using a Data Cube; 5.7 Scattering from Vegetated Terrain; 5.7.1 Scattering from the Vegetation Layer (Scattering Path 1) 5.7.2 Backscatter from the Underlying Ground Surface (Scattering Path 4) |
| Record Nr. | UNINA-9910139579703321 |
|
Van Zyl Jakob <1967->
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| Hoboken, N.J., : Wiley, 2011 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
Theory of reflectance and emittance spectroscopy / / Bruce Hapke [[electronic resource]]
| Theory of reflectance and emittance spectroscopy / / Bruce Hapke [[electronic resource]] |
| Autore | Hapke Bruce |
| Edizione | [Second edition.] |
| Pubbl/distr/stampa | Cambridge : , : Cambridge University Press, , 2012 |
| Descrizione fisica | 1 online resource (xiii, 513 pages) : digital, PDF file(s) |
| Disciplina | 522/.67 |
| Soggetto topico |
Reflectance spectroscopy
Emission spectroscopy |
| ISBN |
1-139-20947-7
1-316-08917-7 1-280-48500-0 1-139-22231-7 9786613579980 1-139-21750-X 1-139-21442-X 1-139-22402-6 1-139-22059-4 1-139-02568-6 |
| Classificazione | TEC036000 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto | Machine generated contents note: Acknowledgements; 1. Introduction; 2. Electromagnetic wave propagation; 3. The absorption of light; 4. Specular reflection; 5. Single particle scattering: perfect spheres; 6. Single particle scattering: irregular particles; 7. Propagation in a nonuniform medium: the equation of radiative transfer; 8. The bidirectional reflectance of a semi-infinite medium; 9. The opposition effect; 10. A miscellany of bidirectional reflectances and related quantities; 11. Integrated reflectances and planetary photometry; 12. Photometric effects of large scale roughness; 13. Polarization; 14. Reflectance spectroscopy; 15. Thermal emission and emittance spectroscopy; 16. Simultaneous transport of energy by radiation and conduction; Appendix A. A brief review of vector calculus; Appendix B. Functions of a complex variable; Appendix C. The wave equation in spherical coordinates; Appendix D. Fraunhoffer diffraction by a circular hole; Appendix E. Table of symbols; Bibliography; Index. |
| Altri titoli varianti | Theory of Reflectance & Emittance Spectroscopy |
| Record Nr. | UNINA-9910790463403321 |
|
Hapke Bruce
|
||
| Cambridge : , : Cambridge University Press, , 2012 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
Theory of reflectance and emittance spectroscopy / / Bruce Hapke [[electronic resource]]
| Theory of reflectance and emittance spectroscopy / / Bruce Hapke [[electronic resource]] |
| Autore | Hapke Bruce |
| Edizione | [Second edition.] |
| Pubbl/distr/stampa | Cambridge : , : Cambridge University Press, , 2012 |
| Descrizione fisica | 1 online resource (xiii, 513 pages) : digital, PDF file(s) |
| Disciplina | 522/.67 |
| Soggetto topico |
Reflectance spectroscopy
Emission spectroscopy |
| ISBN |
1-139-20947-7
1-316-08917-7 1-280-48500-0 1-139-22231-7 9786613579980 1-139-21750-X 1-139-21442-X 1-139-22402-6 1-139-22059-4 1-139-02568-6 |
| Classificazione | TEC036000 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto | Machine generated contents note: Acknowledgements; 1. Introduction; 2. Electromagnetic wave propagation; 3. The absorption of light; 4. Specular reflection; 5. Single particle scattering: perfect spheres; 6. Single particle scattering: irregular particles; 7. Propagation in a nonuniform medium: the equation of radiative transfer; 8. The bidirectional reflectance of a semi-infinite medium; 9. The opposition effect; 10. A miscellany of bidirectional reflectances and related quantities; 11. Integrated reflectances and planetary photometry; 12. Photometric effects of large scale roughness; 13. Polarization; 14. Reflectance spectroscopy; 15. Thermal emission and emittance spectroscopy; 16. Simultaneous transport of energy by radiation and conduction; Appendix A. A brief review of vector calculus; Appendix B. Functions of a complex variable; Appendix C. The wave equation in spherical coordinates; Appendix D. Fraunhoffer diffraction by a circular hole; Appendix E. Table of symbols; Bibliography; Index. |
| Altri titoli varianti | Theory of Reflectance & Emittance Spectroscopy |
| Record Nr. | UNINA-9910824561203321 |
|
Hapke Bruce
|
||
| Cambridge : , : Cambridge University Press, , 2012 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
