Sunday, July 31, 2011

Embedded Robotics


PART I: EMBEDDED SYSTEMS

1 Robots and Controllers
1.1 Mobile Robots
1.2 Embedded Controllers
1.3 Interfaces
1.4 Operating System
1.5 References

2 Sensors
2.1 Sensor Categories
2.2 Binary Sensor
2.3 Analog versus Digital Sensors
2.4 Shaft Encoder
2.5 A/D Converter
2.6 Position Sensitive Device
2.7 Compass
2.8 Gyroscope, Accelerometer, Inclinometer
2.9 Digital Camera
2.10 References

3 Actuators
3.1 DC Motors
3.2 H-Bridge
3.3 Pulse Width Modulation
3.4 Stepper Motors
3.5 Servos
3.6 References

4 Control
4.1 On-Off Control
4.2 PID Control
4.3 Velocity Control and Position Control
4.4 Multiple Motors – Driving Straight
4.5 V-Omega
4.6 References
5 Multitasking
5.1 Cooperative Multitasking
5.2 Preemptive Multitasking
5.3 Synchronization
5.4 Scheduling
5.5 Interrupts and Timer-Activated Tasks
5.6 References

6 Wireless Communication
6.1 Communication Model
6.2 Messages
6.3 Fault-Tolerant Self-Configuration
6.4 User Interface and Remote Control
6.5 Sample Application Program
6.6 References

PART II: MOBILE ROBOT DESIGN

7 Driving Robots
7.1 Single Wheel Drive
7.2 Differential Drive
7.3 Tracked Robots
7.4 Synchro-Drive
7.5 Ackermann Steering
7.6 Drive Kinematics
7.7 References

8 Omni-Directional Robots
8.1 Mecanum Wheels
8.2 Omni-Directional Drive
8.3 Kinematics
8.4 Omni-Directional Robot Design
8.5 Driving Program
8.6 References

9 Balancing Robots
9.1 Simulation
9.2 Inverted Pendulum Robot
9.3 Double Inverted Pendulum
9.4 References

10 Walking Robots
10.1 Six-Legged Robot Design
10.2 Biped Robot Design
10.3 Sensors for Walking Robots
10.4 Static Balance
10.5 Dynamic Balance
10.6 References

11 Autonomous Planes
11.1 Application
11.2 Control System and Sensors
11.3 Flight Program
11.4 References

12 Autonomous Vessels and Underwater Vehicles
12.1 Application
12.2 Dynamic Model
12.3 AUV Design Mako
12.4 AUV Design USAL
12.5 References

13 Simulation Systems
13.1 Mobile Robot Simulation
13.2 EyeSim Simulation System
13.3 Multiple Robot Simulation
13.4 EyeSim Application
13.5 EyeSim Environment and Parameter Files
13.6 SubSim Simulation System
13.7 Actuator and Sensor Models
13.8 SubSim Application
13.9 SubSim Environment and Parameter Files
13.10 References

PART III: MOBILE ROBOT APPLICATIONS

14 Localization and Navigation
14.1 Localization
14.2 Probabilistic Localization
14.3 Coordinate Systems
14.4 Dijkstra’s Algorithm
14.5 A* Algorithm
14.6 Potential Field Method
14.7 Wandering Standpoint Algorithm
14.8 DistBug Algorithm
14.9 References

15 Maze Exploration
15.1 Micro Mouse Contest
15.2 Maze Exploration Algorithms
15.3 Simulated versus Real Maze Program
15.4 References

16 Map Generation
16.1 Mapping Algorithm
16.2 Data Representation
16.3 Boundary-Following Algorithm
16.4 Algorithm Execution
16.5 Simulation Experiments
16.6 Robot Experiments
16.7 Results
16.8 References

17 Real-Time Image Processing
17.1 Camera Interface
17.2 Auto-Brightness
17.3 Edge Detection
17.4 Motion Detection
17.5 Color Space
17.6 Color Object Detection
17.7 Image Segmentation
17.8 Image Coordinates versus World Coordinates
17.9 References

18 Robot Soccer
18.1 RoboCup and FIRA Competitions
18.2 Team Structure
18.3 Mechanics and Actuators
18.4 Sensing
18.5 Image Processing
18.6 Trajectory Planning
18.7 References

19 Neural Networks
19.1 Neural Network Principles
19.2 Feed-Forward Networks
19.3 Backpropagation
19.4 Neural Network Example
19.5 Neural Controller
19.6 References

20 Genetic Algorithms
20.1 Genetic Algorithm Principles
20.2 Genetic Operators
20.3 Applications to Robot Control
20.4 Example Evolution
20.5 Implementation of Genetic Algorithms
20.6 References
XI
21 Genetic Programming
21.1 Concepts and Applications
21.2 Lisp
21.3 Genetic Operators
21.4 Evolution
21.5 Tracking Problem
21.6 Evolution of Tracking Behavior
21.7 References

22 Behavior-Based Systems
22.1 Software Architecture
22.2 Behavior-Based Robotics
22.3 Behavior-Based Applications
22.4 Behavior Framework
22.5 Adaptive Controller
22.6 Tracking Problem
22.7 Neural Network Controller
22.8 Experiments
22.9 References

23 Evolution of Walking Gaits
23.1 Splines
23.2 Control Algorithm
23.3 Incorporating Feedback
23.4 Controller Evolution
23.5 Controller Assessment
23.6 Evolved Gaits
23.7 References

24 Outlook

APPENDICES
A Programming Tools
B RoBIOS Operating System
C Hardware Description Table
D Hardware Specification
E Laboratories
F Solutions
Full content : Springer - Embedded Robotics, 2nd Edition

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