Motion, Control, and Geometry PDF Download

Author: National Research Council
Publisher: National Academies Press
ISBN: 030905785X
Category : Mathematics
Languages : en
Pages : 81

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Book Description
Some of the modem developments described in Motion, Control, and Geometry include the geometric control of robot motion and craft orientation, how high-power precision micromotors are engineered for less invasive surgery and self-focusing lens applications, what a mobile robot on a surface has in common with one moving in three dimensions, and how the motion-control problem is simplified by a coupled oscillator's geometric grouping of degrees of freedom and motion time scales. The four papers in these proceedings provide a view through the scientific portal of today's motion-control geometric research into tomorrow's technology. The mathematics needed to carry out this research is that of modem differential geometry, and the questions raised in the field of motion-control geometry go directly to the research frontier. Geometry is a mathematical area too often neglected nowadays in a student's education. This publication will help adjust the control initially imposed about 2,300 years ago on one kind of "motion"-that of students entering Plato's Academy, where the following caveat was inscribed above the doorway: "Let no one ignorant of geometry enter here." Readers of these chapters will gain an appreciation of modem geometry and how it continues to play a crucial role in the context of motion control in cutting-edge science and technology.

Author: Francesco Bullo
Publisher: Springer
ISBN: 1489972765
Category : Science
Languages : en
Pages : 727

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Book Description
The area of analysis and control of mechanical systems using differential geometry is flourishing. This book collects many results over the last decade and provides a comprehensive introduction to the area.

Author: Velimir Jurdjevic
Publisher: Cambridge University Press
ISBN: 0521495024
Category : Mathematics
Languages : en
Pages : 516

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Book Description
Geometric control theory is concerned with the evolution of systems subject to physical laws but having some degree of freedom through which motion is to be controlled. This book describes the mathematical theory inspired by the irreversible nature of time evolving events. The first part of the book deals with the issue of being able to steer the system from any point of departure to any desired destination. The second part deals with optimal control, the question of finding the best possible course. An overlap with mathematical physics is demonstrated by the Maximum principle, a fundamental principle of optimality arising from geometric control, which is applied to time-evolving systems governed by physics as well as to man-made systems governed by controls. Applications are drawn from geometry, mechanics, and control of dynamical systems. The geometric language in which the results are expressed allows clear visual interpretations and makes the book accessible to physicists and engineers as well as to mathematicians.

Author: Toshihiro Iwai
Publisher: Springer Nature
ISBN: 9811606889
Category : Mathematics
Languages : en
Pages : 193

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Book Description
The falling cat is an interesting theme to pursue, in which geometry, mechanics, and control are in action together. As is well known, cats can almost always land on their feet when tossed into the air in an upside-down attitude. If cats are not given a non-vanishing angular momentum at an initial instant, they cannot rotate during their motion, and the motion they can make in the air is vibration only. However, cats accomplish a half turn without rotation when landing on their feet. In order to solve this apparent mystery, one needs to thoroughly understand rotations and vibrations. The connection theory in differential geometry can provide rigorous definitions of rotation and vibration for many-body systems. Deformable bodies of cats are not easy to treat mechanically. A feasible way to approach the question of the falling cat is to start with many-body systems and then proceed to rigid bodies and, further, to jointed rigid bodies, which can approximate the body of a cat. In this book, the connection theory is applied first to a many-body system to show that vibrational motions of the many-body system can result in rotations without performing rotational motions and then to the cat model consisting of jointed rigid bodies. On the basis of this geometric setting, mechanics of many-body systems and of jointed rigid bodies must be set up. In order to take into account the fact that cats can deform their bodies, three torque inputs which may give a twist to the cat model are applied as control inputs under the condition of the vanishing angular momentum. Then, a control is designed according to the port-controlled Hamiltonian method for the model cat to perform a half turn and to halt the motion upon landing. The book also gives a brief review of control systems through simple examples to explain the role of control inputs.

Author: Jean-Paul Laumond
Publisher: Springer
ISBN: 3319515470
Category : Technology & Engineering
Languages : en
Pages : 417

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Book Description
This book aims at gathering roboticists, control theorists, neuroscientists, and mathematicians, in order to promote a multidisciplinary research on movement analysis. It follows the workshop “ Geometric and Numerical Foundations of Movements ” held at LAAS-CNRS in Toulouse in November 2015[1]. Its objective is to lay the foundations for a mutual understanding that is essential for synergetic development in motion research. In particular, the book promotes applications to robotics --and control in general-- of new optimization techniques based on recent results from real algebraic geometry.

Author: Li Li
Publisher: Springer Science & Business Media
ISBN: 0387444092
Category : Technology & Engineering
Languages : en
Pages : 458

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Book Description
This book provides the latest information in intelligent vehicle control and intelligent transportation. Detailed discussions of vehicle dynamics and ground-vehicle interactions are provided for the modeling, simulation and control of vehicles. It includes an extensive review of past and current research achievements in the intelligent vehicle motion control and sensory field, and the book provides a careful assessment of future developments.

Author: Clifford R. Burrows
Publisher: John Wiley & Sons
ISBN: 9781860583261
Category : Technology & Engineering
Languages : en
Pages : 376

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Book Description
Advanced in fluid power engineering motion and control Power Transmission and Motion Control is a collection of papers showcased at the PTMC 2001 conference at the University of Bath. Representing the work of researchers and industry leaders from around the world, this book features the latest developments in power transmission, with an emphasis on motion and control studies from the field of fluid power engineering. Insight into current projects on the forefront of technology and innovation provides an overview of the current state of the field while informing ongoing work and suggesting direction for future projects.

Author: Jean-Daniel Boissonnat
Publisher: Springer Science & Business Media
ISBN: 9783540516835
Category : Technology & Engineering
Languages : en
Pages : 426

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Book Description
The role played by hormones in the development and treatment of malignant tumors has been controversial for nearly 50 years. The present volume concentrates on substantiated data obtained from the study of tumors developing from hormone-related or hormone-producing tissue, for example the thyroid, adrenal glands, prostate, and the female genital tract. Combining expertise from the fields of molecular biology, biochemistry, and histopathology, advances in the management of these tumors are elaborated. The book also provides information on the endonuclear diagnosis of adrenal tumors. Antihormones have proved to be important as they exhibit a destructive effect on prostate carcinomas and breast cancer. In addition, a special chapter discusses the diffuse endocrine cell system (DECS). Bridging the gap between molecular biology and endocrine therapy, the editors present innovative data on many aspects of hormone-related malignant tumors and offer both a survey of present knowledge and a basis for further research.

Author: Jerrold E. Marsden
Publisher: Springer Science & Business Media
ISBN: 0387955186
Category : Language Arts & Disciplines
Languages : en
Pages : 573

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Book Description
Jerry Marsden, one of the world’s pre-eminent mechanicians and applied mathematicians, celebrated his 60th birthday in August 2002. The event was marked by a workshop on “Geometry, Mechanics, and Dynamics”at the Fields Institute for Research in the Mathematical Sciences, of which he wasthefoundingDirector. Ratherthanmerelyproduceaconventionalp- ceedings, with relatively brief accounts of research and technical advances presented at the meeting, we wished to acknowledge Jerry’s in?uence as a teacher, a propagator of new ideas, and a mentor of young talent. Con- quently, starting in 1999, we sought to collect articles that might be used as entry points by students interested in ?elds that have been shaped by Jerry’s work. At the same time we hoped to give experts engrossed in their own technical niches an indication of the wonderful breadth and depth of their subjects as a whole. This book is an outcome of the e?orts of those who accepted our in- tations to contribute. It presents both survey and research articles in the several ?elds that represent the main themes of Jerry’s work, including elasticity and analysis, ?uid mechanics, dynamical systems theory, g- metric mechanics, geometric control theory, and relativity and quantum mechanics. The common thread running through this broad tapestry is the use of geometric methods that serve to unify diverse disciplines and bring a widevarietyofscientistsandmathematicianstogether,speakingalanguage which enhances dialogue and encourages cross-fertilization.

Author: Rida T Farouki
Publisher: Springer Science & Business Media
ISBN: 3540733973
Category : Mathematics
Languages : en
Pages : 725

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Book Description
By virtue of their special algebraic structures, Pythagorean-hodograph (PH) curves offer unique advantages for computer-aided design and manufacturing, robotics, motion control, path planning, computer graphics, animation, and related fields. This book offers a comprehensive and self-contained treatment of the mathematical theory of PH curves, including algorithms for their construction and examples of their practical applications. It emphasizes the interplay of ideas from algebra and geometry and their historical origins and includes many figures, worked examples, and detailed algorithm descriptions.