Verfügbarkeit: Embedded robotics | Technische Universität München

Embedded robotics: mobile robot design and applications with embedded systems ; with ... 24 tables

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Bibliographische Detailangaben
Beteilige Person:	Bräunl, Thomas (VerfasserIn)
Format:	Buch
Sprache:	Englisch
Veröffentlicht:	Berlin [u.a.] Springer 2006
Ausgabe:	2. ed.
Schlagwörter:	Embedded computer systems > Design and construction Mobile robots Robots > Control systems Reglerentwurf Anwendung Autonomer Roboter Sensortechnik Hardwareentwurf Softwareentwicklung Eingebettetes System Fußball Lernendes System Mobiler Roboter
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Umfang:	XIII, 458 S. Ill., graph. Darst.
ISBN:	9783540343189 3540343180

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Datensatz im Suchindex

_version_	1819272698085244928
adam_text	PART I: EMBEDDED SYSTEMS 1 ROBOTS AND CONTROLLERS 3 ................................................... 1.1 MOBILE ROBOTS 4 ............................................. 1.2 EMBEDDED CONTROLLERS 7 ...................................................... 1.3 INTERFACES 10 ................................................ 1.4 OPERATING SYSTEM 13 ..................................................... 1.5 REFERENCES 15 2 SENSORS 17 ............................................... 2.1 SENSOR CATEGORIES 18 ................................................... 2.2 BINARYSENSOR 19 ...................................... 2.3 ANALOG VERSUS DIGITAL SENSORS 19 ................................................... 2.4 SHAFIENCODER 20 .................................................. 2.5 PLIDCONVERTER 22 ......................................... 2.6 POSITION SENSITIVE DEVICE 23 ....................................................... 2.7 COMPASS 25 ............................. 2.8 GYROSCOPE, ACCELEROMETER, INCLINOMETER 27 .................................................. 2.9 DIGITAL CAMERA 30 ..................................................... 2.10 REFERENCES 38 3 ACTUATORS 4 1 ..................................................... 3.1 DCMOTORS 41 3.2 H-BRIDGE ...................................................... 44 .......................................... 3.3 PULSE WIDTH MODULATION 46 .................................................. 3.4 STEPPER MOTORS 48 ........................................................ 3.5 SERVOS 49 ..................................................... 3.6 REFERENCES 50 4 CONTROL 5 1 ................................................. 4.1 ON-OFF CONTROL 51 .................................................... 4.2 PID CONTROL 56 ............................... 4.3 VELOCITY CONTROL AND POSITION CONTROL 62 ................................. 4.4 MULTIPLE MOTORS - DRIVING STRAIGHT 63 .............................................. 4.5 V-OMEGA INTERFACE 66 ..................................................... 4.6 REFERENCES 68 5 MULTITASKING 69 ......................................... 5.1 COOPERATIVE MULTITASKING 69 .......................................... 5.2 PREEMPTIVE MULTITASKING 71 ................................................. 5.3 SYNCHRONIZATION 73 5.4 SCHEDULHG ..................................................... 77 ................................ 5.5 INTERRUPTS AND TIMER-ACTIVATED TASKS 80 ..................................................... 5.6 REFERENCES 82 6 WIRELESS COMMUNICATION 83 ........................................... 6.1 CORNRNUNICATION MODEL 84 ...................................................... 6.2 MESSAGES 86 ................................... 6.3 FAULT-TOLERANT SELF-CONFIGURATION 87 .................................. 6.4 USER INTERFACE AND REMOTE CONTROL 89 ....................................... 6.5 SAMPLE APPLICATION PROGRAM 92 6.6 REFERENCES ..................................................... 93 PART 11: MOBILE ROBOT DESIGN 7 DRIVING ROBOTS 97 .............................................. 7.1 SINGLE WHEEL DRIVE 97 ................................................ 7.2 DIFFERENTIAL DRIVE 98 ................................................ 7.3 TRACKEDROBOTS 102 ................................................. 7.4 SYNCHRO-DRIVE 103 ............................................ 7.5 ACKERMANN STEERING 105 .............................................. 7.6 DRIVE KINEMATICS 107 7.7 REFERENCES .................................................... 111 8 OMNI-DIRECTIONAL ROBOTS 113 8.1 MECANUM WHEELS .............................................. 113 .......................................... 8.2 OMNI-DIRECTIONAL DRIVE 115 .................................................... 8.3 KINEMATICS 117 ................................... 8.4 OMNI-DIRECTIONAL ROBOT DESIGN 118 ............................................... 8.5 DRIVING PROGRAM 119 .................................................... 8.6 REFERENCES 120 9 BALANCING ROBOTS 123 .................................................... 9.1 SIMULATION 123 ........................................ 9.2 INVERTEDPENDULUMROBOT 124 ....................................... 9.3 DOUBLE INVERTED PENDULUM 128 .................................................... 9.4 REFERENCES 129 10 WALKING ROBOTS 131 ........................................ 10.1 SIX-LEGGED ROBOT DESIGN 131 ............................................. 10.2 BIPED ROBOT DESIGN 134 ...................................... 10.3 SENSORS FOR WALKING ROBOTS 139 ................................................. 10.4 STATIC BALANCE 140 CONTENTS ............................................... 10.5 DYNAMIT BALANCE 143 10.6 REFERENCES .................................................... 148 1 1 AUTONOMOUS PLANES 15 1 ................................................... 1 1.1 APPLICATION 151 ...................................... 1 1.2 CONTROL SYSTEM AND SENSORS 154 ................................................. 1 1.3 FLIGHT PROGRAM 155 .................................................... 11.4 REFERENCES 159 12 AUTONOMOUS VESSELS AND UNDENVATER VEHICLES 161 ................................................... 12.1 APPLICATION 161 ................................................ 12.2 DYNAMICMODEL 163 12.3 AUVDESIGNMAKO ............................................. 163 ............................................. 12.4 AUV DESIGN USAL 167 .................................................... 12.5 REFERENCES 170 13 SIMULATION SYSTEMS 171 ........................................ 13.1 MOBILE ROBOT SIMULATION 171 ....................................... 13.2 EYESIM SIMULATION SYSTEM 172 ....................................... 13.3 MULTIPLE ROBOT SIMULATION 177 ............................................. 13.4 EYESIM APPLICATION 178 ........................... 13.5 EYESIM ENVIRONMENT AND PARAMETER FILES 179 ....................................... 13.6 SUBSIM SIMULATION SYSTEM 184 ...................................... 13.7 ACTUATOR AND SENSOR MODELS 186 ............................................. 13.8 SUBSIM APPLICATION 188 ........................... 13.9 SUBSIM ENVIRONMENT AND PARAMETER FILES 190 13.10REFERENCES .................................................... 193 14 LOCALIZATION AND NAVIGATION 197 ................................................... 14.1 LOCALIZATION 197 ........................................ 14.2 PROBABILISTIC LOCALIZATION 201 ............................................. 14.3 COORDINATE SYSTEMS 205 ............................................ 14.4 DIJKSTRA S ALGORITHM 206 .................................................. 14.5 A*ALGORITHM 210 .......................................... 14.6 POTENTIAL FIELD METHOD 211 .................................. 14.7 WANDERING STANDPOINT ALGORITHM 212 ............................................. 14.8 DISTBUG ALGORITHM 213 .................................................... 14.9 REFERENCES 215 15 MAZE EXPLORATION 2 17 ........................................... 15.1 MICRO MOUSE CONTEST 217 ..................................... 15.2 MAZE EXPLORATION ALGORITHMS 219 ............................... 15.3 SIMULATED VERSUS REAL MAZE PROGRAM 226 .................................................... 15.4 REFERENCES 228 16 MAP GENERATION 229 ............................................. 16.1 MAPPING ALGORITHM 229 ............................................. 16.2 DATA REPRESENTATION 231 ................................... 16.3 BOUNDARY-FOLLOWING ALGORITHM 232 ............................................ 16.4 ALGORITHMEXECUTION 233 .......................................... 16.5 SIMULATION EXPERIMENTS 235 ............................................. 16.6 ROBOT EXPERIMENTS 236 ....................................................... 16.7 RESUL TS 239 .................................................... 16.8 REFERENCES 240 17 REAL-TIME IMAGE PROCESSING 243 ............................................... 17.1 CAMERALNTERFACE 243 ................................................ 17.2 AUTO-BRIGHTNESS 245 ................................................. 17.3 EDGE DETECTION 246 ............................................... 17.4 MOTION DETECTION 248 ................................................... 17.5 COLORSPACE 249 .......................................... 17.6 COLOR OBJECT DETECTION 251 ............................................ 17.7 IMAGE SEGMENTATION 256 ........................ 17.8 IMAGE COORDINATES VERSUS WORLD COORDINATES 258 .................................................... 17.9 REFERENCES 260 18 ROBOT SOCCER 263 .................................. 18.1 ROBOCUP AND FIRA COMPETITIONS 263 18.2 TEAMSTMCTURE ................................................. 266 ......................................... 18.3 MECHANICS AND ACTUATORS 267 ....................................................... 18.4 SENSING 267 ............................................... 18.5 IMAGEPROCESSING 269 ............................................. 18.6 TRAJECTORY PLANNING 271 .................................................... 18.7 REFERENCES 276 19 NEURAL NETWORKS 277 ...................................... 19.1 NEURAL NETWORK PRINCIPLES -277 ......................................... 19.2 FEED-FORWARD NETWORKS 278 19.3 BACKPROPAGATION ............................................... 283 ....................................... 19.4 NEURAL NETWORK EXAMPLE -288 ............................................... 19.5 NEURAL CONTROLLER 289 .................................................... 19.6 REFERENCES 290 20 GENETIC ALGORITHMS 29 1 ..................................... 20.1 GENETIC ALGORITHM PRINCIPLES 292 .............................................. 20.2 GENETIC OPERATORS 294 ..................................... 20.3 APPLICATIONS TO ROBOT CONTROL 296 ............................................. 20.4 EXAMPLE EVOLUTION 297 .............................. 20.5 IMPLEMENTATION OF GENETIC ALGORITHMS 301 .................................................... 20.6 REFERENCES 304 CONTENTS 2 1 GENETIC PROGRAMMING 3 07 ....................................... 2 1.1 CONCEPTS AND APPLICATIONS 307 21.2 LISP ......................................................... 309 ............................................. 2 1.3 GENETIC OPERATORS -313 21.4 EVOLUTION ..................................................... 315 .............................................. 2 1.5 TRACKING PROBLEM 316 ................................... 21.6 EVOLUTION OF TRACKING BEHAVIOR 319 .................................................... 21.7 REFERENCES 323 22 BEHAVIOR-BASED SYSTEMS 325 ........................................... 22.1 SOFTWARE ARCHITECTURE 325 ........................................ 22.2 BEHAVIOR-BASED ROBOTICS 326 .................................... 22.3 BEHAVIOR-BASED APPLICATIONS -329 ............................................ 22.4 BEHAVIOR FRAMEWORK 330 ............................................. 22.5 ADAPTIVE CONTROLLER 333 .............................................. 22.6 TRACKING PROBLEM 337 ....................................... 22.7 NEURAL NETWORK CONTROLLER 338 ................................................... 22.8 EXPERIMENTS 340 .................................................... 22.9 REFERENCES 342 23 EVOLUTION OF WALKING GAITS 345 23.1 SPLINES ....................................................... 345 .............................................. 23.2 CONTROL ALGORITHM 346 .......................................... 23.3 INCORPORATING FEEDBACK 348 ............................................ 23.4 CONTROLLER EVOLUTION 349 ........................................... 23.5 CONTROLLER ASSESSMENT 351 .................................................. 23.6 EVOLVED GAITS 352 .................................................... 23.7 REFERENCES 355 24 OUTLOOK 357 APPEND~CES .................................................. A PROGRAMMING TOOLS 361 ............................................ B ROBIOS OPERATING SYSTEM 371 ........................................... C HARDWARE DESCRIPTION TABLE 413 ............................................... D HARDWARESPECIFICATION 429 E LABORATORIES ........................................................ 437 F SOLUTIONS ........................................................... 447
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spellingShingle	Bräunl, Thomas Embedded robotics mobile robot design and applications with embedded systems ; with ... 24 tables Embedded computer systems Design and construction Mobile robots Robots Control systems Reglerentwurf (DE-588)4177447-4 gnd Anwendung (DE-588)4196864-5 gnd Autonomer Roboter (DE-588)4304075-5 gnd Sensortechnik (DE-588)4121663-5 gnd Hardwareentwurf (DE-588)4159103-3 gnd Softwareentwicklung (DE-588)4116522-6 gnd Eingebettetes System (DE-588)4396978-1 gnd Fußball (DE-588)4018968-5 gnd Lernendes System (DE-588)4120666-6 gnd Mobiler Roboter (DE-588)4191911-7 gnd
subject_GND	(DE-588)4177447-4 (DE-588)4196864-5 (DE-588)4304075-5 (DE-588)4121663-5 (DE-588)4159103-3 (DE-588)4116522-6 (DE-588)4396978-1 (DE-588)4018968-5 (DE-588)4120666-6 (DE-588)4191911-7
title	Embedded robotics mobile robot design and applications with embedded systems ; with ... 24 tables
title_auth	Embedded robotics mobile robot design and applications with embedded systems ; with ... 24 tables
title_exact_search	Embedded robotics mobile robot design and applications with embedded systems ; with ... 24 tables
title_full	Embedded robotics mobile robot design and applications with embedded systems ; with ... 24 tables Thomas Bräunl
title_fullStr	Embedded robotics mobile robot design and applications with embedded systems ; with ... 24 tables Thomas Bräunl
title_full_unstemmed	Embedded robotics mobile robot design and applications with embedded systems ; with ... 24 tables Thomas Bräunl
title_short	Embedded robotics
title_sort	embedded robotics mobile robot design and applications with embedded systems with 24 tables
title_sub	mobile robot design and applications with embedded systems ; with ... 24 tables
topic	Embedded computer systems Design and construction Mobile robots Robots Control systems Reglerentwurf (DE-588)4177447-4 gnd Anwendung (DE-588)4196864-5 gnd Autonomer Roboter (DE-588)4304075-5 gnd Sensortechnik (DE-588)4121663-5 gnd Hardwareentwurf (DE-588)4159103-3 gnd Softwareentwicklung (DE-588)4116522-6 gnd Eingebettetes System (DE-588)4396978-1 gnd Fußball (DE-588)4018968-5 gnd Lernendes System (DE-588)4120666-6 gnd Mobiler Roboter (DE-588)4191911-7 gnd
topic_facet	Embedded computer systems Design and construction Mobile robots Robots Control systems Reglerentwurf Anwendung Autonomer Roboter Sensortechnik Hardwareentwurf Softwareentwicklung Eingebettetes System Fußball Lernendes System Mobiler Roboter
url	http://deposit.dnb.de/cgi-bin/dokserv?id=2795674&prov=M&dok_var=1&dok_ext=htm http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=015444253&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA
work_keys_str_mv	AT braunlthomas embeddedroboticsmobilerobotdesignandapplicationswithembeddedsystemswith24tables

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