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Underwater Robots: Motion And Force Control Of Vehicle-manipulator Systems (Springer Tracts in Advanced Robotics #96)

This book, now at the third edition, addresses the main control aspects in underwater manipulation tasks. The mathematical model with significant impact on the control strategy is discussed. The problem of controlling a 6-degrees-of-freedoms autonomous underwater vehicle is deeply investigated and a survey of fault detection/tolerant strategies for unmanned underwater vehicles is provided. Inverse kinematics, dynamic and interaction control for underwater vehicle-manipulator systems are then discussed. The code used to generate most of the numerical simulations is made available and briefly discussed.

Underwater Robots: Motion and Force Control of Vehicle-Manipulator Systems (Springer Tracts in Advanced Robotics #2)

This book deals with the state of the art in underwater robotics experiments of dynamic control of an underwater vehicle. The author presents experimental results on motion control and fault tolerance to thrusters’ faults with the autonomous vehicle ODIN. This second substantially improved and expanded edition new features are presented dealing with fault-tolerant control and coordinated control of autonomous underwater vehicles.

Underwater Robots

All life came from sea but all robots were born on land. The vast majority of both industrial and mobile robots operate on land, since the technology to allow them to operate in and under the ocean has only become available in recent years. A number of complex issues due to the unstructured, hazardous undersea environment, makes it difficult to travel in the ocean while today's technologies allow humans to land on the moon and robots to travel to Mars . . Clearly, the obstacles to allowing robots to operate in a saline, aqueous, and pressurized environment are formidable. Mobile robots operating on land work under nearly constant atmospheric pressure; their legs (or wheels or tracks) can operate on a firm footing; their bearings are not subjected to moisture and corrosion; they can use simple visual sensing and be observed by their creators working in simple environments. In contrast, consider the environment where undersea robots must operate. The pressure they are subjected to can be enormous, thus requiring extremely rugged designs. The deep oceans range between 19,000 to 36,000 ft. At a mere 33-foot depth, the pressure will be twice the normal one atmosphere pressure of 29. 4 psi. The chemical environment of the sea is highly corrosive, thus requiring the use of special materials. Lubrication of moving parts in water is also difficult, and may require special sealed, waterproof joints.

Underwater SLAM for Structured Environments Using an Imaging Sonar (Springer Tracts in Advanced Robotics #65)

Robotics is undergoing a major transformation in scope and dimension. From a largely dominant industrial focus, robotics is rapidly expanding into human en- ronments and vigorously engaged in its new challenges. Interacting with, assisting, serving, and exploring with humans, the emerging robots will increasingly touch people and their lives. Beyond its impact on physical robots, the body of knowledge robotics has p- duced is revealing a much wider range of applications reaching across diverse research areas and scienti?c disciplines, such as: biomechanics, haptics, neu- sciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are proving an abundant source of stimulation and insights for the ?eld of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The SpringerTracts in AdvancedRobotics(STAR) is devoted to bringing to the research community the latest advances in the robotics ?eld on the basis of their signi?cance and quality. Through a wide and timely dissemination of critical - search developments in robotics, our objective with this series is to promote more exchanges and collaborations among the researchers in the community and c- tribute to further advancements in this rapidly growing ?eld.

Undoing Ethics: Rethinking Practice in Online Research

Over the past decade, researchers from different academic disciplines have paid increasing attention to the productivity of online environments. The ethical underpinnings of research in such settings, however, remain contested and often controversial. As traditional debates have been reignited by the need to respond to the particular characteristics of technologically-mediated environments, researchers have entered anew key debates regarding the moral, legal and regulative aspects of research ethics. A growing trend in this work has been towards the promotion of localized and contextualized research ethics - the suggestion that the decisions we make should be informed by the nature of the environments we study and the habits/expectations of participants within them. Despite such moves, the relationship between the empirical, theoretical and methodological aspects of Internet research ethics remains underexplored. Drawing from ongoing sociological research into the practices of media cultures online, this book provides a timely and distinctive response to this need. This book explores the relationship between the production of ethical stances in two different contexts: the ethical manoeuvring of participants within online media-fan communities and the ethical decision-making of the author as Internet researcher, manoeuvring, as it were, in the academic community. In doing so, the book outlines a reflexive framework for exploring research ethics at different levels of analysis; the empirical settings of research; the theoretical perspectives which inform the researcher’s objectification of the research settings; and the methodological issues and practical decisions that constitute the activity as research. The analysis of these different levels develops a way of thinking about ethical practice in terms of stabilizing and destabilizing moves within and between research and researched communities. The analysis emphasizes the continuities and discontinuities between both research practice and online media-fan activity, and social activity in on and offline environments.

Unearthing the Real Process Behind the Event Data: The Case for Increased Process Realism (Lecture Notes in Business Information Processing #412)

This book is a revised version of the PhD dissertation written by the author at Hasselt University in Belgium. This dissertation introduces the concept of process realism. Process realism is approached from two perspectives in this dissertation. First, quality dimensions and measures for process discovery are analyzed on a large scale and compared with each other on the basis of empirical experiments. It is shown that there are important differences between the different quality measures in terms of feasibility, validity and sensitivity. Moreover, the role and meaning of the generalization dimension is unclear. Second, process realism is also tackled from a data point of view. By developing a transparent and extensible tool-set, a framework is offered to analyze process data from different perspectives. From both perspectives, recommendations are made for future research, and a call is made to give the process realism mindset a central place within process mining analyses. In 2020, the PhD dissertation won the “BPM Dissertation Award”, granted to outstanding PhD theses in the field of Business Process Management.

The UNESCO Memory of the World Programme: Key Aspects and Recent Developments (Heritage Studies)

The volume “The UNESCO Memory of the World Programme: Key Aspects and Recent Developments” responds to the growing interest in the scientific study of the Memory of the World Programme (MoW) and its core concept of documentary heritage, which has received little attention from scholarship so far. This sixth publication in the Heritage Studies Series provides a first collection of differing approaches (including reflected reports, essays, research contributions, and theoretical reflections) for the study of the MoW Programme, offering a basis for follow-up activities. The volume, edited by Ray Edmondson, Lothar Jordan and Anca Claudia Prodan, brings together 21 scholars from around the globe to present aspects deemed crucial for understanding MoW, its development, relevance and potential. The aim is to encourage academic research on MoW and to enhance the understanding of its potential and place within Heritage Studies and beyond.

Unexploded Ordnance Detection and Mitigation (NATO Science for Peace and Security Series B: Physics and Biophysics)

The chapters in this volume were presented at the July–August 2008 NATO Advanced Study Institute on Unexploded Ordnance Detection and Mitigation. The conference was held at the beautiful Il Ciocco resort near Lucca, in the glorious Tuscany region of northern Italy. For the ninth time we gathered at this idyllic spot to explore and extend the reciprocity between mathematics and engineering. The dynamic interaction between world-renowned scientists from the usually disparate communities of pure mathematicians and applied scientists which occurred at our eight previous ASI’s continued at this meeting. The detection and neutralization of unexploded ordnance (UXO) has been of major concern for very many decades; at least since the First World war. UXO continues to be the subject of intensive research in many ?elds of science, incl- ing mathematics, signal processing (mainly radar and sonar) and chemistry. While today’s headlines emphasize the mayhem resulting from the placement of imp- vised explosive devices (IEDs), humanitarian landmine clearing continues to draw signi?cant global attention as well. In many countries of the world, landmines threaten the population and hinder reconstruction and fast, ef?cient utilization of large areas of the mined land in the aftermath of military con?icts.

Unfoldings: A Partial-Order Approach to Model Checking (Monographs in Theoretical Computer Science. An EATCS Series)

In this book the authors introduce unfoldings, an approach to model checking which alleviates the state explosion problem by means of concurrency theory. They offer an introduction to the basics of the method and detail an unfolding-based algorithm for model checking concurrent systems against properties specified as formulas of linear temporal logic (LTL). The book will be of value to researchers and graduate students engaged in automatic verification and concurrency theory.

A Unified Approach for Timing Verification and Delay Fault Testing

Large system complexities and operation under tight timing constraints in rapidly shrinking technologies have made it extremely important to ensure correct temporal behavior of modern-day digital circuits, both before and after fabrication. Research in (pre-fabrication) timing verification and (post-fabrication) delay fault testing has evolved along largely disjoint lines in spite of the fact that they share many basic concepts. A Unified Approach for Timing Verification and Delay Fault Testing applies concepts developed in the context of delay fault testing to path sensitization, which allows an accurate timing analysis mechanism to be developed. This path sensitization strategy is further applied for efficient delay fault diagnosis and delay fault coverage estimation. A new path sensitization strategy called Signal Stabilization Time Analysis (SSTA) has been developed based on the fact that primitive PDFs determine the stabilization time of the circuit outputs. This analysis has been used to develop a feasible method of identifying the primitive PDFs in a general multi-level logic circuit. An approach to determine the maximum circuit delay using this primitive PDF identification mechanism is also presented. The Primitive PDF Identification-based Timing Analysis (PITA) approach is proved to determine the maximum floating mode circuit delay exactly under any component delay model, and provides several advantages over previously floating mode timing analyzers. A framework for the diagnosis of circuit failures caused by distributed path delay faults is also presented. A metric to quantify the diagnosability of a path delay fault for a test is also proposed. Finally, the book presents a very realistic metric for delay fault coverage which accounts for delay fault size distributions and is applicable to any delay fault model. A Unified Approach for Timing Verification and Delay Fault Testing will be of interest to university and industry researchers in timing analysis and delay fault testing as well as EDA tool development engineers and design verification engineers dealing with timing issues in ULSI circuits. The book should also be of interest to digital designers and others interested in knowing the state of the art in timing verification and delay fault testing.

Unified Communications Forensics: Anatomy of Common UC Attacks

Unified Communications Forensics: Anatomy of Common UC Attacks is the first book to explain the issues and vulnerabilities and demonstrate the attacks, forensic artifacts, and countermeasures required to establish a secure (UC) environment. This book is written by leading UC experts Nicholas Grant and Joseph W. Shaw II and provides material never before found on the market, including: • analysis of forensic artifacts in common UC attacks • an in-depth look at established UC technologies and attack exploits • hands-on understanding of UC attack vectors and associated countermeasures • companion website http://secvoip.com giving readers access to the most up-to-date information on UC attacks. - Provides key information for hackers and pen testers on the most current Unified Communications implementations - The only book to explore and demonstrate how to work with digital artifacts from attacks within the UC environment - Deals with UC security from multiple angles—less about theory and more about hands-on threat defense and forensics

Unified Computational Intelligence for Complex Systems (Adaptation, Learning, and Optimization #6)

Computational intelligence encompasses a wide variety of techniques that allow computation to learn, to adapt, and to seek. That is, they may be designed to learn information without explicit programming regarding the nature of the content to be retained, they may be imbued with the functionality to adapt to maintain their course within a complex and unpredictably changing environment, and they may help us seek out truths about our own dynamics and lives through their inclusion in complex system modeling. These capabilities place our ability to compute in a category apart from our ability to erect suspension bridges, although both are products of technological advancement and reflect an increased understanding of our world. In this book, we show how to unify aspects of learning and adaptation within the computational intelligence framework. While a number of algorithms exist that fall under the umbrella of computational intelligence, with new ones added every year, all of them focus on the capabilities of learning, adapting, and helping us seek. So, the term unified computational intelligence relates not to the individual algorithms but to the underlying goals driving them. This book focuses on the computational intelligence areas of neural networks and dynamic programming, showing how to unify aspects of these areas to create new, more powerful, computational intelligence architectures to apply to new problem domains.

Unified IP Internetworking

Unified Lagrangian Formulation for Fluid and Solid Mechanics, Fluid-Structure Interaction and Coupled Thermal Problems Using the PFEM (Springer Theses)

This book treats the derivation and implementation of a unified particle finite element formulation for the solution of fluid and solid mechanics, Fluid-Structure Interaction (FSI) and coupled thermal problems.FSI problems are involved in many engineering branches, from aeronautics to civil and biomedical engineering. The numerical method proposed in this book has been designed to deal with a large part of these. In particular, it is capable of simulating accurately free-surface fluids interacting with structures that may undergo large displacements, suffer from thermo-plastic deformations and even melt. The method accuracy has been successfully verified in several numerical examples. The thesis also contains the application of the proposed numerical strategy for the simulation of a real industrial problem. This thesis, defended at the Universitat Politecnica de Catalunya in 2015, was selected (ex aequo) as the best PhD thesis in numerical methods in Spain for the year 2015 by the Spanish Society of Numerical Methods in Engineering (SEMNI).

Unified low-power design flow for data-dominated multi-media and telecom applications: Based on selected partner contributions of the European Low Power Initiative for Electronic System Design of the European Community ESPRIT4 programme (Mcgraw-hill Series In Mechanical Engineering)

This book is the first in aseries on novellow power design architectures, methods and design practices. It results from of a large European project started in 1997, whose goal is to promote the further development and the faster and wider industrial use of advanced design methods for reducing the power consumption of electronic systems. Low power design became crucial with the wide spread of portable information and cornrnunication terminals, where a small battery has to last for a long period. High performance electronics, in addition, suffers from a permanent increase of the dissipated power per square millimetre of silicon, due to the increasing eIock-rates, which causes cooling and reliability problems or otherwise limits the performance. The European Union's Information Technologies Programme 'Esprit' did there­ fore launch a 'Pilot action for Low Power Design' , wh ich eventually grew to 19 R&D projects and one coordination project, with an overall budget of 14 million Euro. It is meanwhile known as European Low Power Initiative for Electronic System Design (ESD-LPD) and will be completed by the end of 2001. It involves 30 major Euro­ pean companies and 20 well-known institutes. The R&D projects aims to develop or demonstrate new design methods for power reduction, while the coordination project takes care that the methods, experiences and results are properly documented and pub­ licised.

The Unified Modeling Language: Technical Aspects and Applications

Most of the articles in this volume are revised versions of papers presented during the 1st GROOM-Workshop on the Unified Modeling Language (UML). GROOM (Grundlagen objektorientierter Modellierung) is a working group of the Gesellschaft fur Informatik (GI), the German Society of Computer Science. The workshop took place at the University of Mannheim (Germany) in October 1997; the local organizers were Martin Schader and Axel Korthaus, Department of Information Systems. The scientific program of the workshop included 21 talks, presented in German language on Friday, Oct. 10th, and Saturday, Oct. 11th, 1997. Researchers and practitioners interested in object-oriented software development, analysis and design of software systems, standardization efforts in the field of object technology, and particularly in the main topic of the workshop: ''Applications, State of the Art, and Evaluation of the Unified Modeling Language" had the opportunity to discuss recent developments and to establish cooperation in these fields. The workshop owed much to its sponsors and supporters - University of Mannheim - Faculty of Business Administration, University of Mannheim - Sun Microsystems GmbH - Apcon Professional Concepts GmbH. Their generous support is gratefully acknowledged. In the present proceedings volume, papers are presented in three chapters as follows.

The Unified Modeling Language. >'98: First International Workshop, Mulhouse, France, June 3-4, 1998, Selected Papers (Lecture Notes in Computer Science #1618)

This volume contains mainly the revised versions of papers presented at the wo- shop '98, "Beyond the Notation", that took place in Mulhouse, France on June 3-4, 1998. We thank all those that have made this possible, and particularly all the people in Mulhouse that worked hard to make this meeting a success, with such a short delay between the announcement and the realization. We are specially grateful to Nathalie Gaertner, who put in a tremendous amount of effort in the initial preparation of the workshop. We were pleasantly surprised of the quality of the submitted material and of the level of the technical exchanges at the Mulhouse meeting. More than one hundred attendees, from about twenty different countries, representing the main actors in the UML research and development scene, gathered in Mulhouse for two full study days. We would like to express our deepest appreciation to the authors of submitted - pers, the editorial committee for this volume, the program committee for the initial workshop, the external referees, and many others who contributed towards the final contents of this volume. April 1999 Jean Bézivin Pierre-Alain Muller

The Unified Process for Practitioners: Object-Oriented Design, UML and Java (Practitioner Series)

The Unified Process for Practitioners guides the reader through the use of the Unified Modeling Language (UML) and the Unified Process, and their application to Java systems. The first part provides a practical introduction to object-oriented analysis and design using the Unified Process. The UML is introduced and a complete listing of the UML is provided as an appendix. The second part focuses on the real world use of UML and the Unified Process, including a detailed case study taking a system from initial inception to Java implementation.

Unified Signal Theory

Unified Signal Theory is an indispensible textbook dealing with the theory of deterministic signals; a topic of fundamental interest to graduates and senior undergraduates in the areas of information engineering (telecommunications, control, systems theory and electronics), astronomy, oceanography, earth science, biology and medicine. The unified theory follows an innovative approach – that of combining all signal classes into just one. The fundamental signal operations (convolution, Fourier transform, linear systems, sampling and interpolation) are established simultaneously for all the signal classes. This unified approach avoids the repetition of similar concepts consequent on other approaches’ separate treatment of definitions and properties for each signal class. Modern wavelet ideas are developed in harmony with the rest of the text. Unified Signal Theory provides: • exercises and examples, to give the student practice; • solutions which are available for download and save the tutor time; and • a choice of two suggested reading paths depending on the level of the student, for an enhanced learning experience. The advantages of the unified approach are many: it permits a global vision of the topic, it is economical in teaching and learning, and it can be adjusted easily to fit new applications. This textbook presents the theory in five chapters, and goes on to demonstrate specific applications such as fast Fourier transform implementation, sampling and reconstructions of signals, and multicolor modulation systems, in a further six chapters. Mathematical concepts are introduced conceptually within the body of the book with more rigorous treatment being reserved for the appendices.

A Unified Theory of Cats on the Internet

How cats became the undisputed mascot of the internet. The advertising slogan of the social news site Reddit is "Come for the cats. Stay for the empathy." Journalists and their readers seem to need no explanation for the line, "The internet is made of cats." Everyone understands the joke, but few know how it started. A Unified Theory of Cats on the Internet is the first book to explore the history of how the cat became the internet's best friend. Internet cats can differ in dramatic ways, from the goth cats of Twitter to the glamourpusses of Instagram to the giddy, nonsensical silliness of Nyan Cat. But they all share common traits and values. Bringing together fun anecdotes, thoughtful analyses, and hidden histories of the communities that built the internet, Elyse White shows how japonisme, punk culture, cute culture, and the battle among different communities for the soul of the internet informed the sensibility of online felines. Internet cats offer a playful—and useful—way to understand how culture shapes and is shaped by technology. Western culture has used cats for centuries as symbols of darkness, pathos, and alienation, and the communities that helped build the internet explicitly constructed themselves as outsiders, with snark and alienation at the core of their identity. Thus cats became the sine qua non of cultural literacy for the Extremely Online, not to mention an everyday medium of expression for the rest of us. Whatever direction the internet takes next, the "series of tubes" is likely to remain cat-shaped.

Uniform Output Regulation of Nonlinear Systems: A Convergent Dynamics Approach (Systems & Control: Foundations & Applications)

This study of the nonlinear output regulation problem embraces local as well as global cases, covering such aspects as controller design and practical implementation issues. From the reviews: "The authors treat the problem of output regulation for a nonlinear control system...[they] develop a global approach to output regulation along familiar lines....I found the book to be ambitious and rigorous, tackling some hard conceptual issues." --IEEE TRANSACTIONS ON AUTOMATIC CONTROL

A Unifying Framework for Formal Theories of Novelty: Discussions, Guidelines, and Examples for Artificial Intelligence (Synthesis Lectures on Computer Vision)

This book presents the first unified formalization for defining novelty across the span of machine learning, symbolic-reasoning, and control and planning-based systems. Dealing with novelty, things not previously seen by a system, is a critical issue for building vision-systems and general intelligent systems. The book presents examples of using this framework to define and evaluate in multiple domains including image recognition image-based open world learning, hand-writing and author analysis, CartPole Control, Image Captioning, and Monopoly. Chapters are written by well-known contributors to this new and emerging field. In addition, examples are provided from multiple areas, such as machine-learning based control problems, symbolic reasoning, and multi-player games.

Unifying Perspectives in Computational and Robot Vision (Lecture Notes in Electrical Engineering #8)

Assembled in this volume is a collection of some of the state-of-the-art methods that are using computer vision and machine learning techniques as applied in robotic applications. Currently there is a gap between research conducted in the computer vision and robotics communities. This volume discusses contrasting viewpoints of computer vision vs. robotics, and provides current and future challenges discussed from a research perspective.

Unifying Petri Nets: Advances in Petri Nets (Lecture Notes in Computer Science #2128)

Since their introduction nearly 40 years ago, research on Petri nets has diverged in many different directions. Various classes of Petri net, motivated either by theory or applications, with its own specific features and methods of analysis, have been proposed and studies in depth.These successful developments have led to a very heterogeneous landscape of diverse models, and this, in turn, has stimulated research on concepts and approaches that contribute to unifying and structuring the diverse landscape. This state-of-the-art survey presents the most relevant approaches to unifying Petri nets in a systematic and coherent way. The 14 chapters written by leading researchers are organized in topical sections on application-oriented approaches, unifying frameworks, and theoretical approaches.

Unifying the Software Process Spectrum: International Software Process Workshop, SPW 2005, Beijing, China, May 25-27, 2005 Revised Selected Papers (Lecture Notes in Computer Science #3840)

This book constitutes the thoroughly refereed post-proceedings of the International Software Process Workshop, SPW 2005, help in Beijing, China in May 2005. The 30 papers presented here, together with 11 keynote addresses are organized in topical sections on process content, process tools and metrics, process management, process representation and analysis, as well as experience reports.