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Intelligent Systems, Control and Automation: Science and Engineering Kenzo Nonami Muljowidodo Kartidjo Kwang-Joon Yoon Agus Budiyono Editors Autonomous Control Systems and Vehicles Intelligent Unmanned Systems Autonomous Control Systems and Vehicles International Series on INTELLIGENT SYSTEMS, CONTROL AND AUTOMATION: SCIENCE AND ENGINEERING VOLUME 65 Editor Professor S. G. Tzafestas, National Technical University of Athens, Greece Editorial Advisory Board Professor P. Antsaklis, University of Notre Dame, Notre Dame, IN, USA Professor P. Borne, Ecole Centrale de Lille, Lille, France Professor D.G. Caldwell, University of Salford, Salford, UK Professor C.S. Chen, University of Akron, Akron, Ohio, USA Professor T. Fukuda, Nagoya University, Nagoya, Japan Professor S. Monaco, University La Sapienza, Rome, Italy Professor G. Schmidt, Technical University of Munich, Munich, Germany ProfessorS.G.Tzafestas,NationalTechnicalUniversityofAthens,Athens,Greece Professor F. Harashima, University of Tokyo, Tokyo, Japan Professor N.K. Sinha, McMaster University, Hamilton, Ontario, Canada Professor D. Tabak, George Mason University, Fairfax, Virginia, USA Professor K. Valavanis, University of Denver, Denver, USA Forfurther volumes: http://www.springer.com/series/6259 Kenzo Nonami (cid:129) Muljowidodo Kartidjo Kwang-Joon Yoon (cid:129) Agus Budiyono Editors Autonomous Control Systems and Vehicles Intelligent Unmanned Systems Editors KenzoNonami MuljowidodoKartidjo GraduateSchoolandFaculty CenterforUnmanned ofEngineering SystemStudies ChibaUniversity InstituteofTechnologyBandung Chiba,Japan Bandung,Indonesia Kwang-JoonYoon AgusBudiyono KonkukUniversity DepartmentofAerospaceandInformation Seoul,Korea,Republic Engineering,SmartRobotCenter of(SouthKorea) KonkukUniversity Seoul,Korea,Republicof(SouthKorea) ISBN978-4-431-54275-9 ISBN978-4-431-54276-6(eBook) DOI10.1007/978-4-431-54276-6 SpringerTokyoHeidelbergNewYorkDordrechtLondon LibraryofCongressControlNumber:2013936546 #SpringerJapan2013 Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpart of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation,broadcasting,reproductiononmicrofilmsorinanyotherphysicalway,andtransmissionor informationstorageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilar methodologynowknownorhereafterdeveloped.Exemptedfromthislegalreservationarebriefexcerpts inconnectionwithreviewsorscholarlyanalysisormaterialsuppliedspecificallyforthepurposeofbeing enteredandexecutedonacomputersystem,forexclusiveusebythepurchaserofthework.Duplication ofthispublicationorpartsthereofispermittedonlyundertheprovisionsoftheCopyrightLawofthe Publisher’s location, in its current version, and permission for use must always be obtained from Springer.PermissionsforusemaybeobtainedthroughRightsLinkattheCopyrightClearanceCenter. ViolationsareliabletoprosecutionundertherespectiveCopyrightLaw. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publicationdoesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexempt fromtherelevantprotectivelawsandregulationsandthereforefreeforgeneraluse. While the advice and information in this book are believed to be true and accurate at the date of publication,neithertheauthorsnortheeditorsnorthepublishercanacceptanylegalresponsibilityfor anyerrorsoromissionsthatmaybemade.Thepublishermakesnowarranty,expressorimplied,with respecttothematerialcontainedherein. Printedonacid-freepaper SpringerispartofSpringerScience+BusinessMedia(www.springer.com) Preface TheInternationalConferenceonIntelligentUnmannedSystems(ICIUS)2011was organized by the International Society of Intelligent Unmanned Systems (ISIUS) and locally by the Center for Bio-Micro Robotics Research at Chiba University, Japan.Theeventwasthe7thconferencecontinuingfrompreviousconferencesheld inSeoul,Korea(2005,2006),Bali,Indonesia(2007),Nanjing,China(2008),Jeju, Korea(2009),andBali,Indonesia(2010).ICIUS2011focusedonboththeoryand application,primarilycoveringthetopicsofrobotics,autonomousvehicles,intelli- gentunmannedtechnologies,andbiomimetics.Weinvitedsevenkeynotespeakers who dealt with related state-of-the-art technologies including unmanned aerial vehicles(UAVs)andmicroairvehicles(MAVs),flappingwings(FWs),unmanned ground vehicles (UGVs), underwater vehicles (UVs), bio-inspired robotics, advanced control, and intelligent systems, among others. Simultaneously, the exhibition and demonstrations and the panel discussion were arranged to cover advanced relevant technologies in this field. The aim of the conference was to stimulateinteractionsamongresearchersactiveintheareaspertinenttointelligent unmannedsystems. This special-interest conference successfully attracted 113 papers internation- ally,coveringthefollowingtopics: (cid:129) Unmannedsystems:UAVs,MAVs,unmannedmarinevehicles(UMVs),under- watervehicles(UVs),multi-agent systems,UGVs,blimps,swarmintelligence, autonomousflyingrobots(AFRs),andflappingrobots(FRs) (cid:129) Robotics and biomimetics: smart sensors, design and applications of MEMS/ NEMS,intelligentrobotsystems,evolutionaryalgorithms,controlofbiological systems,biologicallearningcontrolsystems,neuralnetworks,andbioinformatics (cid:129) Controlandcomputation:distributedandembeddedsystems,embeddedintelli- gent control, complex systems, pervasive computing, discrete event systems, hybrid systems, networked control systems, delay systems, identification and estimation, nonlinear systems, precision motion control, control applic- ations, computer architecture and VLSI, signal/image and multimedia v vi Preface processing, software-enabled control, real-time operating systems, architecture for autonomous systems, software engineering for real-time systems, and real-timedatacommunications (cid:129) Context-awarecomputingintelligentsystems:softcomputing,ubiquitouscom- puting,distributedintelligence,anddistributed/decentralizedintelligentcontrol ICIUS2011 was strongly supported by IEEE, the Japan Society of Mechanical Engineers (JSME), the Society of Instrument and Control Engineers (SICE), the InstituteofSystems,ControlandInformationEngineers(ISCIE),RoboticsSociety of Japan (RSJ), the Japan Society for Aeronautical and Space Sciences (JSASS), Japan UAV Association (JUAV), the Chiba Convention Bureau and International Center, and the NSK Mechatronics Technology Advancement Foundation, Chiba University.Onbehalfoftheorganizationcommittee,wewouldliketoexpressour appreciationforthesupportprovidedbythoseorganizations.Wewouldalsoliketo use this opportunity to thank all individuals and organizations who contributed to makingICIUS2011successfulandmemorable. Thisbookisacollectionofexcellentpapersthatwereupdatedafterpresentation atICIUS2011.TheevaluationcommitteeofICIUS2011finallydecidedtoselecta total of 21 of those papers including the keynote papers. All papers that form the chaptersofthisbookwerereviewedandrevisedfromtheperspectiveofadvanced relevant technologies in the field. The book is organized into four parts, which reflecttheresearchtopicsoftheconferencethemes: Part1:TrendsinIntelligentandAutonomousUnmannedSystems Part2:TrendsinResearchActivitiesofUAVsandMAVs Part3:TrendsinResearchActivitiesofUGVs Part4:TrendsinResearchActivitiesofUnderwaterVehicles,MicroRobots,andOthers One aim of this book is to stimulate interactions among researchers in the areas pertinent to intelligent unmanned systems of UAV, MAV, UGV, USV, and UV, namely, autonomous control systems and vehicles. Another aim is to share new ideas,newchallenges,andtheauthors’expertiseoncriticalandemergingtechnologies. Thebookcoversmultifacetedaspectsofintelligentunmannedsystems. The editors hope that readers will find this book not only stimulating but also usefulandusableinwhateveraspectofunmannedsystemdesigninwhichtheymay beinvolvedorinterested.Theeditorswouldliketoexpresstheirsincereappreciation toallthecontributorsfortheircooperationinproducingthisbook.Thecontribution from the keynote speakers is gratefully acknowledged, and all authors are to be congratulated for their efforts in preparing such excellent chapters. Finally, the publisher, Springer, and most importantly Ms. Y. Sumino and Ms. T. Sato have been extremely supportive in the publication of this book. We especially want to thankMs.SuminoandMs.Satofortheircontribution. Chiba,Japan KenzoNonami Bandung,Indonesia MuljowidodoKartidjo SeoulKorea,Republicof(SouthKorea) Kwang-JoonYoon SeoulKorea,Republicof(SouthKorea) AgusBudiyono Contents PartI TrendsofIntelligentandAutonomousUnmannedSystems 1 FlightDemonstrationsofFaultTolerantFlight ControlUsingSmallUAVs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 ShinjiSuzuki,YukaYoshimatsu,andKoichiMiyaji 2 UnmannedAerialandGroundVehicleTeams: RecentWorkandOpenProblems. . . . . . .. . . . . . . . . . . . . . . .. . . 21 StevenL.Waslander 3 CognitiveDevelopmentalRobotics:fromPhysical InteractiontoSocialOne. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 MinoruAsada PartII TrendsonResearchActivitiesofUAVsandMAVs 4 TowardsaUnifiedFrameworkforUASAutonomy andTechnologyReadinessAssessment(ATRA). . . . . . . . . . . . . . . 55 FaridKendoul 5 ControlSchemeforAutomaticTakeoff andLandingofSmallElectricHelicopter. . . . . . . . . . . . . . . . . . . . 73 SatoshiSuzuki 6 EvaluationofanEasyOperationSystem forUnmannedHelicopter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 MasafumiMiwa,ShoutaNakamatsu,andKentaroKinoshita 7 ControlofDuctedFanFlyingObjectUsing ThrustVectoring. . . .. . . .. . . . .. . . .. . . .. . . .. . . . .. . . .. . . .. 97 MasafumiMiwa,YukiShigematsu,andTakashiYamashita vii viii Contents 8 CircularFormationControlofMultipleQuadrotor AerialVehicles. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 M.FadhilAbas,DwiPebrianti,SyarilAzrad,D.Iwakura, YuzeSong,andK.Nonami 9 DecentralisedFormationControlofUnmanned AerialVehiclesUsingVirtualLeaders. . . . . . . . . . . . . . . . . . . . . . 133 TakumaHinoandTakeshiTsuchiya 10 AerodynamicsandFlightStabilityofBio-inspired, Flapping-WingMicroAirVehicles. . . . . . . . . . . . . . . . . . . . . . . . . 145 HaoLiu,XiaolanWang,ToshiyukiNakata,and KazuyukiYoshida 11 DevelopmentandOperationalExperiencesof UAVsforScientificResearchinAntarctica. . . . . . . . . . . . . . . . . . 159 S.Higashino,M.Funaki,N.Hirasawa,M.Hayashi andS.Nagasaki 12 CircularlyPolarizedSyntheticApertureRadar OnboardUnmannedAerialVehicle(CP-SARUAV). . . . . . . . . . . 175 JosaphatTetukoSriSumantyo PartIII TrendsonResearchActivitiesofUGVs 13 ModelingandControlofWheeledMobileRobots: FromKinematicstoDynamicswithSlippingandSkidding. . . . . . 195 MakotoYokoyama 14 ConsiderationofMountedPositionofGrousers onFlexibleWheelsforLunarExplorationRovers toTraverseLooseSoil. . .. . . . . .. . . . . .. . . . . .. . . . . . .. . . . . .. 211 KojiroIizuka 15 OptimalImpedanceControlwithTSK-TypeFLC forHardShakingReductiononHydraulicallyDriven HexapodRobot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223 AddieIrawan,KenzoNonami,andMohdRazaliDaud 16 LRFAssistedAutonomousWalkinginRoughTerrain forHexapodRobotCOMET-IV. . . . . . . . . . . . . . . . . . . . . . . . . . . 237 M.R.Daud,K.Nonami,andA.Irawan 17 WalkingDirectionalControlofSix-LeggedRobot byTime-VaryingFeedbackSystem. . . . . . . . . . .. . . . . . . . . . . .. . 251 H.UchidaandN.Shiina Contents ix PartIV TrendsonResearchActivitiesofUnderwater Vehicle,MicroRobotandOthers 18 DesignandOperationAnalysisofHybridAUV. . . . . . . . . . . . . . . 267 K.Muljowidodo,SaptoAdiNugroho,andNicoPrayogo 19 UltrasoundEnergyTransmissionforWaFLES-Support Intra-abdominalMicroRobots. . . . . . . . . . . . . . . . . . . . . . . . . . . . 279 TakuyaAkagi,DavidGomez,JoseGonzalez, TatsuoIgarashi,andWenweiYu 20 SimulationofSupercavitatingFlowAcceleratedbyShock. . . . . . . 291 B.C.KhooandJ.G.Zheng 21 DynamicsofVorticesShedfromanElasticHeaving ThinFilmbyFluid–StructureInteractionSimulation. . . . . . . . . . 299 TetsushiNagata,MasakiFuchiwaki,andKazuhiroTanaka Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311

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