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This book introduces readers to the principles and practical applications of intelligent robot system with robot operating system (ROS), pursuing a task-oriented and hands-on approach. Taking the conception, design, implementation, and operation of robot application systems as a typical project, and through “learning-by-doing, practicing-while-learning” approach, it familiarizes readers with ROS-based intelligent robot system design and development step by step.The topics covered include ROS principles, mobile robot control, Lidar, simultaneous localization and mapping (SLAM), navigation, manipulator control, image recognition, vision calibration, object grasping, vision SALM, etc., with typical practical application tasks throughout the book, which are essential to mastering development methods for intelligent robot system.Easy to follow and rich in content, the book can be used at colleges and universities as learning material and a teaching reference book for “intelligent robot,” “autonomous intelligent system,” “robotics principles,” and “robot system application development with ROS” in connection with automation, robotics engineering, artificial intelligence (AI), mechatronics, and other related majors. The book can assist in mastering the development and design of robot systems and provide the necessary theoretical and practical references to cultivate robot system development capabilities and can be used as teaching material for engineering training and competitions, or for reference, self-study, and training by engineering and technical personnel, teachers, and anyone who wants to engage in intelligent robot system development and design.

This book presents a new global optimization technique using Taguchi's method and its applications in electromagnetics and antenna engineering. Compared with traditional optimization techniques, Taguchi's optimization method is easy to implement and very efficient in reaching optimum solutions. Taguchi's optimization method is developed based on the orthogonal array (OA) concept, which offers a systematic and efficient way to select design parameters. The book illustrates the basic implementation procedure of Taguchi's optimization method and discusses various advanced techniques for performance improvement. In addition, the integration of Taguchi's optimization method with commercial electromagnetics software is introduced in the book. The proposed optimization method is used in various linear antenna arrays, microstrip filters, and ultra-wideband antenna designs. Successful examples include linear antenna array with a null controlled pattern, linear antenna array with a sector beam, linear antenna array with reduced side lobe levels, microstrip band stop filter, microstrip band pass filter, coplanar waveguide band stop filter, coplanar ultra-wide band antenna, and ultra-wide band antenna with band notch feature. Satisfactory results obtained from the design process demonstrate the validity and efficiency of the proposed Taguchi's optimization method. Contents: Introduction / Orthagonal Arrays / Taguchi's Optimization Method / Linear Antenna Array Designs / Planar Filter Designs / Ultra-wide Band (UWB) Antenna Designs / OA-PSO Method / Conclusions

In recent years, transmitarray antennas have attracted growing interest with many antenna researchers. Transmitarrays combines both optical and antenna array theory, leading to a low profile design with high gain, high radiation efficiency, and versatile radiation performance for many wireless communication systems. In this book, comprehensive analysis, new methodologies, and novel designs of transmitarray antennas are presented. Detailed analysis for the design of planar space-fed array antennas is presented. The basics of aperture field distribution and the analysis of the array elements are described. The radiation performances (directivity and gain) are discussed using array theory approach, and the impacts of element phase errors are demonstrated. The performance of transmitarray design using multilayer frequency selective surfaces (M-FSS) approach is carefully studied, and the transmission phase limit which are generally independent from the selection of a specific element shape is revealed. The maximum transmission phase range is determined based on the number of layers, substrate permittivity, and the separations between layers. In order to reduce the transmitarray design complexity and cost, three different methods have been investigated. As a result, one design is performed using quad-layer cross-slot elements with no dielectric material and another using triple-layer spiral dipole elements. Both designs were fabricated and tested at X-Band for deep space communications. Furthermore, the radiation pattern characteristics were studied under different feed polarization conditions and oblique angles of incident field from the feed. New design methodologies are proposed to improve the bandwidth of transmitarray antennas through the control of the transmission phase range of the elements. These design techniques are validated through the fabrication and testing of two quad-layer transmitarray antennas at Ku-band. A single-feed quad-beam transmitarray antenna with 50 degrees elevation separation between the beams is investigated, designed, fabricated, and tested at Ku-band. In summary, various challenges in the analysis and design of transmitarray antennas are addressed in this book. New methodologies to improve the bandwidth of transmitarray antennas have been demonstrated. Several prototypes have been fabricated and tested, demonstrating the desirable features and potential new applications of transmitarray antennas.

In recent years, transmitarray antennas have attracted growing interest with many antenna researchers. Transmitarrays combines both optical and antenna array theory, leading to a low profile design with high gain, high radiation efficiency, and versatile radiation performance for many wireless communication systems. In this book, comprehensive analysis, new methodologies, and novel designs of transmitarray antennas are presented. Detailed analysis for the design of planar space-fed array antennas is presented. The basics of aperture field distribution and the analysis of the array elements are described. The radiation performances (directivity and gain) are discussed using array theory approach, and the impacts of element phase errors are demonstrated. The performance of transmitarray design using multilayer frequency selective surfaces (M-FSS) approach is carefully studied, and the transmission phase limit which are generally independent from the selection ofa specific element shape is revealed. The maximum transmission phase range is determined based on the number of layers, substrate permittivity, and the separations between layers. In order to reduce the transmitarray design complexity and cost, three different methods have been investigated. As a result, one design is performed using quad-layer cross-slot elements with no dielectric material and another using triple-layer spiral dipole elements. Both designs were fabricated and tested at X-Band for deep space communications. Furthermore, the radiation pattern characteristics were studied under different feed polarization conditions and oblique angles of incident field from the feed. New design methodologies are proposed to improve the bandwidth of transmitarray antennas through the control of the transmission phase range of the elements. These design techniques are validated through the fabrication and testing of two quad-layer transmitarray antennas at Ku-band.A single-feed quad-beam transmitarray antenna with 50 degrees elevation separation between the beams is investigated, designed, fabricated, and tested at Ku-band. In summary, various challenges in the analysis and design of transmitarray antennas are addressed in this book. New methodologies to improve the bandwidth of transmitarray antennas have been demonstrated. Several prototypes have been fabricated and tested, demonstrating the desirable features and potential new applications of transmitarray antennas.

This brief reviews concepts of inter-relationship in modern industrial processes, biological and social systems. Specifically ideas of connectivity and causality within and between elements of a complex system are treated; these ideas are of great importance in analysing and influencing mechanisms, structural properties and their dynamic behaviour, especially for fault diagnosis and hazard analysis. Fault detection and isolation for industrial processes being concerned with root causes and fault propagation, the brief shows that, process connectivity and causality information can be captured in two ways:· from process knowledge: structural modeling based on first-principles structural models can be merged with adjacency/reachability matrices or topology models obtained from process flow-sheets described in standard formats; and· from process data: cross-correlation analysis, Granger causality and its extensions, frequency domain methods, information-theoretical methods, and Bayesian networks can be used to identify pair-wise relationships and network topology.These methods rely on the notion of information fusion whereby process operating data is combined with qualitative process knowledge, to give a holistic picture of the system.

Periodic structures are of great importance in electromagnetics due to their wide range of applications such as frequency selective surfaces (FSS), electromagnetic band gap (EBG) structures, periodic absorbers, meta-materials, and many others. The aim of this book is to develop efficient computational algorithms to analyze the scattering properties of various electromagnetic periodic structures using the finite-difference time-domain periodic boundary condition (FDTD/PBC) method. A new FDTD/PBC-based algorithm is introduced to analyze general skewed grid periodic structures while another algorithm is developed to analyze dispersive periodic structures. Moreover, the proposed algorithms are successfully integrated with the generalized scattering matrix (GSM) technique, identified as the hybrid FDTD-GSM algorithm, to efficiently analyze multilayer periodic structures. All the developed algorithms are easy to implement and are efficient in both computational time and memory usage. These algorithms are validated through several numerical test cases. The computational methods presented in this book will help scientists and engineers to investigate and design novel periodic structures and to explore other research frontiers in electromagnetics. Table of Contents: Introduction / FDTD Method and Periodic Boundary Conditions / Skewed Grid Periodic Structures / Dispersive Periodic Structures / Multilayered Periodic Structures / Conclusions

This book presents a new global optimization technique using Taguchi's method and its applications in electromagnetics and antenna engineering. Compared with traditional optimization techniques, Taguchi's optimization method is easy to implement and very efficient in reaching optimum solutions. Taguchi's optimization method is developed based on the orthogonal array (OA) concept, which offers a systematic and efficient way to select design parameters. The book illustrates the basic implementation procedure of Taguchi's optimization method and discusses various advanced techniques for performance improvement. In addition, the integration of Taguchi's optimization method with commercial electromagnetics software is introduced in the book. The proposed optimization method is used in various linear antenna arrays, microstrip filters, and ultra-wideband antenna designs. Successful examples include linear antenna array with a null controlled pattern, linear antenna array with a sector beam,linear antenna array with reduced side lobe levels, microstrip band stop filter, microstrip band pass filter, coplanar waveguide band stop filter, coplanar ultra-wide band antenna, and ultra-wide band antenna with band notch feature. Satisfactory results obtained from the design process demonstrate the validity and efficiency of the proposed Taguchi's optimization method. Contents: Introduction / Orthagonal Arrays / Taguchi's Optimization Method / Linear Antenna Array Designs / Planar Filter Designs / Ultra-wide Band (UWB) Antenna Designs / OA-PSO Method / Conclusions