Robot behaviour: design, description, analysis and modelling
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
London
Springer
2009
|
| Schriftenreihe: | Computer science
|
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | Literaturverz. S. 243 - 247 |
| Beschreibung: | XVII, 252 S. Ill., graph. Darst. |
| ISBN: | 9781848003965 |
Internformat
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Datensatz im Suchindex
| _version_ | 1804138684011773952 |
|---|---|
| adam_text | IMAGE 1
ULRICH NEHMZOW
ROBOT BEHAVIOUR
DESIGN, DESCRIPTION, ANALYSIS AND MODELLING
L SPRINGER
IMAGE 2
CONTENTS
1 INTRODUCTION TO THIS BOOK 1
1.1 HOW TO MAKE A ROBOT BEHAVE - NOW AND THEN 1
1.2 OUTLOOK 3
2 A BRIEF INTRODUCTION TO MOBILE ROBOTICS 5
2.1 THIS BOOK IS NOT ABOUT MOBILE ROBOTICS 5
2.2 WHAT IS MOBILE ROBOTICS? 5
2.3 THE EMERGENCE OF BEHAVIOUR 9
2.4 EXAMPLES OF RESEARCH ISSUES IN AUTONOMOUS MOBILE ROBOTICS .. 12 2.5
SUMMARY 13
3 INTRODUCTION TO SCIENTIFIC METHODS IN MOBILE ROBOTICS 15
3.1 INTRODUCTION 15
3.2 MOTIVATION FOR THIS BOOK: ANALYTICAL ROBOTICS 17
3.3 ROBOT-ENVIRONMENT INTERACTION AS COMPUTATION 19
3.4 A THEORY OF ROBOT-ENVIRONMENT INTERACTION 21
3.5 ROBOT ENGINEERING VS. ROBOT SCIENCE 23
3.6 SCIENTIFIC METHOD AND AUTONOMOUS MOBILE ROBOTICS 24
3.7 TOOLS USED IN THIS BOOK 32
3.8 SUMMARY: THE CONTRAST BETWEEN EXPERIMENTAL MOBILE ROBOTICS AND
SCIENTIFIC MOBILE ROBOTICS 33
4 STATISTICAL TOOLS FOR DESCRIBING EXPERIMENTAL DATA 35
4.1 INTRODUCTION 35
4.2 THE NORMAL DISTRIBUTION 36
4.3 PARAMETRIC METHODS TO COMPARE SAMPLES 39
4.4 NONPARAMETRIC METHODS TO COMPARE SAMPLES 53
4.5 TESTING FOR RANDOMNESS IN A SEQUENCE 66
4.6 PARAMETRIC TESTS FOR A TREND (CORRELATION ANALYSIS) 68
4.7 NONPARAMETRIC TESTS FOR A TREND 76
IMAGE 3
XVI CONTENTS
4.8 ANALYSING CATEGORICAL DATA 81
4.9 PRINCIPAL COMPONENT ANALYSIS 92
4.10 EXERCISES 96
DESCRIBING BEHAVIOUR QUANTITATIVELY THROUGH DYNAMICAL SYSTEMS THEORY AND
CHAOS THEORY .** ** 99
5.1 INTRODUCTION 99
5.2 DYNAMICAL SYSTEMS THEORY 99
5.3 DESCRIBING (ROBOT) BEHAVIOUR QUANTITATIVELY THROUGH PHASE SPACE
ANALYSIS 110
5.4 SENSITIVITY TO INITIAL CONDITIONS: THE LYAPUNOV EXPONENT 114 5.5
APERIODICITY: THE DIMENSION OF ATTRACTORS 130
5.6 SUMMARY 133
ANALYSIS OF AGENT BEHAVIOUR: CASE STUDIES 135
6.1 ANALYSING THE MOVEMENT OF A RANDOM-WALK MOBILE ROBOT 135 6.2 CHAOS
WALKER 140
6.3 ANALYSING THE FLIGHT PATHS OF CARRIER PIGEONS 147
COMPUTER MODELLING OF ROBOT-ENVIRONMENT INTERACTION 153 7.1 INTRODUCTION
153
7.2 SOME PRACTICAL CONSIDERATIONS REGARDING ROBOT MODELLING 155 7.3 CASE
STUDY: MODEL ACQUISITION USING ARTIFICIAL NEURAL NETWORKS 158 7.4 LINEAR
POLYNOMIAL MODELS AND LINEAR RECURRENCE RELATIONS . . .. 164 7.5 ARMAX
MODELLING 165
7.6 NARMAX MODELLING 169
7.7 INTERPRETATION OF POLYNOMIAL MODELS (SENSITIVITY ANALYSIS) 171 7.8
SUMMARY 179
ACCURATE SIMULATION THROUGH SYSTEM IDENTIFICATION 181
8.1 INTRODUCTION 181
8.2 ENVIRONMENT MODELLING: ARMAX EXAMPLE 184
8.3 LOCALISATION THROUGH ENVIRONMENT MODELLING 187
ROBOT PROGRAMMING THROUGH SYSTEM IDENTIFICATION 199
9.1 IDENTIFYING A WALL-FOLLOWING BEHAVIOUR USING ARMAX 199 9.2
IDENTIFYING WALL-FOLLOWING BEHAVIOUR USING NARMAX 202 9.3
PLATFORM-INDEPENDENT PROGRAMMING THROUGH TASK IDENTIFICATION: THE
ROBOTMODIC PROCESS 204
9.4 OBTAINING TASK-ACHIEVING COMPETENCES THROUGH TRAINING 206 9.5
BEHAVIOUR TO CODE: DIRECT TRANSLATION OF OBSERVED BEHAVIOUR INTO ROBOT
CODE 211
IMAGE 4
CONTENTS XVII
10 OTHER APPLICATIONS OF TRANSPARENT MODELLING THROUGH SYSTEM
IDENTIFICATION 219
10.1 SENSOR IDENTIFICATION 219
11 QUANTITATIVE COMPARISON OF BEHAVIOURS AND MODEL VALIDITY 223
12 CONCLUSION 231
12.1 MOTIVATION FOR SCIENTIFIC METHODS IN ROBOTICS 231
12.2 QUANTITATIVE DESCRIPTIONS OF ROBOT-ENVIRONMENT INTERACTION . . ..
232 12.3 A THEORY OF ROBOT-ENVIRONMENT INTERACTION 233
12.4 OUTLOOK: TOWARDS ANALYTICAL ROBOTICS 235
A ANSWERS TO EXERCISES 237
REFERENCES 243
INDEX 249
|
| any_adam_object | 1 |
| author | Nehmzow, Ulrich 1961- |
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| callnumber-first | T - Technology |
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| callnumber-subject | TJ - Mechanical Engineering and Machinery |
| classification_rvk | ZQ 6230 ZQ 6250 |
| ctrlnum | (OCoLC)249569081 (DE-599)DNB989199975 |
| dewey-full | 629.892 629.893222 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
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| dewey-search | 629.892 629.8932 22 |
| dewey-sort | 3629.892 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Informatik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Book |
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| isbn | 9781848003965 |
| language | English |
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| spelling | Nehmzow, Ulrich 1961- Verfasser (DE-588)121269191 aut Robot behaviour design, description, analysis and modelling Ulrich Nehmzow London Springer 2009 XVII, 252 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier Computer science Literaturverz. S. 243 - 247 Robotics Mobiler Roboter (DE-588)4191911-7 gnd rswk-swf Roboter (DE-588)4050208-9 gnd rswk-swf Autonomer Roboter (DE-588)4304075-5 gnd rswk-swf Roboter (DE-588)4050208-9 s DE-604 Autonomer Roboter (DE-588)4304075-5 s Mobiler Roboter (DE-588)4191911-7 s GBV Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=017163497&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Nehmzow, Ulrich 1961- Robot behaviour design, description, analysis and modelling Robotics Mobiler Roboter (DE-588)4191911-7 gnd Roboter (DE-588)4050208-9 gnd Autonomer Roboter (DE-588)4304075-5 gnd |
| subject_GND | (DE-588)4191911-7 (DE-588)4050208-9 (DE-588)4304075-5 |
| title | Robot behaviour design, description, analysis and modelling |
| title_auth | Robot behaviour design, description, analysis and modelling |
| title_exact_search | Robot behaviour design, description, analysis and modelling |
| title_full | Robot behaviour design, description, analysis and modelling Ulrich Nehmzow |
| title_fullStr | Robot behaviour design, description, analysis and modelling Ulrich Nehmzow |
| title_full_unstemmed | Robot behaviour design, description, analysis and modelling Ulrich Nehmzow |
| title_short | Robot behaviour |
| title_sort | robot behaviour design description analysis and modelling |
| title_sub | design, description, analysis and modelling |
| topic | Robotics Mobiler Roboter (DE-588)4191911-7 gnd Roboter (DE-588)4050208-9 gnd Autonomer Roboter (DE-588)4304075-5 gnd |
| topic_facet | Robotics Mobiler Roboter Roboter Autonomer Roboter |
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