Discover the latest research in path planning and robust path tracking control In Autonomous Road Vehicle Path Planning and Tracking Control, a team of distinguished researchers delivers a practical and insightful exploration of how to design robust path tracking control. The authors include easy to understand concepts that are immediately applicable to the work of practicing control engineers and graduate students working in autonomous driving applications. Controller parameters are presented graphically, and regions of guaranteed performance are simple to visualize and understand. The book discusses the limits of performance, as well as hardware-in-the-loop simulation and experimental results that are implementable in real-time. Concepts of collision and avoidance are explained within the same framework and a strong focus on the robustness of the introduced tracking controllers is maintained throughout. In addition to a continuous treatment of complex planning and control in one relevant application, the Autonomous Road Vehicle Path Planning and Tracking Control includes: A thorough introduction to path planning and robust path tracking control for autonomous road vehicles, as well as a literature review with key papers and recent developments in the area Comprehensive explorations of vehicle, path, and path tracking models, model-in-the-loop simulation models, and hardware-in-the-loop models Practical discussions of path generation and path modeling available in current literature In-depth examinations of collision free path planning and collision avoidance Perfect for advanced undergraduate and graduate students with an interest in autonomous vehicles, Autonomous Road Vehicle Path Planning and Tracking Control is also an indispensable reference for practicing engineers working in autonomous driving technologies and the mobility groups and sections of automotive OEMs.
This book is a welcome and timely addition to a long list of books on passive network synthesis, some of which are out of print. It is a comprehensive coverage of the subject of impedance matching networks there are plenty of excellent illustrative examples so that the reader should have no difficulty in applying the algorithms to similar situations this is an excellent book on passive network design for everyday use. I recommend it to all RF circuit designers, young and old." Circuits & Devices, Mar 2001
This book examines contemporary Chinese political reform through an examination of a number of policy initiatives taken in recent years. These include programs designed to improve administrative efficiency, transparency, and accountability, as well as directives aimed at rebuilding the regime's political support though strengthening local legislatures, overhauling the health care system, enacting labor contract laws, opening up mass media, and improving governance in China's minority regions.
Ideal for researchers and graduate students, this volume sets out a general smooth ergodic theory for deterministic dynamical systems generated by non-invertible endomorphisms. Its focus is on the relations between entropy, Lyapunov exponents and dimensions.
The central theme, which threads through the entire book, concerns computational modeling methods for water. Modeling results for pure liquid water, water near ions, water at interfaces, water in biological microsystems, and water under other types of perturbations such as laser fields are described. Connections are made throughout the book with statistical mechanical theoretical methods on the one hand and with experimental data on the other. The book is expected to be useful not only for theorists and computer analysts interested in the physical, chemical, biological and geophysical aspects of water, but also for experimentalists in these fields.
This book will appeal to scientists and engineers who are concerned with the design of microwave wideband devices and systems. For advanced (ultra)-wideband wireless systems, the necessity and design methodology of wideband filters will be discussed with reference to the inherent limitation in fractional bandwidth of classical bandpass filters. Besides the detailed working principles, a large number of design examples are demonstrated, which can be easily followed and modified by the readers to achieve their own desired specifications. Therefore, this book is of interest not only to students and researchers from academia, but also to design engineers in industry. With the help of complete design procedures and tabulated design parameters, even those with little filter design experience, will find this book to be a useful design guideline and reference, which can free them from tedious computer-aided full-wave electromagnetic simulations. Among different design proposals, wideband bandpass filters based on the multi-mode resonator have demonstrated many unparalleled attractive features, including a simple design methodology, compact size, low loss and good linearity in the wide passband, enhanced out-of-band rejection, and easy integration with other circuits/antennas. A conventional bandpass filter works under single dominant resonant modes of a few cascaded transmission line resonators and its operating bandwidth is widened via enhanced coupling between the adjacent resonators. However, this traditional approach needs an extremely high coupling degree of coupled-lines while producing a narrow upper stopband between the dominant and harmonic bands. As a sequence, the desired dominant passband is restricted to an extent less than 60% in fractional bandwidth. To circumvent these issues and break with the tradition, a filter based on the multiple resonant modes was initially introduced in 2000 by the first author of this book. Based on this novel concept, a new class of wideband filters with fractional bandwidths larger than 60% has been successfully developed so far. This book, presents and characterizes a variety of multi-mode resonators with stepped-impedance or loaded-stub configurations using the matured transmission line theory for development of advanced microwave wideband filters.
This book discusses the core principles and practical applications of a brand new machine category: liquid-metal soft machines and motors. After a brief introduction on the conventional soft robot and its allied materials, it presents the new conceptual liquid-metal machine, which revolutionizes existing rigid robots, both large and small. It outlines the typical features of the soft liquid-metal materials and describes the various transformation capabilities, mergence of separate metal droplets, self-rotation and planar locomotion of liquid-metal objects under external or internal mechanism. Further, it introduces a series of unusual phenomena discovered while developing the shape changeable smart soft machine and interprets the related mechanisms regarding the effects of the shape, size, voltage, orientation and geometries of the external fields to control the liquid-metal transformers. Moreover, the book illustrates typical strategies to construct a group of different advanced functional liquid-metal soft machines, since such machines or robots are hard to fabricate using rigid-metal or conventional materials. With highly significant fundamental and practical findings, this book is intended for researchers interested in establishing a general method for making future smart soft machine and accompanying robots.
This book presents a universal mass-production micro/nano integrated fabrication technology, which can be used to realize micro/nano hierarchical structures on Si-based materials and flexible polymeric materials. This fabrication technology has been systematically investigated by using experimental measurements, mechanism analyses, theoretical simulations and so on. Three common materials (i.e., silicon, PDMS and Parylene-C) with micro/nano hierarchical structures have been successfully fabricated, which also show several attractive properties. Furthermore, this book introduces this fabrication technology into microenergy field, and proposes several high-performance nanogenerators, of which practical applications have also been studied in commercial electronic device and biomedical microsystem.
The Sikuquanshu, or the Complete Library of the Four Branches of Literature, is the largest series of books coming down to us from ancient China. It has had a profound influence on the development of China’s academic culture. The study of this collection has formed a keystone of learning since the beginning of the twentieth century. This book discusses some important and fundamental questions, such as: When was the Hall set up, and when did it close? What were its agencies, and where were they located? How many people worked there? Zhang Sheng’s research emphasizes the detail of such questions, and his remarkable book adds to scholarship about the Sikuquanshu.
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