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Call number:SPRINGER-2000-9783709124987:ONLINE Show nearby items on shelf
Title:Romansy 13 Theory and Practice of Robots and Manipulators
Author(s):
Date:2000
Size:1 online resource (511 p.)
Note:10.1007/978-3-7091-2498-7
ISBN:9783709124987
Series:eBooks
Series:SpringerLink (Online service)
Series:Springer eBooks
Series:International Centre for Mechanical Sciences, Courses and Lectures: 422
Keywords: Physics , Numerical analysis , Mechanics , Engineering design , Control engineering , Robotics , Mechatronics , Engineering economics , Engineering economy , Manufacturing industries , Machines , Tools , Physics , Mechanics , Engineering Design , Manufacturing, Machines, Tools , Control, Robotics, Mechatronics , Engineering Economics, Organization, Logistics, Marketing , Numerical Analysis
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Call number:SPRINGER-1994-9783540484486:ONLINE Show nearby items on shelf
Title:Chaotic and Stochastic Behaviour in Automatic Production Lines
Author(s): Max-Olivier Hongler
Date:1994
Size:1 online resource (90 p.)
Note:10.1007/978-3-540-48448-6
Contents:Vibratory Feeding -- Orienting Devices -- Random Insertion Mechanisms -- Stochastic Buffered Flows -- General Conclusions -- References
ISBN:9783540484486
Series:eBooks
Series:SpringerLink (Online service)
Series:Springer eBooks
Series:Lecture Notes in Physics Monographs: 22
Keywords: Physics , Mechanics , Statistical physics , Dynamical systems , Control engineering , Robotics , Mechatronics , Engineering economics , Engineering economy , Physics , Mathematical Methods in Physics , Numerical and Computational Physics , Statistical Physics, Dynamical Systems and Complexity , Mechanics , Control, Robotics, Mechatronics , Engineering Economics, Organization, Logistics, Marketing
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Call number:SPRINGER-1989-9783642839573:ONLINE Show nearby items on shelf
Title:Advanced Robotics: 1989 Proceedings of the 4th International Conference on Advanced Robotics Columbus, Ohio, June 13–15, 1989
Author(s):
Date:1989
Size:1 online resource (687 p.)
Note:10.1007/978-3-642-83957-3
Contents:A-1: Hand Design -- On a New Torque Sensor for Compliant Grasp by Robot Fingers with a Tendon Actuation System -- A Learning Mechanism of Control Parameters for The Variable Structure Fuzzy Logic Controller -- B-1: Manipulator
Kinematics (I) -- On the Inverse Kinematics of Redundant Manipulators: Characterization of the Self-Motion Manifolds -- Symbolic Equation Generation for Manipulators -- An Approach to Manipulator Kinematic Modeling -- A-2: Mobile
Robots -- Fundamental Studies of Collision Avoidance Problems Between a Robot and a Moving Obstacle. Part 1 Heuristic Collision Avoidance Techniques and Fundamental Experiments with a Real Robot -- Model and Sensor Based Precise
Navigation by an Autonomous Mobile Robot -- Reactive Processes for Mobile Robot Control -- Powered Wheelchair Equipped with Voice Control and Automatic Locomotion -- B-2: Flexible Arm Control -- Nonlinear Decoupling Control/Control of
Flexible Robots -- Application and Comparison of On-Line Identification Methods for Flexible Manipulator Control -- Trajectory Shaping for Flexible Manipulators: A Comparative Study -- A-3: Manipulator Dynamics -- An Algorithm for
Efficient Computation of Dynamics of Robotic Manipulators -- Calculation of the Minimum Inertial Parameters of Tree Structure Robots -- Parallel Algorithms and Architectures for Manipulator Inverse Dynamics -- B-3: Actuators and
Sensors -- Shape Memory Alloy Actuators for Robotic End-Effectors -- An Artificial Muscle Actuator for Robots -- High Precision Mark Position Sensing Device R-HPSD Suitable for 3-D Position Determination in Robotics -- The Ultrasonic
Inspection Robot System -- A-4: Multiple-Limb Co-ordination and Legged Locomotion -- An Approach to Simultaneous Control of Trajectory and Interaction forces in Dual Arm Configurations -- Realization of Dynamic Biped Walking Walking
Stabilized With Trunk Motion Under Known External Force -- Power System of a Multi-Legged Walking Vehicle -- On the Stability Properties of 2N-Legged Wave Gaits -- B-4: Vision -- Depth Perception for Robots: Structural Stereo from
Extended Laplacian-of-Gaussian Features -- Location of the Mobile Robot CENTAURE in a Modelled Environment with PYRAMIDE -- An Auto-Calibration System for Vision-Servoed Robots -- Visual Servoing of a Robot Assembly Task -- A-5: Path
Planning and Collision Avoidance -- Computing Moveability Areas of a Robot Among Obstacles Using Octrees -- Determination of the Space Occupied by Moving Links of Manipulators and Linkages -- Collision-Free Path Planning for a
Reconfigurable Robot -- Characterizing Repetition in Workcell Applications and the Implications for Sequence Optimization -- B-5: Hybrid Control (I) -- Analysis and Design of a Six Axis Truss Type of Force Sensor -- The Interaction of
Robots with Passive Environments: Application to Force Feedback Control -- A-6: Manipulator Kinematics (II) -- The Dynamic Model of a Three Degree of Freedom Parallel Robotic Shoulder Module -- Kinematics of Redundantly Actuated Closed
Kinematic Chains -- Identifying the Kinematics of Non-Redundant Serial Chain Manipulators by a Closed-loop Approach -- General Dynamic Formulation of the Force Distribution Equations -- B-6: Cooperative Manipulation -- An Overview of
KALI: a System to Program and Control Cooperative Manipulators -- A-7: Hybrid Control (II) -- A Local Solution with Global Characteristics for the Joint Torque Optimization of a Redundant Manipulator -- Joint Compliance Control of the
Anthropomorphic Manipulator -- Independent Joint Controllability of Manipulator System -- A Generalized Approach for the Control of Constrained Robots -- B-7: Legged Locomotion and Adaptive Vehicles -- A Study on Walking Robots
Controlled with Attitude Sensors -- Development on Walking Robot for Underwater Inspection -- Locomotion of a Machine of a Static Crawler Type: Gait Modelling -- Terrain Adaptive Tracked Vehicle HELIOS-I
ISBN:9783642839573
Series:eBooks
Series:SpringerLink (Online service)
Series:Springer eBooks
Keywords: Physics , Mechanics , Engineering design , Control engineering , Robotics , Mechatronics , Engineering economics , Engineering economy , Manufacturing industries , Machines , Tools , Physics , Mechanics , Engineering Design , Manufacturing, Machines, Tools , Control, Robotics, Mechatronics , Engineering Economics, Organization, Logistics, Marketing
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Call number:SPRINGER-1986-9783642821950:ONLINE Show nearby items on shelf
Title:Kinematics and Trajectory Synthesis of Manipulation Robots
Author(s): Miomir Vukobratović
Date:1986
Size:1 online resource (268 p.)
Note:10.1007/978-3-642-82195-0
Contents:1 Kinematic Equations -- 1.1. Introduction -- 1.2. Definitions -- 1.3. Manipulator hand position -- 1.4. Manipulator hand orientation -- 1.5. Manipulator hand velocities -- 1.6. Summary -- 2 Computer-aided Generation of Kinematic
Equations in Symbolic Form -- 2.1. Introduction -- 2.2. Symbolic kinematic equations -- 2.3. The Jacobian matrix with respect to the hand coordinate frame -- 2.4. The Jacobian matrix with respect to the base coordinate frame -- 2.5.
Program implementation, numerical aspects and examples -- 2.6. Summary -- Appendix I Direct Kinematic Problem for the Arthropoid Manipulator -- Appendix II The Jacobian with Respect to the Hand Coordinate Frame for the Arthropoid
Manipulator -- Appendix III The Jacobion with Respect to the Base Coordinate Frame for the Arthropoid Manipulator -- 3 Inverse Kinematic Problem -- 3.1. Introduction -- 3.2. Analytical solutions -- 3.3. Numerical solutions -- 3.4.
Summary -- 4 Kinematic Approach to Motion Generation -- 4.1. Introduction -- 4.2. Manipulation task -- 4.3. Trajectory planning -- 4.4. Motion between positions -- 4.5. Procedurally defined motion -- 4.6. Summary -- 5 Dynamic Approach
to Motion Generation -- 5.1. Introduction -- 5.2. Manipulation system dynamic model -- 5.3. An overview of methods for dynamic motion synthesis -- 5.4. Determination of the energy optimal velocity distribution using dynamic programming
-- 5.5. Quasioptimal nominal trajectory synthesis using decentralized system model -- 5.6. Summary -- 6 Motion Generation for Redundant Manipulators -- 6.1. Introduction -- 6.2. Kinematic methods for redundant manipulator motion
generation -- 6.3. Energy optimal motion synthesis -- 6.4. Obstacle avoidance using redundant manipulators -- 6.5. An algorithm for redundant manipulator motion synthesis in the presence of obstacles -- 6.6. Summary -- References
ISBN:9783642821950
Series:eBooks
Series:SpringerLink (Online service)
Series:Springer eBooks
Series:Communications and Control Engineering Series: 3
Keywords: Physics , Mechanics , Control engineering , Robotics , Mechatronics , Engineering economics , Engineering economy , Electrical engineering , Physics , Mechanics , Control, Robotics, Mechatronics , Engineering Economics, Organization, Logistics, Marketing , Communications Engineering, Networks
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Call number:SPRINGER-1982-9783642488191:ONLINE Show nearby items on shelf
Title:Spatial Kinematic Chains Analysis — Synthesis — Optimization
Author(s): Jorge Angeles
Date:1982
Size:1 online resource (370 p.)
Note:10.1007/978-3-642-48819-1
Contents:1 Mathematical Preliminaries -- 1.0 Introduction -- 1.1 Vector space, linear dependence and basis of a vector space -- 1.2 Linear transformation and its matrix representation -- 1.3 Range and null space of a linear transformation --
1.4 Eigenvalues and eigenvectors of a linear transformation -- 1.5 Change of basis -- 1.6 Diagonalization of matrices -- 1.7 Bilinear forms and sign definition of matrices -- 1.8 Norms, isometries, orthogonal and unitary matrices --
1.9 Properties of unitary and orthogonal matrices -- 1.10 Stationary points of scalar functions of a vector argument -- 1.11 Linear algebraic systems -- 1.12 Numerical solution of linear algebraic systems -- 1.13 Numerical solution of
nonlinear algebraic systems -- References -- 2. Fundamentals of Rigid-Body Three-Dimensional Kinematics -- 2.1 Introduction -- 2.2 Motion of a rigid body -- 2.3 The Theorem of Euler and the revolute matrix -- 2.4 Groups of rotations --
2.5 Rodrigues’ formula and the Cartesian decomposition of the rotation matrix -- 2.6 General motion of a rigid body and Chasles’ Theorem -- 2.7 Velocity of a point of a rigid body rotating about a fixed point -- 2.8 Velocity of a
moving point referred to a moving observer -- 2.9 General motion of a rigid body -- 2.10 Theorems related to the velocity distribution in a moving rigid body -- 2.11 Acceleration distribution in a rigid body moving about a fixed point
-- 2.12 Acceleration distribution in a rigid body under general motion -- 2.13 Acceleration of a moving point referred to a moving observer -- References -- 3. Generalities on Lower-Pair Kinematic Chains -- 3.1 Introduction -- 3.2
Kinematic pairs -- 3.3 Degree of freedom -- 3.4 Classification of lower pairs -- 3.5 Classification of kinematic chains -- 3.6 Linkage problems in the Theory of Machines and Mechanisms -- References -- 4. Analysis of Motions of
Kinematic Chains -- 4.1 Introduction -- 4.2 The method of Denavit and Hartenberg -- 4.3 An alternate method of analysis -- 4.4 Applications to open kinematic chains -- References -- 5. Synthesis of Linkages -- 5.1 Introduction -- 5.2
Synthesis for function generation -- 5.3 Mechanism synthesis for rigid-body guidance -- 5.4 A different approach to the synthesis problem for rigid-body guidance -- 5.5 Linkage synthesis for path generation -- 5.6 Epilogue --
References -- 6. An Introduction to the Optimal Synthesis of Linkages -- 6.1 Introduction -- 6.2 The optimisation problem -- 6.3 Overdetermined problems of linkage synthesis -- 6.4 Underdetermined problems of linkage synthesis subject
to no inequality constraints -- 6.5 Linkage optimisation subject to inequality constraints. Penalty function methods -- 6.6 Linkage optimisation subject to inequality constraints. Direct methods -- References -- Appendix 1 Algebra of
dyadics -- Appendix 2 Derivative of a determinant with respect to a scalar argument -- Appendix 4 Synthesis of plane linkages for rigid-body guidance
ISBN:9783642488191
Series:eBooks
Series:SpringerLink (Online service)
Series:Springer eBooks
Keywords: Physics , Mechanics , Control engineering , Robotics , Mechatronics , Engineering economics , Engineering economy , Physics , Mechanics , Control, Robotics, Mechatronics , Engineering Economics, Organization, Logistics, Marketing
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Call number:SPRINGER-1971-9783709182840:ONLINE Show nearby items on shelf
Title:Concepts in Hadron Physics Proceedings of the X. Internationale Universitätswochen für Kernphysik 1971 der Karl-Franzens-Universität Graz, at Schladming (Steiermark, Austria), 1st March – 13th March 1971
Author(s):
Date:1971
Size:1 online resource (424 p.)
Note:10.1007/978-3-7091-8284-0
Contents:Ten Years of Schladming Reflection of the Developments in High Energy Physics -- High Energy Physics and Big Science -- Simple Approach to the Reggeisation of Photoproduction -- Theory and Practice of Complex Regge Poles -- Multi
Particle Dual Model -- Non-Local Approach to Weak Interactions -- Renormalizable ”Deception” Theory of Weak Interactions -- A Non-Local Field Theory Approach to Strong Interaction Dynamics -- Automorphism Groups of C*-Algebras, Fell
Bundles, W*-Bigebras, and the Description of Internal Symmetries in Algebraic Quantum Theory -- Ultralocal Quantum Field Theory -- Null Plane Field Theory -- Some External Field Problems in Quantum Electrodynamics -- Perturbation
Theory for a Class of Nonpolynomial Lagrangian Field Theories -- Electromagnetic Interactions. An Experimental Survey -- Light Cone Expansions and Applications -- Summary—First Week -- Summary—Second Week -- Seminars
ISBN:9783709182840
Series:eBooks
Series:SpringerLink (Online service)
Series:Springer eBooks
Series:Few-Body Systems: 8/1971
Keywords: Physics , Elementary particles (Physics) , Quantum field theory , Engineering economics , Engineering economy , Physics , Elementary Particles, Quantum Field Theory , Engineering Economics, Organization, Logistics, Marketing
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