M. Vidyasagar - Böcker

This is a self-contained introduction to practical robot kinematics and dynamics, including a comprehensive treatment of robot control. It provides background material on terminology and linear transformations, followed by coverage of kinematics and inverse kinematics, dynamics, manipulator control, robust control, force control, use of feedback in nonlinear systems, and adaptive control. Each topic is supported by examples of specific applications. Derivations and proofs are included in many cases, and there are many worked examples, examples illustrating all aspects of the theory, and problems.

This book explores important aspects of Markov and hidden Markov processes and the applications of these ideas to various problems in computational biology. The book starts from first principles, so that no previous knowledge of probability is necessary. However, the work is rigorous and mathematical, making it useful to engineers and mathematicians, even those not interested in biological applications. A range of exercises is provided, including drills to familiarize the reader with concepts and more advanced problems that require deep thinking about the theory. Biological applications are taken from post-genomic biology, especially genomics and proteomics. The topics examined include standard material such as the Perron-Frobenius theorem, transient and recurrent states, hitting probabilities and hitting times, maximum likelihood estimation, the Viterbi algorithm, and the Baum-Welch algorithm. The book contains discussions of extremely useful topics not usually seen at the basic level, such as ergodicity of Markov processes, Markov Chain Monte Carlo (MCMC), information theory, and large deviation theory for both i.i.d and Markov processes.The book also presents state-of-the-art realization theory for hidden Markov models. Among biological applications, it offers an in-depth look at the BLAST (Basic Local Alignment Search Technique) algorithm, including a comprehensive explanation of the underlying theory. Other applications such as profile hidden Markov models are also explored.

A New Edition Featuring Case Studies and Examples of the Fundamentals of Robot Kinematics, Dynamics, and ControlIn the 2nd Edition of Robot Modeling and Control, students will cover the theoretical fundamentals and the latest technological advances in robot kinematics. With so much advancement in technology, from robotics to motion planning, society can implement more powerful and dynamic algorithms than ever before. This in-depth reference guide educates readers in four distinct parts; the first two serve as a guide to the fundamentals of robotics and motion control, while the last two dive more in-depth into control theory and nonlinear system analysis.With the new edition, readers gain access to new case studies and thoroughly researched information covering topics such as: ●      Motion-planning, collision avoidance, trajectory optimization, and control of robots●      Popular topics within the robotics industry and how they apply to various technologies●      An expanded set of examples, simulations, problems, and case studies●      Open-ended suggestions for students to apply the knowledge to real-life situationsA four-part reference essential for both undergraduate and graduate students, Robot Modeling and Control serves as a foundation for a solid education in robotics and motion planning.

Compressed sensing is a relatively recent area of research that refers to the recovery of high-dimensional but low-complexity objects from a limited number of measurements. The topic has applications to signal/image processing and computer algorithms, and it draws from a variety of mathematical techniques such as graph theory, probability theory, linear algebra, and optimization. The author presents significant concepts never before discussed as well as new advances in the theory, providing an in-depth initiation to the field of compressed sensing.An Introduction to Compressed Sensing contains substantial material on graph theory and the design of binary measurement matrices, which is missing in recent texts despite being poised to play a key role in the future of compressed sensing theory. It also covers several new developments in the field and is the only book to thoroughly study the problem of matrix recovery. The book supplies relevant results alongside their proofs in a compact and streamlined presentation that is easy to navigate.The core audience for this book is engineers, computer scientists, and statisticians who are interested in compressed sensing. Professionals working in image processing, speech processing, or seismic signal processing will also find the book of interest.