Mobile robots are playing an increasingly important role in our world. Remotely operated vehicles are in everyday use for hazardous tasks such as charting and cleaning up hazardous waste spills, construction work of t...
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ISBN:
(数字)9781461315339
ISBN:
(纸本)9780792390688;9781461288220
Mobile robots are playing an increasingly important role in our world. Remotely operated vehicles are in everyday use for hazardous tasks such as charting and cleaning up hazardous waste spills, construction work of tunnels and high rise buildings, and underwater inspection of oil drilling platforms in the ocean. A whole host of further applications, however, beckons robots capable of autonomous operation without or with very little intervention of human operators. Such robots of the future will explore distant planets, map the ocean floor, study the flow of pollutants and carbon dioxide through our atmosphere and oceans, work in underground mines, and perform other jobs we cannot even imagine; perhaps even drive our cars and walk our dogs. The biggest technical obstacles to building mobile robots are vision and navigation-enabling a robot to see the world around it, to plan and follow a safe path through its environment, and to execute its tasks. At the Carnegie Mellon Robotics Institute, we are studying those problems both in isolation and by building complete systems. Since 1980, we have developed a series of small indoor mobile robots, some experimental, and others for practical applicationr Our outdoor autonomous mobile robot research started in 1984, navigating through the campus sidewalk network using a small outdoor vehicle called the Terregator. In 1985, with the advent of DARPA's Autonomous Land Vehicle Project, we constructed a computer controlled van with onboard sensors and researchers. In the fall of 1987, we began the development of a six-legged Planetary Rover.
describes the theory and design of the circuit elements that are required to realize a low-voltage, low-power operational amplifier. These elements include constant-gm rail-to-rail input stages, class-AB rail-to-ra...
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ISBN:
(数字)9781475724899
ISBN:
(纸本)9780792397816;9781441951656
describes the theory and design of the circuit elements that are required to realize a low-voltage, low-power operational amplifier. These elements include constant-gm rail-to-rail input stages, class-AB rail-to-rail output stages and frequency compensation methods. Several examples of each of these circuit elements are investigated. Furthermore, the book illustrates several silicon realizations, giving their measurement results.;The text focuses on compact low-voltage low-power operational amplifiers with good performance. Six simple high-performance class-AB amplifiers are realized using a very compact topology making them particularly suitable for use as VLSI library cells. All of the designs can use a supply voltage as low as 3V. One of the amplifier designs dissipates only 50µW with a unity gain frequency of 1.5 MHz. A second set of amplifiers run on a supply voltage slightly above 1V. The amplifiers combine a low power consumption with a gain of 120 dB. In addition, the design of three fully differential operational amplifiers is addressed.;is intended for professional designers of analog circuits. It is also suitable for use as a text book for an advanced course in CMOS operational amplifier design.
is one of the first books to:;The field of smart antenna technology or, more generally, space-time processing is rapidly becoming one of the most promising areas of mobile communications, especially regarding the d...
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ISBN:
(数字)9780306473258
ISBN:
(纸本)9780792377597;9781441949660
is one of the first books to:;The field of smart antenna technology or, more generally, space-time processing is rapidly becoming one of the most promising areas of mobile communications, especially regarding the development of the first practical third-generation mobile communication systems. The authors have addressed many of the most basic questions relating to the use of space-time processing in CDMA-based third-generation systems and have presented models for the integration of space-time processing, error correction coding, and multi-user detection techniques. Included is extensive background information on cellular systems, antenna array theory, smart antenna techniques, performance of basic space-time processors and advanced space-time processors.;The book also includes an extensive simulation program written in Matlab®. The simulation code implements both the uplink and the downlink of a UMTS-like communication system. This provides multiple options for simulating system performance using a variety of channel models as well as receiver structures.;will be an invaluable reference work for engineers and researchers, and a useful source for design engineers enabling them to understand the implications of adding space-time processing systems to CDMA-based communication systems.
Error detecting codes are very popular for error control in practical systems for two reasons. First, such codes can be used to provide any desired reliability of communication over any noisy channel. Second, imple...
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ISBN:
(数字)9781461523093
ISBN:
(纸本)9780792396291;9781461359760
Error detecting codes are very popular for error control in practical systems for two reasons. First, such codes can be used to provide any desired reliability of communication over any noisy channel. Second, implementation is usually much simpler than for a system using error correcting codes. To consider a particular code for use in such a system, it is very important to be able to calculate or estimate the probability of undetected error. For the binary symmetric channel, the probability of undetected error can be expressed in terms of the weight distribution of the code. The first part of the book gives a detailed description of all known methods to calculate or estimate the probability of undetected error, for the binary symmetric channel in particular, but a number of other channel models are also considered. The second part of the book describes a number of protocols for feedback communication systems (ARQ systems), with methods for optimal choice of error detecting codes for the protocols.;Results have been collected from many sources and given a unified presentation. The results are presented in a form which make them accessible to the telecommunication system designer as well as the coding theory researcher and student. The system designer may find the presentation of CRC codes as well as the system performance analysis techniques particularly useful. The coding theorist will find a detailed account of a part of coding theory which is usually just mentioned in most text books and which contains a number of interesting and useful results as well as many challenging open problems.;Essential for students, practitioners and researchers working in communications and coding theory. An excellent text for an advanced course on the subject.
Optical WDM networking technology is spearheading a bandwidth revolution in the networking infrastructure being developed for the next generation Internet. Rapid advances in optical components have enabled the tran...
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ISBN:
(数字)9780306470219
ISBN:
(纸本)9780792378259;9781441949790
Optical WDM networking technology is spearheading a bandwidth revolution in the networking infrastructure being developed for the next generation Internet. Rapid advances in optical components have enabled the transition from point-to-point WDM links to all-optical networking.;presents some of the most important challenges facing the optical networking community, along with some suggested solutions. Earlier textbooks in optical networking have a narrower perspective, and rapidly advancing research has created the need for fresh and current information on problems and issues in the field. The volume editors and contributing authors have endeavoured to capture a substantial subset of the key problems and known solutions to these problems.;All of the chapters are original contributions from leading international researchers. The chapters address a wide variety of topics, including the state of the art in WDM technology, physical components that make up WDM fiber-optic networks, medium access protocols, wavelength routed networks, optical access networks, network management, and performance evaluation of wavelength routing networks. The chapters also survey critical points in past research and tackle more recent problems.;Practitioners and network product engineers interested in current state-of-the-art information beyond textbook-type coverage, and graduate students commencing research in this area, will appreciate the concise - and pertinent - information presented herein.
Real-time computing systems are vital to a wide range of applications. For example, they are used in the control of nuclear reactors and automated manufacturing facilities, in controlling and tracking air traffic, and...
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ISBN:
(数字)9781461540007
ISBN:
(纸本)9780792392118;9781461367888
Real-time computing systems are vital to a wide range of applications. For example, they are used in the control of nuclear reactors and automated manufacturing facilities, in controlling and tracking air traffic, and in communication systems. In recent years, real-time systems have also grown larger and become more critical. For instance, advanced aircraft such as the space shuttle must depend heavily on computer sys tems [Carlow 84]. The centralized control of manufacturing facilities and assembly plants operated by robots are other examples at the heart of which lie embedded real-time systems. Military defense systems deployed in the air, on the ocean surface, land and underwater, have also been increasingly relying upon real-time systems for monitoring and operational safety purposes, and for retaliatory and containment measures. In telecommunications and in multi-media applications, real time characteristics are essential to maintain the integrity of transmitted data, audio and video signals. Many of these systems control, monitor or perform critical operations, and must respond quickly to emergency events in a wide range of embedded applications. They are therefore required to process tasks with stringent timing requirements and must perform these tasks in a way that these timing requirements are guaranteed to be met. Real-time scheduling al gorithms attempt to ensure that system timing behavior meets its specifications, but typically assume that tasks do not share logical or physical resources. Since resource-sharing cannot be eliminated, synchronization primitives must be used to ensure that resource consis tency constraints are not violated.
consists of a collection of chapters written by leading experts in the field of fuzzy sets. Each chapter addresses an area where fuzzy sets have been applied to situations broadly related to intelligent systems.;Th...
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ISBN:
(数字)9781461536406
ISBN:
(纸本)9780792391913;9781461366195
consists of a collection of chapters written by leading experts in the field of fuzzy sets. Each chapter addresses an area where fuzzy sets have been applied to situations broadly related to intelligent systems.;The volume provides an introduction to and an overview of recent applications of fuzzy sets to various areas of intelligent systems. Its purpose is to provide information and easy access for people new to the field. The book also serves as an excellent reference for researchers in the field and those working in the specifics of systems development. People in computerscience, especially those in artificial intelligence, knowledge-based systems, and intelligent systems will find this to be a valuable sourcebook. Engineers, particularly control engineers, will also have a strong interest in this book.;Finally, the book will be of interest to researchers working in decision support systems, operations research, decision theory, management science and applied mathematics.;may also be used as an introductory text and, as such, it is tutorial in nature.
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