Mechatronics: Designing Intelligent Machines Volume 1 (eBook)

Front Cover 1
Perception, Cognition and Execution 4
Copyright Page 5
Table of Contents 8
PREFACE 6
OVERVIEW OF VOLUME 1 15
CHAPTER 1. FUNDAMENTALS 22
1.1 Introduction 22
1.2 Machines 26
1.3 Intelligent machines 28
1.4 Self-regulation 31
1.5 Reasoning and knowledge 33
1.6 Learning and pattern recognition 34
1.7 Autonomous intelligent agents 35
1.8 Architectures of intelligent machines 35
1.9 Mechatronics 41
1.10 Conclusion 43
CHAPTER 2. SENSORS 46
2.1 Introduction 46
2.2 Sensor functions 46
2.3 Components of sensors 49
2.4 Attributes of sensors 50
2.5 Sensors for intelligent machines 60
2.6 The needs for sensors in mechatronics 61
2.7 Case study: use of sensors in a prosthetic hand 62
2.8 Case study: camera sensors 65
2.9 Case study: sensing for autonomous vehicles 68
2.10 Case study: automotive application of sensors 71
2.11 Conclusion 82
References 82
CHAPTER 3. INFORMATION 84
3.1 Introduction 84
3.2 Information, signals and communication 86
3.3 Information processing 104
3.4 Conclusion 120
References 121
CHAPTER 4. PERCEPTION 122
4.1 Introduction 122
4.2 Analogue and symbolic representations in perception 123
4.3 From analogue to symbolic representation 125
4.4 The dimensions of sensory information space 128
4.5 Measurement scales and classification problems 133
4.6 Feature and pattern recognition on the basis of multidimensional sensor data 134
4.7 An example of sixteen-dimensional classification 135
4.8 Template matching pattern recognition 137
4.9 Invariance to position, orientation and size in perception 140
4.10 An example of the perception-cognition interface 141
4.11 Neural networks in perception 141
4.12 Model-based pattern recognition 142
4.13 Edge detection in digital images 144
4.14 An architecture for computer vision 146
4.15 Model-based computer vision 152
4.16 Conclusion 153
Reference 154
CHAPTER 5. COGNITION 156
5.1 Introduction 156
5.2 Examples of cognition in mechatronics systems 156
5.3 Basic elements of cognition 166
5.4 Information processing and representation 172
5.5 Conclusion 179
CHAPTER 6. PLANNING 180
6.1 Introduction 180
6.2 Knowledge representation 181
6.3 Planning - tasks and actions 187
6.4 Methods of planning 194
6.5 Managing plans - the task perspective 202
6.6 Sample planning domains 205
6.7 Conclusion 214
CHAPTER 7. ACTUATORS 216
7.1 Introduction 216
7.2 Actuator functions 216
7.3 Selection of actuators 218
7.4 Principal technologies 221
7.5 Conclusion 237
References 238
CHAPTER 8. CONTROL 240
8.1 Introduction 240
8.2 Control strategies 241
8.3 Some standard models of system dynamics 244
8.4 Back to control systems 256
8.5 Other controller options 263
8.6 Digital control 272
8.7 Conclusion 282
Further reading 283
CHAPTER 9. ARCHITECTURES 284
9.1 Introduction 284
9.2 Architecture in mechatronic design 284
9.3 Approaches to structuring 292
9.4 Temporal issues and architecture 298
9.5 Case studies of architecture designs 302
9.6 Conclusion 316
References 317
CHAPTER 10. DESIGN 318
10.1 Introduction 318
10.2 The mechanics of design 320
10.3 Product specifications 324
10.4 Conceptual design 326
10.5 Embodiment of design concepts 335
10.6 Conclusion 343
ACKNOWLEDGEMENTS 344
INDEX 345