Control, Robotics and Sensors

Electrical Capacitance Tomography (ECT)

Wed, 14 Jan 2026 13:16:22 GMT

Electrical capacitance tomography (ECT) is a non-intrusive and non-invasive imaging technique that creates a cross-sectional image of the distribution of dielectric materials inside a pipe or vessel. ECT measures the capacitance between pairs of electrodes mounted on the outside of the pipe, and reconstructs a cross-sectional image using the measured capacitance data and a suitable algorithm, to reflect the inside permittivity distribution. ECT is particularly useful for visualising the multiphase flow of non-conductive substances in industrial processes.

Written by a world-leading authority in ECT, which he has taken from early laboratory feasibility studies in the 1990s to an established commercial technology today, this book gathers 30 years of expertise in the field. The book aims to describe the principles of ECT systematically, show how to make ECT sensors, introduce different capacitance measuring circuits suitable for ECT and image reconstruction algorithms, explore industrial applications in the pharmaceutical, chemical, process, power, gas and oil industries, and identify future perspectives and developments of ECT.

Electrical Capacitance Tomography (ECT): Principles, systems and industrial applications is a valuable advanced reference for researchers working on ECT for industrial applications and other tomography modalities. It will also be useful to researchers and professionals in industry, who are using or intend to use ECT to visualise and measure industrial processes.

Wearable Exoskeleton Systems, 2nd Edition

Wed, 12 Nov 2025 09:33:12 GMT

Wearable exoskeletons are electro-mechanical systems designed to assist, augment, or enhance motion and mobility in a variety of human motion applications and scenarios. The applications cover a wide range of domains including medical devices for patient rehabilitation training in trauma recovery, movement aids for disabled persons, personal care robots for providing daily living assistance, and reduction of physical burden in industrial, manufacturing, security and military applications. The development of effective and affordable wearable exoskeletons poses several design, control and modelling challenges to researchers and manufacturers. Novel technologies are therefore being developed in a wide range of applications including adaptive motion controllers, human-robot interaction control, biological sensors and actuators, and materials and structures.

In this second edition of Wearable Exoskeleton Systems: Design, control and applications, the editors and authors have updated the original chapters with advances, technology breakthroughs and innovations in exoskeleton development which have taken place since the first edition was published in 2018. New chapters have been added on novel wearable sensing technologies, performance assessment methods, recent commercial developments, lessons learned and emerging trends.

This updated reference will be of interest to engineers, scientists and researchers in academia and industry, and advanced students and lecturers working in the fields of robotics, haptics, mechanical engineering, electrical engineering, mechatronics, sensing, control engineering, computer vision, human computer interaction, AI, cognitive engineering, medical engineering, electronic engineering, and mobile and wireless engineering. It will also be of interest to researchers and scientists working on applications areas such as construction, manufacturing, rehabilitation, forestry, security and the military, as well as exoskeleton engineers and designers, software developers, safety professionals, and policymakers and standardization professionals.

Control of Permanent Magnet Actuators for Robotics Applications

Thu, 15 May 2025 14:51:28 GMT

Motivated by the expanding role of robotics in a wide range of industrial applications, the imperative for a specialized exploration into the control dynamics of permanent magnet actuators has become apparent. These actuators are integral to contemporary robotic systems but they pose distinct challenges necessitating a dedicated exploration. The subject area encompasses a comprehensive examination of control requirements, spanning from conventional high-performance strategies to avant-garde non-position control approaches, multi-motor coordination, and fault-tolerant methodologies.

The aim of the authors is to go beyond theoretical discourse by encapsulating practical applications and implementation strategies to equip researchers, engineers, and academics with a robust conceptual and practical framework for addressing the complexities characterizing permanent magnet actuator control. The comprehensive scope of this book will foster a deeper understanding and facilitate the application of advanced control strategies in the realm of robotic systems.

Control of Permanent Magnet Actuators for Robotics Applications navigates the intricate intersection of robotics and control theory, focusing on permanent magnet actuators. The authors incorporate novel approaches, such as non-position control strategies and fault-tolerant design principle, special design features and real-world case studies to bridge the theoretical-practical divide. By incorporating innovative methodologies with established theories, the book offers a nuanced perspective on contemporary challenges and solutions in the realm of robotic control systems.

Written for an audience of robotics and mechatronics engineers, control system designers, researchers and scientists working on robotics and control theory, and advanced students of robotics, mechatronics, control and automation, this book offers readers a systematic and thorough review of permanent magnet actuators and their control for robotics applications.

Nonlinear Optimal and Flatness-based Control Methods and Applications for Complex Dynamical Systems

Tue, 21 Jan 2025 10:11:06 GMT

Robotics, mechatronics and autonomous systems can exhibit complex nonlinear dynamics which can lead to unsatisfactory transients and deviation from setpoints or even to instability. A standard approach in the control of these systems had been the concept of diffeomorphisms to bring a system into a linear form. However, these methods are not straightforward and result in complicated state-space model transformations. In this monograph, new methods have been investigated which are not constrained by the shortcomings of global linearization-based control schemes. They can be implemented in a computationally simple manner, are followed by global stability proofs, and perform better than previous optimal control approaches for a wider class of nonlinear dynamical systems and applications.

In this monograph, the authors present two main proven control methods: the nonlinear optimal (H-infinity) control method, and the flatness-based control approach. These methods have shown to be better suited than previous standard approaches in solving control issues, and can be used in a wide class of dynamical systems. They can have a broad range of applications in mechatronics, industrial robotics, space robotics, robotic cranes and pendulums, autonomous vehicles, aerospace systems and satellites, power electronics, biosystems and financial systems.

This very comprehensive monograph is a valuable resource for academic researchers and engineers working on control systems and estimation methods, and university staff and graduate students in the fields of control and automation, robotics and mechatronics, electrical engineering, electric power systems and power electronics, biosystems, computer science, financial systems, and physics. The monograph is also a very useful reference for skilled technical professionals developing real world applications.

Cognitive Sensing Technologies and Applications

Mon, 03 Apr 2023 09:09:09 GMT

Cognitive sensing systems combined with IoTs and smart technologies are used in countless applications such as industrial robotics, computer-aided diagnosis, brain-computer interface (BCI), human-computer interaction (HCI), telemedicine, driverless cars and smart energy systems.

With contributions from an international team of experts from a wide range of research areas including sensing, computer vision, signal processing and device and control applications, this book highlights the emerging role of cognitive sensors in a growing number of real time applications including smart health, smart cities, smart transportation and smart agriculture.

The volume will be suitable for a broad audience of researchers in the fields of smart sensing, signal processing, automation and robotics, environmental engineering, energy engineering, biomedical engineering and allied disciplines where smart sensors are part of the curriculum.

Human-Robot Collaboration

Mon, 03 Apr 2023 09:07:43 GMT

Human-robot collaboration (HRC) is a widely studied research topic that investigates how humans and robots can work together and achieve a common goal. Over the past few years, HRC has created exciting new applications for robots that can revolutionize manufacturing and introduce them to entirely different domains such as healthcare and agriculture. It is an interdisciplinary research area comprising robotics, artificial intelligence, design and cognitive sciences.

Industrial applications of human-robot collaboration involve collaborative robots which physically interact with humans in shared workspaces to complete tasks such as collaborative manipulation or object handovers. However, in industry to date, HRC has been adopted at a slower pace than expected as collaborative robots need to be safe for interaction with humans. At the same time, they need to be easily programmed by non-experts and to operate in an intelligent and adaptive way.

In this book we present some of the latest state-of-the-art advances in the area of human-robot collaboration, aiming at future industrial applications. The book will be useful for advanced students, researchers, engineers, developers and entrepreneurs interested in human-robot collaboration research and technologies.

Sensory Systems for Robotic Applications

Wed, 27 Jul 2022 15:57:07 GMT

Robots have come a long way thanks to advances in sensing and computer vision technologies and can be found today in healthcare, medicine and industry. Researchers have been looking at providing them with senses such as the ability to see, smell, hear and perceive touch in order to mimic and interact with humans and their surrounding environments.

Topics covered in this edited book include various types of sensors used in robotics, sensing schemes (e-skin, tactile skin, e-nose, neuromorphic vision and touch), sensing technologies and their applications including healthcare, prosthetics, robotics and wearables.

This book will appeal to researchers, scientists, engineers, and graduate and advanced students working in robotics, sensor technologies and electronics, and their applications in robotics, haptics, prosthetics, wearable and interactive systems, cognitive engineering, neuro-engineering, computational neuroscience, medicine and healthcare technologies.

Control and Estimation of Dynamical Nonlinear and Partial Differential Equation Systems

Fri, 21 Jan 2022 10:24:35 GMT

Robotic and mechatronic systems, autonomous vehicles, electric power systems and smart grids, as well as manufacturing and industrial production systems can exhibit complex nonlinear dynamics or spatio-temporal dynamics which need to be controlled to ensure good functioning and performance.

In this comprehensive reference, the authors present new and innovative control and estimation methods and techniques based on dynamical nonlinear and partial differential equation systems. Such results can be classified in five main domains for the control of complex nonlinear dynamical systems using respectively methods of approximate (local) linearization, methods of exact (global) linearization, Lyapunov stability approaches, control and estimation of distributed parameter systems and stochastic estimation and fault diagnosis methods.

Control and Estimation of Dynamical Nonlinear and Partial Differential Equation Systems: Theory and applications will be of interest to electrical engineering, physics, computer science, robotics and mechatronics researchers and professionals working on control problems, condition monitoring, estimation and fault diagnosis and isolation problems. It will also be useful to skilled technical personnel working on applications in robotics, energy conversion, transportation and manufacturing.

Human Machine Collaboration and Interaction for Smart Manufacturing

Fri, 21 Jan 2022 10:22:25 GMT

Advanced technologies such as robotics, 5G mobile communications, IoT, cloud computing and wireless sensor networks have had a huge impact and influence on manufacturing, with an increased collaboration between humans and smart systems. As the manufacturing process becomes more automated using real-time data, communication systems, Artificial Intelligence (AI) techniques and robotics feed data back into the manufacturing process. This enables the design of products that are more customized and personal, and leads to a more competitive, efficient and value-added production process by reacting more quickly to technical or human errors to avoid product and system damage while increasing workplace safety, and reducing waste, pollution, and associated costs.

This edited book covers challenges, concepts, systems, architectures, technologies, and design characteristics of human-machine cooperation and interaction systems in smart manufacturing environments using state of the art technologies including AI, 5G, IoTs, Blockchains, CPS, sensing, automation and robotics.

The book is aimed at researchers and engineers working on the applications of robotics and automation, HMI, HCI, CPS, sensing, information and communications technology, data science, ML/DL/AI, AR/VR, cybersecurity and electronics. It is also a useful reference for advanced students and lecturers in these fields, and will appeal to manufacturers and automation system developers.

Energy Harvesting in Wireless Sensor Networks and Internet of Things

Thu, 15 Jul 2021 08:54:16 GMT

The energy efficiency paradigm associated with Wireless Sensor Networks (WSNs) and the Internet of Things (IoT) is a major bottleneck for the development of related technologies. To overcome this limitation, the design and development of efficient and high-performance energy harvesting systems for WSN and IoT environments are being explored.

This edited book comprehensively covers energy harvesting sources and techniques that can be used for WSN and IoT systems. The authors cover energy harvesting, energy management and energy prediction models to maximize the energy harvested. They also identify major architecture advances to develop cost-effective, efficient, and reliable energy harvesting systems.

This is a useful reference for researchers, engineers, practitioners, designers, and R&D staff involved in the development of energy harvesting models, architectures and technologies for practical deployments in WSN and IoT environments. The book will be of interest to professionals involved in developing energy harvesting systems, industry practitioners, and manufacturers in IoT, sensing, and energy harvesting technologies. Finally, it will also be a useful reference for graduate, PhD and postdoctoral students following courses in WSNs, IoT and energy harvesting technologies.

Space Robotics and Autonomous Systems

Fri, 05 Feb 2021 14:31:02 GMT

Space robotics and autonomous systems (Space RAS) play a critical role in the current and future development of mission-defined machines that can survive in space while performing exploration, assembly, construction, maintenance and servicing tasks. They represent a multi-disciplinary emerging field at the intersection of space engineering, terrestrial robotics, computer science and materials. The field is essential to humankind's ability to explore or operate in space; providing greater access beyond human spaceflight limitations in the harsh environment of space, and offering greater operational handling that extends astronauts' capabilities. Space RAS covers all types of robotics for the exploration of planet surfaces as well as robotics used in orbit around the Earth and the sensors needed by the platform for navigation or control.

Written by a team of International experts on space RAS, this book covers advanced research, technologies and applications including: sensing and perception to provide situational awareness for space robotic agents, explorers and assistants; mobility to reach and operate at sites of scientific interest on extra-terrestrial surfaces or free space environments using locomotion; manipulations to make intentional changes in the environment or objects using locomotion such as placing, assembling, digging, trenching, drilling, sampling, grappling and berthing; high-level autonomy for system and sub-systems to provide robust and safe autonomous navigation, rendezvous and docking capabilities and to enable extended-duration operations without human interventions to improve overall performance of human and robotic missions; human-robot interaction and multi-modal interaction; system engineering to provide a framework for understanding and coordinating the complex interactions of robots and achieving the desired system requirements; verification and validation of complex adaptive systems; modelling and simulation; and safety and trust.

Ground Penetrating Radar

Sat, 27 Jul 2019 15:25:22 GMT

Ground Penetrating Radar (GPR) is a powerful sensing technology widely used for the non-destructive assessment of a variety of structures with different properties including dimensions, electrical properties, and moisture.

After an introduction to the underlying concepts, this book guides the reader through the development and use of a GPR system, with an emphasis on the parameters that can be optimized, the theory behind assessment, and a coherent methodology to obtain results from a measured or simulated GPR signal. The authors then embark on a detailed discussion of support tools and numerical modelling techniques that can be applied to improve readings from GPR systems.

Ground Penetrating Radar is of interest to engineers, scientists, researchers and professionals working in the fields of ground penetrating radar, non-destructive testing, geoscience and remote sensing, antennas and propagation, microwaves, electromagnetics and imaging. It will also be of use to professionals and academics in the fields of electrical, mechanical, sensing, and civil engineering as well as material science and archaeology concerned with quality control and fault analysis.

Imaging Sensor Technologies and Applications

Wed, 27 Nov 2019 15:49:17 GMT

Imaging sensors are crucial for electronic imaging systems, including digital cameras, camera modules, medical imaging equipment, night vision equipment, radar and sonar, drones, and many others. This contributed book covers a wide range of frequency, sensing modalities and applications, including x-ray beam imaging sensors, optical scattering sensors, smart visual sensors in robotic systems, tuneable diode Laser absorption spectroscopy (TDLAS) sensors, light detection and ranging (LiDAR) sensors, microwave imaging sensors, electro-magnetic imaging with ultra-wideband (UWB) sensors, synthetic aperture radar (SAR), electrical resistance tomography (ERT) sensors, electrical tomography for medical applications, electro-magnetic tomography (EMT) sensors, micro sensors for cell and blood imaging, and ultrasound imaging sensors.

Bringing together information on state-of-the-art research in the field, this book is a valuable resource for engineers, researchers, designers and developers, and advanced students and lecturers working on sensing, imaging, optics, photonics, medical imaging, instrumentation, measurement and electronics.

Transparency for Robots and Autonomous Systems

Fri, 14 Feb 2020 15:52:38 GMT

Based on scientific understanding and empirical evidence of how humans understand and interact with robotic and autonomous systems, the author reviews the concerns that have been raised around the deployment of AI and robots in human society, and the potential for disruption and harm. He explains why transparency ought to be a fundamental design consideration for Human Computer Interaction (HCI) and artificial intelligent systems. Starting with a survey of global research in the field and what transparency means in the wider context of trust, control and ethics, the author then introduces a transparent robot control architecture, and the impact of transparency using real-time displays. He presents a case study of a muttering robot, and covers current and upcoming standards for transparency, as well as future perspectives for the design, manufacture and operation of autonomous robotic systems.

Specifically, chapters cover transparency in the wider context of trust; a transparent robot control architecture, the impact of transparency using real-time displays, transparency using audio - the Muttering Robot, the effects of appearance on transparency, synthesis and further work, and several examples of Instinct reactive planner commands.

This book provides key insights into transparency in robots and autonomous systems for industry, academic researchers and engineers working on intelligent autonomous system design, human robot interaction, AI, and machine ethics. It also offers points of interest for professionals developing governmental or organisational policies and standards for the design of intelligent autonomous and AI systems, and government and standard bodies working in the emerging applications of AI.

Signal Processing to Drive Human-Computer Interaction

Tue, 19 Nov 2019 14:31:24 GMT

The evolution of eye tracking and brain-computer interfaces has given a new perspective on the control channels that can be used for interacting with computer applications. In this book leading researchers show how these technologies can be used as control channels with signal processing algorithms and interface adaptations to drive a human-computer interface.

Topics included in the book include a comprehensive overview of eye-mind interaction incorporating algorithm and interface developments; modeling the (dis)abilities of people with motor impairment and their computer use requirements and expectations from assistive interfaces; and signal processing aspects including acquisition, preprocessing, enhancement, feature extraction, and classification of eye gaze, EEG (Steady-state visual evoked potentials, motor imagery and error-related potentials) and near-infrared spectroscopy (NIRS) signals. Finally, the book presents a comprehensive set of guidelines, with examples, for conducting evaluations to assess usability, performance, and feasibility of multi-model interfaces combining eye gaze and EEG based interaction algorithms.

The contributors to this book are researchers, engineers, clinical experts, and industry practitioners who have collaborated on these topics, providing an interdisciplinary perspective on the underlying challenges of eye and mind interaction and outlining future directions in the field.

Imaging and Sensing for Unmanned Aircraft Systems

Sun, 28 Jul 2019 08:39:48 GMT

This two-volume book set explores how sensors and computer vision technologies are used for the navigation, control, stability, reliability, guidance, fault detection, self-maintenance, strategic re-planning and reconfiguration of unmanned aircraft systems (UAS).

Volume 1 concentrates on UAS control and performance methodologies including Computer Vision and Data Storage, Integrated Optical Flow for Detection and Avoidance Systems, Navigation and Intelligence, Modeling and Simulation, Multisensor Data Fusion, Vision in Micro-Aerial Vehicles (MAVs), Computer Vision in UAV using ROS, Security Aspects of UAV and Robot Operating System, Vision in Indoor and Outdoor Drones, Sensors and Computer Vision, and Small UAV for Persistent Surveillance.

Volume 2 focuses on UAS deployment and applications including UAV-CPSs as a Testbed for New Technologies and a Primer to Industry 5.0, Human-Machine Interface Design, Open Source Software (OSS) and Hardware (OSH), Image Transmission in MIMO-OSTBC System, Image Database, Communications Requirements, Video Streaming, and Communications Links, Multispectral vs Hyperspectral Imaging, Aerial Imaging and Reconstruction of Infrastructures, Deep Learning as an Alternative to Super Resolution Imaging, and Quality of Experience (QoE) and Quality of Service (QoS).

Imaging and Sensing for Unmanned Aircraft Systems

Sun, 28 Jul 2019 08:39:50 GMT

IoT Technologies in Smart-Cities

Wed, 27 Nov 2019 16:00:09 GMT

Smart City and sensing platforms are considered some of the most significant topics in the Internet of Things (IoT). Sensors are at the heart of the IoT, and their development is a key issue if such concepts are to achieve their full potential.

This book addresses the major challenges in realizing smart city and sensing platforms in the era of the IoT and the Cloud. Challenges vary from cost and energy efficiency to availability and service quality. To tackle these challenges, sensors must meet certain expectations and requirements such as size constraints, manufacturing costs and resistance to environmental factors.

This book focuses on both the design and implementation aspects for smart city and sensing applications that are enabled and supported by IoT paradigms. Attention is also given to data delivery approaches and performance aspects.

Sensors, Actuators, and Their Interfaces, 2nd Edition

Mon, 29 Jul 2019 07:28:24 GMT

Sensors and actuators are used daily in countless applications to ensure more accurate and reliable workflows and safer environments. Many students and young engineers with engineering and science backgrounds often come prepared with circuits and programming skills but have little knowledge of sensors and sensing strategies and their interfacing.

In this fully revised and expanded second edition, the author looks at sensors and actuators based on a broad area of detection methods. He takes a general and applications-oriented approach to the topic and makes it discipline-independent to cater for a broad audience. Important coverage is given to interfacing (the processes and mechanisms between the sensors and actuators) that makes systems work reliably and accurately. Topics covered include different type of sensors and actuators (temperature, thermal, optical, electric, magnetic, mechanical, acoustic, chemical, radiation, and smart sensors) and their interfaces. The book contains numerous examples and problem sets as well as useful appendices.

Fault Diagnosis and Fault-Tolerant Control of Robotic and Autonomous Systems

Fri, 14 Feb 2020 14:45:51 GMT

Robotic systems have experienced exponential growth thanks to their incredible adaptability. Modern robots require an increasing level of autonomy, safety and reliability. This book addresses the challenges of increasing and ensuring reliability and safety of modern robotic and autonomous systems. The book provides an overview of research in this field to-date, and addresses advanced topics including fault diagnosis and fault-tolerant control, and the challenging technologies and applications in industrial robotics, robotic manipulators, mobile robots, and autonomous and semi-autonomous vehicles.

Chapters cover the following topics: fault diagnosis and fault-tolerant control of unmanned aerial vehicles; control techniques to deal with the damage of a quadrotor propeller; observer-based LPV control design of quad-TRUAV under rotor-tilt axle stuck fault; an unknown input observer based framework for fault and icing detection and accommodations in overactuated unmanned aerial vehicles; actuator fault tolerance for a WAM-V catamaran with azimuth thrusters; fault-tolerant control of a service robot; distributed fault detection and isolation strategy for a team of cooperative mobile manipulators; nonlinear optimal control for aerial robotic manipulators; fault diagnosis and fault-tolerant control techniques for aircraft Systems; fault-tolerant trajectory tracking control of in-wheel motor vehicles with energy efficient steering and torque distribution; nullspace-based input reconfiguration architecture for over-actuated aerial vehicles; data-driven approaches to fault-tolerant control of industrial robotic systems.