Mechatronics and Machine Vision Book

	Introduction
	Mechatronics Education	1
1	Fast Tracking New Courses in Mechatronic Engineering	3
2	Robotics Multimedia Software for Conceptual Understanding	11
3	Web-based Telerobotics and Hardware-in-the-loop Simulations as Enhancements to Mechatronics Teaching	17
4	Simple Intelligent Mouse (SiMouse)	23
5	Robot Bilby for Emerging Engineers	31
	Robot Soccer and Team Robots	39
6	Robust Adaptive Vision for Robot Soccer	41
7	Biped Walk on Undulating Ground Based on Inclination Estimation Using Stereo Vision	49
8	Controlling Multiple Robots in Geometric Formation Using Vision	57
	Machine Vision	65
9	Control of Multiple Mobile Robot Positioning Using Plan Vision	67
10	Defects Detection in Printing Fabrics Using Computer Vision	75
11	Vision System Design for On-Line Quality Control of Highly-Specular Coated Surfaces	83
12	CyberScout: Distributed Agents for Autonomous Reconnaissance and Surveillance	93
	Sensors	101
13	The Mechatronic Bakery	105
14	Listening for Cane Loss	113
15	Low cost GPS for the Autonomous Robot Farmhand	119
16	Development of Low Cost Range Sensing Instrumentation for collision avoidance applications	127
17	Automated Carbon Dioxide Measurement Via Miniaturised Chemical Reaction Chambers Under Mechatronic Control	135
18	In Process Control of Surface Finish in Grinding	143
19	The Design of a Tactile Sensor for a Mobile Robotic Cane for the visually-impaired	153
20	The Performance Characteristics of a Novel Distributive Method for Tactile Sensing	159
	Mechatronic Aids for the Disabled	167
21	Control of sensory perception in a robotic cane	169
22	Predictive correction of dead recknoning errors in a robotic cane	177
23	The BrowsMouse - Computer Access with Eyebrows	189
	Mechatronics in Surgery	197
24	An Intelligent Mechatronics Solution for Automated Tool Guidance in the Epidural Surgical Procedure	201
25	A hands-on simulator for needle penetration in the epidural procedure	207
	Mobile Robots	215
26	Design aspects of a rapid deployment surveillance system	219
27	The Self-tuning Agoraphilic Controller for Mobile Robot Navigation	229
28	Sensor Rich Teleoperation of an All-Terrain Amphibious Robotic Vehicle in Mixed Water / Land Environments	235
	Legged Mobiles	243
29	Virtual Reality Simulation with Control I/O for Multiped Robots	245
30	The Pearl Rover Underwater Inspection Robot	255
31	The Design of a Hydraulically Powered Leg for an Underwater Six-Legged Robot	263
32	An Underwater Acoustic Digital Communication Link	275
33	A Roller Skating Robot	283
34	A Six-Legged Hybrid Walking and Wheeled Vehicle	293
	Mechatronics Implementation and Actuators	303
35	Smart Material Actuators for Fluid Power Valves with Different Pressure Mediums	305
36	Configuration in the Mechatronic Design Process - Represented by Fast Acting Magnetic Actuators	313
37	A new mechanical design of a servo motor	323
38	Design of a Mechatronic Joint for Modular Robots	331
39	Rule-Based Reinforcement Learning Algorithm for Weight Update in FuNe I Adaptive Feedback Controller	337
40	Programmable Gate Arrays for Hard Real-Time Control	343
41	Configuration Space Generation for Assembly Tasks from Demonstration	349
	Author Index	365
	Subject Index	368