\r\n\t
",isbn:null,printIsbn:null,pdfIsbn:null,doi:null,price:0,priceEur:0,priceUsd:0,slug:null,numberOfPages:0,isOpenForSubmission:!1,hash:"a26ccbc19aca1adeac18323671b48289",bookSignature:"Dr. Gunvant Birajdar",publishedDate:null,coverURL:"https://cdn.intechopen.com/books/images_new/8387.jpg",keywords:"Finite Difference Method, Fractional PDEs, Laplace Transform method, Fourier Transform Method, Katugampola , Hilfer-Katugampola Derivatives, Hilfer Derivatives, Fractional Differential Operator, History of Fractional Calculus, Different Fractional Operators",numberOfDownloads:null,numberOfWosCitations:0,numberOfCrossrefCitations:0,numberOfDimensionsCitations:0,numberOfTotalCitations:0,isAvailableForWebshopOrdering:!0,dateEndFirstStepPublish:"November 8th 2018",dateEndSecondStepPublish:"November 29th 2018",dateEndThirdStepPublish:"January 28th 2019",dateEndFourthStepPublish:"April 18th 2019",dateEndFifthStepPublish:"June 17th 2019",remainingDaysToSecondStep:"2 years",secondStepPassed:!0,currentStepOfPublishingProcess:5,editedByType:null,kuFlag:!1,biosketch:null,coeditorOneBiosketch:null,coeditorTwoBiosketch:null,coeditorThreeBiosketch:null,coeditorFourBiosketch:null,coeditorFiveBiosketch:null,editors:[{id:"191049",title:"Dr.",name:"Gunvant",middleName:null,surname:"Birajdar",slug:"gunvant-birajdar",fullName:"Gunvant Birajdar",profilePictureURL:"https://mts.intechopen.com/storage/users/191049/images/system/191049.jpeg",biography:"Dr. Birajdar earned a Ph.D. in Mathematics from Department of Mathematics, Dr. Babasaheb Ambedkar\nMarathwada University, Aurangabad (M.S.) with a PhD thesis On Numerical Techniques in Nonlinear Fractional Partial Differential Equations and Applications. He is presently performing the role of a Assistant Professor at Tata Institute of Social Sciences (TISS), Tuljapur, Maharashtra since July 2013.",institutionString:"Tata institute of Social Sciences",position:null,outsideEditionCount:0,totalCites:0,totalAuthoredChapters:"0",totalChapterViews:"0",totalEditedBooks:"0",institution:{name:"Tata Institute of Social Sciences",institutionURL:null,country:{name:"India"}}}],coeditorOne:null,coeditorTwo:null,coeditorThree:null,coeditorFour:null,coeditorFive:null,topics:[{id:"15",title:"Mathematics",slug:"mathematics"}],chapters:null,productType:{id:"1",title:"Edited Volume",chapterContentType:"chapter",authoredCaption:"Edited by"},personalPublishingAssistant:{id:"205697",firstName:"Kristina",lastName:"Kardum Cvitan",middleName:null,title:"Ms.",imageUrl:"https://mts.intechopen.com/storage/users/205697/images/5186_n.jpg",email:"kristina.k@intechopen.com",biography:"As an Author Service Manager my responsibilities include monitoring and facilitating all publishing activities for authors and editors. From chapter submission and review, to approval and revision, copyediting and design, until final publication, I work closely with authors and editors to ensure a simple and easy publishing process. I maintain constant and effective communication with authors, editors and reviewers, which allows for a level of personal support that enables contributors to fully commit and concentrate on the chapters they are writing, editing, or reviewing. I assist authors in the preparation of their full chapter submissions and track important deadlines and ensure they are met. I help to coordinate internal processes such as linguistic review, and monitor the technical aspects of the process. As an ASM I am also involved in the acquisition of editors. Whether that be identifying an exceptional author and proposing an editorship collaboration, or contacting researchers who would like the opportunity to work with IntechOpen, I establish and help manage author and editor acquisition and contact."}},relatedBooks:[{type:"book",id:"1591",title:"Infrared Spectroscopy",subtitle:"Materials Science, Engineering and Technology",isOpenForSubmission:!1,hash:"99b4b7b71a8caeb693ed762b40b017f4",slug:"infrared-spectroscopy-materials-science-engineering-and-technology",bookSignature:"Theophile Theophanides",coverURL:"https://cdn.intechopen.com/books/images_new/1591.jpg",editedByType:"Edited by",editors:[{id:"37194",title:"Dr.",name:"Theophanides",surname:"Theophile",slug:"theophanides-theophile",fullName:"Theophanides Theophile"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"3161",title:"Frontiers in Guided Wave Optics and Optoelectronics",subtitle:null,isOpenForSubmission:!1,hash:"deb44e9c99f82bbce1083abea743146c",slug:"frontiers-in-guided-wave-optics-and-optoelectronics",bookSignature:"Bishnu Pal",coverURL:"https://cdn.intechopen.com/books/images_new/3161.jpg",editedByType:"Edited by",editors:[{id:"4782",title:"Prof.",name:"Bishnu",surname:"Pal",slug:"bishnu-pal",fullName:"Bishnu Pal"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"3092",title:"Anopheles mosquitoes",subtitle:"New insights into malaria vectors",isOpenForSubmission:!1,hash:"c9e622485316d5e296288bf24d2b0d64",slug:"anopheles-mosquitoes-new-insights-into-malaria-vectors",bookSignature:"Sylvie Manguin",coverURL:"https://cdn.intechopen.com/books/images_new/3092.jpg",editedByType:"Edited by",editors:[{id:"50017",title:"Prof.",name:"Sylvie",surname:"Manguin",slug:"sylvie-manguin",fullName:"Sylvie Manguin"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"371",title:"Abiotic Stress in Plants",subtitle:"Mechanisms and Adaptations",isOpenForSubmission:!1,hash:"588466f487e307619849d72389178a74",slug:"abiotic-stress-in-plants-mechanisms-and-adaptations",bookSignature:"Arun Shanker and B. Venkateswarlu",coverURL:"https://cdn.intechopen.com/books/images_new/371.jpg",editedByType:"Edited by",editors:[{id:"58592",title:"Dr.",name:"Arun",surname:"Shanker",slug:"arun-shanker",fullName:"Arun Shanker"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"72",title:"Ionic Liquids",subtitle:"Theory, Properties, New Approaches",isOpenForSubmission:!1,hash:"d94ffa3cfa10505e3b1d676d46fcd3f5",slug:"ionic-liquids-theory-properties-new-approaches",bookSignature:"Alexander Kokorin",coverURL:"https://cdn.intechopen.com/books/images_new/72.jpg",editedByType:"Edited by",editors:[{id:"19816",title:"Prof.",name:"Alexander",surname:"Kokorin",slug:"alexander-kokorin",fullName:"Alexander Kokorin"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"314",title:"Regenerative Medicine and Tissue Engineering",subtitle:"Cells and Biomaterials",isOpenForSubmission:!1,hash:"bb67e80e480c86bb8315458012d65686",slug:"regenerative-medicine-and-tissue-engineering-cells-and-biomaterials",bookSignature:"Daniel Eberli",coverURL:"https://cdn.intechopen.com/books/images_new/314.jpg",editedByType:"Edited by",editors:[{id:"6495",title:"Dr.",name:"Daniel",surname:"Eberli",slug:"daniel-eberli",fullName:"Daniel Eberli"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"57",title:"Physics and Applications of Graphene",subtitle:"Experiments",isOpenForSubmission:!1,hash:"0e6622a71cf4f02f45bfdd5691e1189a",slug:"physics-and-applications-of-graphene-experiments",bookSignature:"Sergey Mikhailov",coverURL:"https://cdn.intechopen.com/books/images_new/57.jpg",editedByType:"Edited by",editors:[{id:"16042",title:"Dr.",name:"Sergey",surname:"Mikhailov",slug:"sergey-mikhailov",fullName:"Sergey Mikhailov"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"1373",title:"Ionic Liquids",subtitle:"Applications and Perspectives",isOpenForSubmission:!1,hash:"5e9ae5ae9167cde4b344e499a792c41c",slug:"ionic-liquids-applications-and-perspectives",bookSignature:"Alexander Kokorin",coverURL:"https://cdn.intechopen.com/books/images_new/1373.jpg",editedByType:"Edited by",editors:[{id:"19816",title:"Prof.",name:"Alexander",surname:"Kokorin",slug:"alexander-kokorin",fullName:"Alexander Kokorin"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"2270",title:"Fourier Transform",subtitle:"Materials Analysis",isOpenForSubmission:!1,hash:"5e094b066da527193e878e160b4772af",slug:"fourier-transform-materials-analysis",bookSignature:"Salih Mohammed Salih",coverURL:"https://cdn.intechopen.com/books/images_new/2270.jpg",editedByType:"Edited by",editors:[{id:"111691",title:"Dr.Ing.",name:"Salih",surname:"Salih",slug:"salih-salih",fullName:"Salih Salih"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"872",title:"Organic Pollutants Ten Years After the Stockholm Convention",subtitle:"Environmental and Analytical Update",isOpenForSubmission:!1,hash:"f01dc7077e1d23f3d8f5454985cafa0a",slug:"organic-pollutants-ten-years-after-the-stockholm-convention-environmental-and-analytical-update",bookSignature:"Tomasz Puzyn and Aleksandra Mostrag-Szlichtyng",coverURL:"https://cdn.intechopen.com/books/images_new/872.jpg",editedByType:"Edited by",editors:[{id:"84887",title:"Dr.",name:"Tomasz",surname:"Puzyn",slug:"tomasz-puzyn",fullName:"Tomasz Puzyn"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}}]},chapter:{item:{type:"chapter",id:"64541",title:"Optimal Control of Fuzzy Systems with Application to Rigid Body Attitude Control",doi:"10.5772/intechopen.82181",slug:"optimal-control-of-fuzzy-systems-with-application-to-rigid-body-attitude-control",body:'\nSince Lotfi Aliasker Zadeh introduced the fuzzy set [1] and the fuzzy logic [2], these two concepts have been successfully applied to various kinds of fields existing in the earth (e.g., see references in [3]), and the usefulness of these two concepts have also been verified in many industries.
\nFuzzy logic is basically a multi-valued logic that allows intermediate values to be defined between conventional evaluations like yes or no, true or false, and big or small. The main characteristic of fuzzy concept is that it can handle some complicated phenomena of systems with the help of the fuzzy and linguistic modeling. Thus, it is possible to design knowledge-oriented intelligent systems if we use the fuzzy logic in the design of systems. This is a very important characteristic of fuzzy logic.
\nMost physical systems are almost nonlinear dynamic systems. Conventional control design approaches use different approximation methods such as linear, piecewise linear, and lookup table approximations to handle their nonlinearities. The linear approximation method linearizes a nonlinear dynamic system about a single equilibrium point and provides a linearized design-model for it. Then, the controller is designed for the linearized design-model to satisfy a given control objective. The linear approximation method is relatively simple, but it tends to limit control performance. In addition, the controller designed by the linear approximation method is valid only under the assumption that the states of a nonlinear dynamic system operate closely around the considered equilibrium point, which is the basic limitation of the control design by the linear approximation method [4]. The piecewise linear approximation method requires the design of several linear controllers. Thus, it works better than the linear approximation method, although it is tedious to implement. The lookup table approximation method can improve control performance, but it is difficult to debug and tune. Moreover, in complex systems where multiple inputs exist, the lookup table approximation method may be very costly to implement because large memories are required to store a lookup table.
\nIn many applications, the fuzzy control, based on the fuzzy logic, provides better control performance than linear, piecewise linear, or lookup table approximation methods because it provides an efficient framework to incorporate linguistic fuzzy information from human experts. The so-called intelligent control has emerged to use the expert information in the control community. Some tools for implementing the intelligent control can be referred to artificial neural network, genetic algorithm, and fuzzy logic. Note that the artificial neural network is a learning-based device whose design is motivated by the function of human brains and components thereof. And, the genetic algorithm is inspired by Charles Robert Darwin’s theory of evolution and works by creating many stochastic selection parameters to a problem. Usually, the expert information is represented by fuzzy terms like small, large, fast, and so on. Therefore, the fuzzy control is more adequate to implement the intelligent control with the expert information than the artificial neural network and the genetic algorithm.
\nFuzzy controllers can perform the nonlinear control actions because fuzzy logic systems are capable of uniformly approximating any nonlinear function over a compact set to any degree of accuracy [5]. Thus, if the parameters of a fuzzy controller are carefully chosen, it is possible to design a fuzzy controller for nonlinear dynamic systems. Then, it is well known that fuzzy controllers are robust with respect to disturbances of systems because their operations are determined by fuzzy rules. Also, fuzzy controllers are customizable because it is easy to understand and modify their rules.
\nAs the behaviors of dynamic systems become complex, the need of fuzzy scheme increases, and the linguistic analysis suggested by Zadeh [6] allows us to analyze the qualitative behaviors of systems with the fuzzy algorithms. As motivated by the study of [6], Mamdani and Assilian [7] proposed the configuration of a fuzzy system with fuzzifier and defuzzifier, and they applied the fuzzy logic to the control of a dynamic plant, and the fuzzy control has attracted a great deal of interest among researchers. Note that fuzzy system is a name for the system which has a direct relationship with fuzzy concepts (e.g., fuzzy sets and linguistic variables) and fuzzy logic [5]. Also, note that the function of fuzzifier is to map crisp points to fuzzy sets, and the function of defuzzifier is to map fuzzy sets to crisp points [5].
\nSubsequently, many successful applications of the fuzzy control have increased the need of theoretical analysis concerning the stability and performance of fuzzy control systems. Most of all, the stability of fuzzy control systems has often been required to be verified with theoretical arguments, and there have been several significant studies for designing the stabilizing controllers for fuzzy systems with rigorous stability proofs [8, 9, 10, 11, 12, 13, 14], in which the so-called TS-type fuzzy model proposed by Takagi and Sugeno [15] has mainly been used to represent fuzzy systems. Specifically, in [8, 9, 10, 11, 12, 13, 14], the authors made TS-type fuzzy models of dynamic systems with the IF-THEN fuzzy implication and fuzzy inference and designed the stabilizing control laws for TS-type fuzzy models. Then they applied the stabilizing control laws for TS-type fuzzy models to dynamic systems. In the fuzzy control design, the knowledge of an expert can be applied to the control design for dynamic systems by a linguistic expression such as the IF-THEN fuzzy implication.
\nConcerning the performance of fuzzy control systems, the optimality has often been considered as an important issue in the design of fuzzy control systems, and the conventional linear optimal control method [16] has been used to design the optimal control law for TS-type fuzzy systems. On the optimality issue of fuzzy control systems, Wang [17] developed the optimal fuzzy controller for linear time-invariant systems by utilizing the Pontryagin minimum principal. However, the design method of [17] does not have much practical implications because it may not be a good choice to use the fuzzy controller designed for linear systems directly as the controller for nonlinear fuzzy systems. Based on the linear quadratic optimal control theory [16], Wu and Lin [18] presented a design method of the optimal controllers for both continuous- and discrete-time fuzzy systems. The main strategy of [18] is to seek the optimal controller that minimizes a given performance index by solving the matrix Riccati differential equations or the steady-state algebraic Riccati equations. Later, Wu and Lin [19] addressed a quadratic optimal control problem for continuous-time fuzzy systems, which were represented by the so-called linear-like synthetic matrix form and developed a design scheme of the optimal fuzzy controller under finite or infinite horizon by utilizing the calculus-of-variation method. The study of [19] is also based on solving a steady-state algebraic Riccati-like equation, but it utilizes an efficient algorithm to design the global optimal fuzzy controller. Park et al. [20] addressed the optimal control problem for continuous-time TS-type fuzzy systems. However, the design method of [20] has less redundancy in choice of feedback gains and requires undesirable high feedback gains, which are the main drawbacks of [20] in the design of the optimal controller for fuzzy systems. Kim and Rhee [21] presented a response surface methodology, and they applied this methodology to the design of an optimal fuzzy controller for a plant. Wu and Lin [22] proposed a way to design a global optimal discrete-time fuzzy controller to control and stabilize a nonlinear discrete-time TS-type fuzzy system with finite or infinite horizon time. Chen and Liu [23] studied the problem of guaranteed cost control for TS-type fuzzy systems with a time-varying delayed state. Mirzaei et al. [24] proposed an optimized fuzzy controller for antilock braking systems to improve vehicle control during sudden braking. Lin, Wang, and Lee [25] investigated a geometric property of time-optimal control problem in the TS-type fuzzy model via Lie algebra and found the time-optimal controller as the bang-bang type with a finite number of switching by applying the maximum principle. Mostefai et al. [26] presented a fuzzy observer-based optimal control design for the compensation of nonlinear friction in a robot joint structure based on a fuzzy local modeling technique. Zhu [27] studied a fuzzy optimal control problem for a multistage fuzzy system to optimize the expected value of a fuzzy objective function subject to a multistage fuzzy system. Esfahani and Sichani [28] studied the problem of optimal fuzzy H∞-tracking control design for nonlinear systems that are represented by using the TS fuzzy modeling scheme. Through these studies, the optimal control for fuzzy systems has quite been progressed.
\nSince TS-type fuzzy systems essentially have a nonlinear nature due to the IF-THEN fuzzy implication and fuzzy inference, we see that a nonlinear optimal control method is suitable for designing an optimal control law for TS-type fuzzy systems. In addition, when we design an optimal control law for TS-type fuzzy systems, it is often required that the control design should allow us to control the convergence rates of state trajectories to an equilibrium point. The decay rate of the closed-loop dynamics may be used to achieve this requirement in the control design. These observations motivate the author to study an optimal control of TS-type fuzzy systems that can provide good convergence rates of state trajectories to an equilibrium point in this chapter.
\nMore specifically, in this chapter, the author presents a theoretical result on the optimal control of nonlinear dynamic systems. In this theoretical result, the author presents the optimal control problem for nonlinear dynamic systems and solves this problem by utilizing the dynamic programming approach [29] and the inverse optimal approach [30]. Note that Kalman [31] first proposed the inverse optimal approach to establish some gain and phase margins of a linear quadratic regulator. Also, note that the conventional direct optimal approach is based on seeking a stabilizing controller that minimizes a given performance index. On the other hand, the inverse optimal approach avoids the task of solving the Hamilton-Jacobi- Bellman (H-J-B) equation numerically but finds a stabilizing controller first and then shows its optimality with respect to a posteriorly determined performance index. In this chapter, the author employs the dynamic programming approach to derive the H-J-B equation associated with the optimal control problem for nonlinear dynamic systems. Then, the author presents an analytic way to solve the H-J-B equation with the help of the inverse optimal approach, by which the author establishes a systematic approach for designing the optimal controller for nonlinear dynamic systems. The resulting optimal controller takes the form of state feedback \n
Then, based on the theoretical result presented in this chapter, the author establishes an optimal control design for TS-type fuzzy systems that guarantees the global asymptotic stability of an equilibrium point and the optimality with respect to a cost function, which incorporates a penalty on the state and control input vectors, and provides good convergence rates of state trajectories to an equilibrium point. The problem appearing in this optimal control design for TS-type fuzzy systems is given as a linear matrix inequality (LMI)-based problem. From the results, the optimal controller can be found by a simple controller design procedure, which is essentially given as LMIs. The control design involving LMIs is particularly useful in practice because LMIs can be efficiently solved by recently developed interior-point methods (e.g., [32, 33]). One of the algorithms belonging to the interior-point methods can be found in [34], and an implementation of the algorithm in [34] is included in the LMI Control Toolbox of MATLAB [35], which will be used as the solver for the LMI-based problem appearing in the optimal control design.
\nNote that the optimal controller for a nonlinear dynamic system is in general designed for a linearized design-model, which is obtained by conventional linear approximation techniques, because it is sometimes difficult to solve the nonlinear optimal control problem associated with a nonlinear dynamic system. Clearly, the optimal controller designed for a linearized design-model guarantees its optimality only at an equilibrium point used to design a linearized design-model. Compared with a design-model obtained by conventional linear approximation techniques, the TS-type fuzzy model can be seen as a good design-model for approximating a nonlinear dynamic system because it retains the essential features of a nonlinear dynamic system with a linguistic description in terms of fuzzy IF-THEN rules, by which the TS-type fuzzy system is valid over a range of operating points within fuzzy sets. Thus, when we design the optimal controller for a nonlinear dynamic system, it is adequate to approximate a nonlinear dynamic system with a TS-type fuzzy model and to use a TS-type fuzzy model rather than a linearized design-model. In addition, one can expect that the optimal controller designed for a TS-type fuzzy system has a wider range of optimality than the optimal controller designed for a linearized design-model because the former guarantees the optimality over a range of operating points within fuzzy sets.
\nAs a control design example in this chapter, the three-axis attitude stabilization problem of a rigid body is considered to illustrate the optimal control design method for TS-type fuzzy systems presented in this chapter. The attitude motion of a rigid body is basically represented by a set of two Equations [36]: (i) Euler’s dynamic equation, which describes the time derivative of the angular velocity vector and (ii) the kinematic equation, which relates the time derivatives of the orientation angles to the angular velocity vector. For representing the orientation angles of a rigid body, there exist several kinematic parameterizations such as Euler angles, Gibbs vector, Cayley-Rodrigues parameters, and modified Rodrigues parameters [37, 38], which are singular three-dimensional parameter representations, and quaternion (also called Euler parameters), which is a nonsingular four-dimensional parameter representation. Note that three-dimensional parameter representations exhibit singular orientations because the Jacobian matrix is singular for some orientations. On the other hand, the quaternion consists of four parameters subject to the unit length constraint and is a globally nonsingular parameter for describing the body orientation [36].
\nIn this chapter, the equations of motion of a rigid body including dynamics and kinematics are considered. The kinematic equation of a rigid body considered in this chapter is described by the quaternion. The equations of motion of a rigid body considered in this chapter describe a system in cascade interconnection, and the backstepping method of [39] can be efficiently utilized to apply the optimal control design method presented in this chapter to the three-axis attitude stabilization problem of a rigid body.
\nThe optimal attitude stabilization problem of a rigid body has been addressed by several researchers [40, 41, 42]. Also, there have been many studies which consider performance indices such as time and/or fuel in the formulation of the optimal attitude stabilization problem of a rigid body [43, 44, 45, 46, 47, 48, 49], in which the optimal regulation problems for angular velocity subsystem of a rigid body and for some quadratic performance indexes have mainly been addressed.
\nThe optimal attitude control problem of the complete attitude motion of a rigid body, which includes dynamics as well as kinematics, has been investigated by many researchers: Carrington and Junkins [50] used a polynomial expansion approach to approximate the solution of H-J-B equation. Rotea et al. [51] showed that Lyapunov functions including a logarithmic term in the kinematic parameters result in linear controllers with a finite quadratic performance index. For the general quadratic performance index, they also presented sufficient conditions which guarantee the existence of a linear and suboptimal stabilizing controller. Tsiotras [52] derived a new class of globally asymptotically stabilizing feedback control laws as well as a family of exponentially stabilizing optimal control laws for the complete attitude motion of a nonsymmetric rigid body. Later, Tsiotras [53] presented a partial solution to the optimal regulation problem of a spinning rigid body by using the natural decomposition of the complete attitude motion into its kinematics and dynamics systems and the inherent passivity properties of these two systems. Bharadwaj et al. [54] presented a couple of new globally stabilizing attitude control laws based on minimal and exponential coordinates. Park and Tahk [55] have considered the problem of three-axis robust attitude stabilization of a rigid body with inertia uncertainties, and they have presented a class of new robust attitude control laws having relaxed feedback gain structures. Later, Park and Tahk [56] have extended their robust attitude control scheme of [55] to the optimal attitude control scheme by using the Hamilton-Jacobi theory of [57]. Also, Park et al. [58] have first addressed a game-theoretic approach to robust and optimal attitude stabilization of a rigid body with external disturbances.
\nNote that, in the case of robot arm control, since the arms or hand fingers can be viewed as actuators which maneuver the attitude of the held object, the results on the attitude control of a rigid body can be applied to the attitude control of a rigid payload held by the robot arm [59]. With this relation, there have been many studies concerning the attitude control problem of a rigid body, and some remarkable studies can be referred to [60, 61].
\nThe rest of this chapter is composed as follows. In Section 2, the author presents a theoretical result on the optimal control of nonlinear dynamic systems. In Section 3, the author introduces TS-type fuzzy systems and presents an optimal control design for TS-type fuzzy systems. In Section 4, the author considers the three-axis attitude stabilization problem of a rigid body as a control design example and illustrates the effectiveness of the optimal control design for TS-type fuzzy systems. In Section 5, the author concludes this chapter with concluding remarks.
\nConsider the nonlinear dynamic system given by
\nwhere \n
\n
In general, we can find the optimal control law for the nonlinear dynamic system in (1) by numerically solving the corresponding Hamilton-Jacobi-Bellman (H-J-B) equation. However, this is a difficult task, and, thus, we may need a simple and efficient method to find optimal control law for the nonlinear dynamic system in (1). In the following, the author presents a theory to provide the optimal control law for the nonlinear dynamic system in (1) by circumventing the task of numerically solving the H-J-B equation.
\nfor all \n
is the optimal, globally asymptotically stabilizing control law for the system in (1) that minimizes the cost function
\nwhere \n
for all \n
for all \n
Next, define \n
Substituting \n
which implies that \n
In proposition 1, we see that the globally asymptotically stabilizing control law in (3) for the nonlinear dynamic system in (1) can be found without the task of numerically solving the H-J-B equation in (7) and the control law in (3) is optimal with respect to the cost function in (4). The key point of this work is that we posteriorly determine the penalty on the state vector, which is \n
It is remarkable that as shown in (4, 5), we can adjust the penalty on the control input vector, which is \n
As shown in (3), since the constant \n
Now, if we consider a practical application, we know that any control law for dynamic systems must provide good convergence rates of state trajectories to an equilibrium point. For achieving this requirement in the design of a control law, the decay rate can be used as a design factor to dominate convergence rates of state trajectories to an equilibrium point. Note that the decay rate of a system is defined to be the largest constant \n
Proposition 2 [32]: If there exist a positive definite function \n
for all trajectories of a system, then the decay rate of a system is at least \n
where \n
The TS-type fuzzy model and the TS-type fuzzy control law for a system are given by the following IF-THEN fuzzy implications, respectively [15]:
IF \n
IF \n
In (10, 11), \n
If we follow the usual fuzzy inference method, we can represent the state equations of the TS-type fuzzy model and the TS-type fuzzy control law for a system as follows, respectively [9]:
\nand
\nwhere \n
and \n
The author defines two kinds of problems considered in this section. The first problem is to design a control law for the TS-type fuzzy system in (12) that achieves the global asymptotic stability of the equilibrium point \n
where \n
We can use the results of propositions 1 and 2 to solve the problems defined in Section 3.2. Specifically, we define \n
Theorem 1 [62]: For the TS-type fuzzy system in (12), suppose that there exists a function \n
and
\nwhere \n
where \n
where \n
for all \n
where \n
Now, from propositions 1 and 2, assume that there exists a positive definite matrix \n
for all \n
for all \n
and
\nrespectively. If all sets of inequalities in (24, 25) are pre- and post-multiplied by a positive definite matrix \n
Now, consider the TS-type fuzzy system with a common input matrix, which is described by
\nThen, the author presents the following theory:
\nTheorem 2 [62]: For the TS-type fuzzy system in (26), suppose that there exists a function \n
and
\nwhere \n
where \n
where \n
for all \n
where \n
Now, from propositions 1 and 2, assume that there exists a positive definite matrix \n
for all \n
for all \n
and
\nrespectively. If all sets of inequalities in (36, 37) are pre- and post-multiplied by a positive definite matrix \n
Note that the problem appearing in Theorems 1 and 2 is to find a matrix \n
As a control design example, the author considers the three-axis attitude stabilization problem of a rigid body and illustrates the effectiveness of the optimal control design for TS-type fuzzy systems presented in Section 3.
\nFirst, the dynamic equation of the rotational motion of a rigid body is described as follows [36]:
\nwhere \n
and has the property of
\nSecond, the kinematic equation of rotational motion of a rigid body described in terms of the quaternion is given as follows [36]:
\nwhere \n
where \n
With the notations of the Euler axis \n
First, it is observed that two state equations given by (38) and (41) represent a system in cascade interconnection. That is, the angular velocity vector indirectly controls the kinematics system in (41). Thus, the angular velocity vector can be regarded as a virtual control input of the kinematics system in (41) to stabilize the kinematics system in (41). This observation gives the following theorem: Theorem 3 [62]: Consider the kinematics system in (41) with \n
where \n
Now, consider the Lyapunov function candidate \n
for all \n
Next, we have to stabilize the dynamics system in (38) with making \n
where \n
As a numerical example, the author assumes that
\nwhere diag means the diagonal matrix, \n
IF \n
In (49), \n
the TS-type fuzzy model in (49) can be transformed into the following TS-type fuzzy system:
\nFuzzy sets
Fuzzy sets
We can use the result of theorem 2 to design the optimal control law for the TS-type fuzzy system in (50) because the TS-type fuzzy system in (50) has the common input matrix B in (47). Then, we assume that \n
where
\nSince we can analyze the pure effect of the weight matrix \n
where
\nThe author designs the other by solving (27) and (28) for the TS-type fuzzy system in (50) with \n
where
\nAs the numerical simulation model, the author uses the equations of rotational motion of a rigid body given by (38) and (41), where the inertia matrix is given by (48). The author assumes that the initial conditions at the initial time \n
With the optimal control laws \n
Angular velocity responses of the rigid body given by
Quaternion responses of the rigid body given by
Control input responses of the rigid body given by
First, as shown in Figures 3–5, we see that \n
Finally, in Figures 3 and 4, we see that the state responses of a rigid body with \n
In this chapter, the author presented a theory on the optimal control of nonlinear dynamic systems by utilizing the dynamic programming approach and the inverse optimal approach. Specifically, the author employed the dynamic programming approach to derive the Hamilton-Jacobi-Bellman (H-J-B) equation associated with the optimal control problem for nonlinear dynamic systems and utilized the inverse optimal approach to avoid the task of solving the H-J-B equation numerically.
\nThen, the author established an optimal control design for TS-type fuzzy systems to achieve the global asymptotic stability of an equilibrium point, the optimality with respect to a cost function, and the good convergence rates of state trajectories to an equilibrium point. Based on this optimal control design, the author presented a systematic way for designing the optimal control law for TS-type fuzzy systems.
\nThe author showed the usefulness of the optimal control design by considering the three-axis attitude stabilization problem of a rigid body. The optimal three-axis attitude stabilizing control law for a rigid body was designed, and its control performance was analyzed by numerical simulations. The numerical simulation results demonstrated that the optimal three-axis attitude stabilizing control law designed in this chapter provides desirable optimal control performance together with good convergence rates of state trajectories to an equilibrium point.
\nThe author would like to suggest two further research topics: one is an extension of the study presented in this chapter toward the robust control design for TS-type fuzzy systems with system parametric uncertainties and external disturbances. The problem is to incorporate these robustness issues into the optimal control design approach, and the key to solve this problem may be found in many literatures addressing the robust control approaches such as loop-transfer-recovery approach, guaranteed-cost approach, stochastic approach, and state-estimation approach. However, the difficulty of combining these approaches with the optimal control design method comes from the fact that these approaches are mainly for linear systems. Therefore, the extension of these approaches to nonlinear dynamic systems may be requisite. The other is to develop the optimal control design of TS-type fuzzy systems for tracking problems. Tracking problems assume that the equilibrium point is not the zero state. In linear dynamic systems, tracking problems can be reduced to regulation problems under the assumption that the desired state is known or can be reduced to disturbance-rejection problems under the assumption that the disturbance signal is known. However, in many cases, the desired state or the disturbance signal is not known. Thus, in such cases, some alternatives such as minimax approach and proportional-integral control may be needed. The minimax approach is for the worst-case design such that the disturbance signal maximizes the same performance index that the control input minimizes. And the proportional-integral control can be used to reject the constant disturbances. In the sequel, the minimax approach and the proportional-integral control may provide the solution to the tracking problem of TS-type fuzzy systems.
\nAbout 800 million metric tons (Mt) of plastics were produced worldwide in the last 67 years, and 79% of this production is accumulated in the environment [1]. According to these authors, in 2050 is estimated an accumulation of about 12,000 Mt in landfills or in the natural environment that represent an annual accumulation of ~339 Mt. Therefore, the development of efficient degradation process is very important to avoid this annual accumulation.
\nThe human population on the Earth in 2050 will be about 10 billion people [2]. Thus, adequate disposal of plastics wastes is important for the maintenance of the natural resources to supply this population. Furthermore, the development of degradable plastics is necessary to prevent the accumulation of plastic waste in the ocean [3].
\nIn Brazil, the National Solid Waste Policy [4] establishes the selective collection, separation of solid waste, recycling and the shared responsibility for the appropriate management of these wastes among manufacturers, distributors, consumers and the government. However, in these 7 years of law it has observed satisfactory results only in selective collection. In 2014, with the deadline for replacing dumps to landfills, new deadlines for 2021 are in discussion in the National Congress [5].
\nOur results of biotic and fungal degradation of oxo-biodegradable plastics and green polyethylene could contribute for development of a process of degradation of these residues using white rot fungi. These microorganisms can grow under adverse temperature, nutrient and moisture conditions that facilitate composting and fermentation processes.
\nThe plastics polymers degradation is analyzed by alterations in mechanical, optical or electrical characteristics, cracking, fission, corrosion, discoloration, phase separation, chemical transformations and formation of new functional groups after degradation process [6].
\nUnlike of the petroleum-derived synthetic polymers, the biodegradable plastics polymers, when discarded in the environment, can be degraded by non-biological and biological processes [7]. Exposure to ultraviolet light, thermal heating, and treatment with acidic or basic substances function as term initiators or photo-oxidation of polyethylene [6]. After this oxidation fragments of polyethylene are degraded by action of microbial enzymes [7].
\nOxo-biodegradable or d2W plastics are polymers that contain a pro-oxidant additive to accelerate photo or thermo-oxidation [8, 9]. So, these polymers when exposed to ultraviolet light or at high temperatures are cleaved in low molecular mass compounds that are assimilated by microorganisms [8]. Several studies have shown the biodegradable plastics degradation, after exposed to ultraviolet light or heat, by bacteria and fungi [10, 11, 12, 13, 14, 15, 16].
\nThe plastic bags of green polyethylene are produced using low-density polyethylene (LDPE) and green polymers obtain of sugarcane [17]. We have showed the green polyethylene degradation by
The microbial enzymes, such as depolymerase, esterase and lignolytic ones, that cleave the polymers in small chain compounds, may be involved in the plastics degradation [6, 13, 18, 19]. Thus, white rot fungi have a great potential, because they are enzymes producers and have shown their ability for treatment of industrial waste [20, 21, 22].
\nThe white rot,
Thus, in this chapter described the plastics bags degradation, by abiotic and microbial process, using the exposure to sunlight and
The degradation of two plastic polymers used in the production of supermarket plastic bags was evaluated (\nFigure 1\n, I). The oxo-biodegradable and green polyethylene polymers were submitted the abiotic and biotic degradation (\nFigure 1\n, II). The oxo-biodegradable bags contain titanium oxide as pro-oxidant additive and low-density polyethylene [14].
\nSteps and technics used for monitoring the abiotic and biotic (fungal) degradation of oxo-biodegradable e green polyethylene plastics bags.
The abiotic degradation of the plastic bags was the exposure to sunlight up to 120 days (\nFigure 1\n, III). This exposure was in the summer time in a green house. In this season, the sunlight is from 6:00 am to 5:00 pm.
\nFor the biotic degradation (\nFigure 1\n, IV at VIII) the plastic polymers without (\nFigure 1\n, II) or with the exposure to sunlight (\nFigure 1\n, IV) was used
In each glass flask fours discs of agar (6–8 mm) containing the mycelium of
After inoculation the glass flask were incubated at 25°C for 30, 60, 90 and 120 days (\nFigure 1\n, VIII).
\nThe alterations in plastic polymers (\nFigure 1\n, IX) after each time of incubation were performed (\nFigure 1\n, III, IV at VIII). These alterations were compared with analysis done before of the exposure to sunlight.
\nPhysical alterations (\nFigure 1\n, IX a), such as wrinkles on the surface, formation of holes and cracks, crumbling, discoloration, were performed by digital photograph and scanning electron microscopy (SEM) with a magnification of 50,000 (\nFigure 1\n, IX a2). Mechanical properties, such as, energy at break and load at tensile strength were made in universal testing equipment (Instron model 3367) (\nFigure 1\n, IX a3).
\nChemical changes (\nFigure 1\n, IX b) by Fourier transform infrared spectroscopy (FTIR) (\nFigure 1\n, IX b1) and SEM coupled with X-ray diffraction (\nFigure 1\n, IX b2) were determined. These alterations were the disappearance or formation of new functional groups in spectrum of FTIR with scanning of 500 at 4000 cm−1 wavenumbers and the decrease in-oxidant additive concentration by spectrum of X-ray diffraction.
\nThe mycelial growth (\nFigure 1\n, IX c), the main agent of the biological alterations, was evaluated by dry mass (\nFigure 1\n, IX c1), respiratory activity (\nFigure 1\n, IX c2) determined without interruption for 120 days of incubation, electronic micrograph (\nFigure 1\n, IX c3), digital photography (\nFigure 1\n, IX c3) and lignocellulolytic enzymes activity (\nFigure 1\n, IX c5).
\nThe capacity of
A total of 240 days were the time applied to degradation of the plastic bags, being 120 days of exposure to sunlight and 120 days of fungal incubation. According to the manufacturer, depending on environmental conditions, for example, the exposure to oxygen and outdoor element, oxo-biodegradable plastic bags decompose within a maximum period of 18 months after disposal [26, 27]. They also add that in only 121 days the biodegradability index of d2W plastics was 88.86% [28]. Our time of abiotic degradation is the same those used for calculating the biodegradability index and corresponds to ¼ of the required time for the decomposition of these bags. However, after 4 months of exposure to sunlight we did not observe any fragmentation of the plastic bags, only the appearance of small cracks and the bleaching of the film were observed (\nFigure 2\n). Da Luz et al. [14, 15] also showed changes in mechanical properties of oxo-biodegradable and green polyethylene after 120 days of exposure to sunlight. According to them, this time of exposure is insufficient for other physical or chemical changes, concluding that the mechanical properties alterations, such as the reduction of breaking energy and elasticity facilitated the fungal colonization of plastic waste. The chemical and physical changes in the low-density polyethylene (LDPE) was observed after pretreated of the LDPE sheets with low discharge plasma (O2, 3.0 × 10−2 mbar, 600 V) for 6 minutes [29, 30]. According to authors, this pretreated was important by plastics biodeterioration by
Scanning electron micrograph of oxy-biodegradable plastics before (A) and after 120 days of exposure to sunlight (B).
In a new experiment, we observed a fragmentation of oxo-biodegradable plastics bags after 21 months of exposure to sunlight (\nFigure 3\n). The control samples were cut with a scissors (\nFigure 3A\n), but after that exposure to sunlight, it was no longer possible to cut the bags. These plastics were easily fragmented using the hand, resulting in a powder (\nFigure 3B\n, \nC\n). This result shows that there are needed more than 18 months of exposure to sunlight to completely degradation of the plastics. However, this result is promising, shows the ability of abiotic degradation of these bags and enables new testing using these bags with exposure to sunlight in a period equal to or greater than 18 months and inoculation of microorganisms to complete degradation of the remaining polymers. Degradation analysis with
Oxo-biodegradable plastic bags before (A) and after 21 months of exposure to sunlight (B and C). The letter C shows the fragmented plastic.
The oxo-biodegradable polyethylene degradation, assessed by carbonyl index, was observed through exposure to sunlight, up to 90 days, in soil with of moisture and pH control [28]. However, these authors concluded that the polyethylene films without pro-oxidant additive had greater structural and superficial modifications, than the films with the additive. Thus, action of the pro-oxidants by the effect of sunlight depends on e conditions and time of exposure to sunlight.
\nIn the plastic bags the presence of titanium was identified, a component of the pro-oxidant additive (\nFigure 4\n). This element presents a higher relative concentration than the other elements analyzed and it is uniformly distributed on the surface of the bags. This homogeneous distribution was also observed to manganese, iron and cobalt (\nFigure 4\n). Furthermore, with the exception of titanium and cadmium, the other elements analyzed are important for fungal metabolism (\nFigure 4\n). These micronutrients may be elicitors or enzyme cofactors. Thus, the presence of these elements may also have contributed to the
Spatial distribution and relative concentration of the main elements found in oxo-biodegradable bags. Analysis carried out by a scanning electron microscope coupled to the X-ray diffraction detector.
Mycelial growth of
Mycelial growth of
The respiratory activity of
The
Scanning electron micrograph of oxo-biodegradable plastics after 60 days of exposure to sunlight and 30 days of incubation with
The loss of plastic dry mass was influenced by the time of exposure to sunlight and fungal incubation (\nFigure 7\n). Fungal growth was lower in plastic polymers without exposure to sunlight than in others with different time of exposure to sunlight. This result shows that
Loss of dry mass plastic after inoculated with
In this study, we observed the formation of cracks and holes in oxo-biodegradable plastics and green polyethylene after fungal growth (\nFigures 8\n and \n9\n). Comparing the \nFigure 2B\n and \n8\n it is observed that these changes in plastic polymers were caused by
Scanning electron micrograph of oxo-biodegradable plastics bags after 30 days of exposure to sunlight and 30 days of incubation with
Scanning electron micrograph of green polyethylene plastics bags after 30 days of exposure to sunlight and 30 days of incubation with
In a simulation according to ASTM G160–03 of polyethylene films degradation with and without pro-oxidant additive through the exposure to sunlight on the soil, different genera or microbial groups,
The \nFigures 8\n and \n9\n show the plastic degradation with 30 days of exposure to sunlight and 30 days of incubation with different scale enlargements. According to Da Luz et al. [14], the low specificity of the lignocellulolytic enzymes and presence of pro-oxidant ions and endomycotic nitrogen-fixing microorganisms were the main reasons for the biotic degradation of oxo-biodegradable plastics. Gómez-Méndez et al., [29] observed activities of laccase, manganese peroxidase (MnP) and lignin peroxidase during
The laccase produced by the fungus
After 120 days exposure to sunlight, no changes in the FTIR spectrum of oxo-biodegradable plastics was observed. This result shows that pro-oxidant oxidation by sunlight was not sufficient for cleavage of the polymer chain or it there is no oxidation thereof. However, in a previous study, a reduction of the relative concentration of titanium on the surface of oxo-biodegradable plastics wastes after exposure to sunlight was observed [14]. According to these authors, the oxidation of the pro-oxidant may have occurred initially by sunlight and then by co-metabolism with the extracellular fungal enzymes. The authors concluded that the presence of this pro-oxidant proved to be important to cause the breakage of this chain in fragments that were used as a source of carbon and energy by fungus.
\nIn polyethylene green, which contain none pro-oxidant additive, no changes in the FTIR spectrum after exposure to sunlight was observed.
\nThe formation of bands of the bonds oxygen-hydrogen and carbon-hydrogen at 3500–3000 cm−1 and carbon–oxygen and ether or peroxide at 1500–1000 cm−1 were the main changes in the FTIR spectra observed in plastic waste after
In studies on the plastics degradation for
The intensity of the degradation was higher in the green polyethylene than in the oxo-biodegradable polymers (\nFigures 8\n and \n9\n). The green polyethylene degradation by fungus was possible due to the presence of sugarcane polymers in the composition of the bags, low specificity of the lignocellulolytic enzymes and presence of endomycotic nitrogen-fixing microorganisms. In addition, Da Luz et al. [15] was observed mineralization in green polyethylene with longer times of exposure to sunlight and fungal incubation.
\nSimilar to Da Luz et al. [13], during the time of incubation we also observed the mushrooms formation in the plastic (\nFigure 10\n). The conversion of plastic waste into fungal biomass and mushrooms would be a very important biotechnological innovation for plastic waste degradation that has been increased by millions of tons in recent years [1, 3, 16] and for environmental sustainability. However, the presence of toxic compounds and heavy metals, and also due to the low productivity and high costs are the main limitations to mushrooms production. Productivity in mushrooms can be increased by altering the composition of substrate, as for example, adding different proportions of agroindustrial residue and plastic.
\nMycelial growth and
The exposure to sunlight up to 120 days is insufficient to initiate degradation of oxo-biodegradable and green polyethylene plastic bags. However, this exposure is important for
The authors are grateful to the Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (Capes), Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq), Fundação de Amparo à Pesquisa do Estado de Minas Gerais (FAPEMIG), Fundação Arthur Bernardes (FUNARBE) and Núcleo de Microscópia e Microanálise da UFV.
\nThe authors declare no conflict of interest.
IntechOpen aims to guarantee that original material is published while at the same time giving significant freedom to our Authors. We uphold a flexible Copyright Policy, guaranteeing that there is no transfer of copyright to the publisher and Authors retain exclusive copyright to their Work.
',metaTitle:"Publication Agreement - Monograph",metaDescription:"IntechOpen aims to guarantee that original material is published while at the same time giving significant freedom to our authors. For that matter, we uphold a flexible copyright policy meaning that there is no transfer of copyright to the publisher and authors retain exclusive copyright to their work.",metaKeywords:null,canonicalURL:"/page/publication-agreement-monograph",contentRaw:'[{"type":"htmlEditorComponent","content":"When submitting a manuscript, the Author is required to accept the Terms and Conditions set out in our Publication Agreement – Monographs/Compacts as follows:
\\n\\nCORRESPONDING AUTHOR'S GRANT OF RIGHTS
\\n\\nSubject to the following Article, the Author grants to IntechOpen, during the full term of copyright, and any extensions or renewals of that term, the following:
\\n\\nThe foregoing licenses shall survive the expiry or termination of this Publication Agreement for any reason.
\\n\\nThe Author, on his or her own behalf and on behalf of any of the Co-Authors, reserves the following rights in the Work but agrees not to exercise them in such a way as to adversely affect IntechOpen's ability to utilize the full benefit of this Publication Agreement: (i) reprographic rights worldwide, other than those which subsist in the typographical arrangement of the Work as published by IntechOpen; and (ii) public lending rights arising under the Public Lending Right Act 1979, as amended from time to time, and any similar rights arising in any part of the world.
\\n\\nThe Author, and any Co-Author, confirms that they are, and will remain, a member of any applicable licensing and collecting society and any successor to that body responsible for administering royalties for the reprographic reproduction of copyright works.
\\n\\nSubject to the license granted above, copyright in the Work and all versions of it created during IntechOpen's editing process, including all published versions, is retained by the Author and any Co-Authors.
\\n\\nSubject to the license granted above, the Author and Co-Authors retain patent, trademark and other intellectual property rights to the Work.
\\n\\nAll rights granted to IntechOpen in this Article are assignable, sublicensable or otherwise transferrable to third parties without the specific approval of the Author or Co-Authors.
\\n\\nThe Author, on his/her own behalf and on behalf of the Co-Authors, will not assert any rights under the Copyright, Designs and Patents Act 1988 to object to derogatory treatment of the Work as a consequence of IntechOpen's changes to the Work arising from the translation of it, corrections and edits for house style, removal of problematic material and other reasonable edits as determined by IntechOpen.
\\n\\nAUTHOR'S DUTIES
\\n\\nWhen distributing or re-publishing the Work, the Author agrees to credit the Monograph/Compacts as the source of first publication, as well as IntechOpen. The Author guarantees that Co-Authors will also credit the Monograph/Compacts as the source of first publication, as well as IntechOpen, when they are distributing or re-publishing the Work.
\\n\\nThe Author agrees to:
\\n\\nThe Author will be held responsible for the payment of the agreed Open Access Publishing Fee before the completion of the project (Monograph/Compacts publication).
\\n\\nAll payments shall be due 30 days from the date of issue of the invoice. The Author or whoever is paying on behalf of the Author and Co-Authors will bear all banking and similar charges incurred.
\\n\\nThe Author shall obtain in writing all consents necessary for the reproduction of any material in which a third-party right exists, including quotations, photographs and illustrations, in all editions of the Work worldwide for the full term of the above licenses, and shall provide to IntechOpen, at its request, the original copies of such consents for inspection or the photocopies of such consents.
\\n\\nThe Author shall obtain written informed consent for publication from those who might recognize themselves or be identified by others, for example from case reports or photographs.
\\n\\nThe Author shall respect confidentiality during and after the termination of this Agreement. The information contained in all correspondence and documents as part of the publishing activity between IntechOpen and the Author and Co-Authors are confidential and are intended only for the recipients. The contents of any communication may not be disclosed publicly and are not intended for unauthorized use or distribution. Any use, disclosure, copying, or distribution is prohibited and may be unlawful.
\\n\\nAUTHOR'S WARRANTY
\\n\\nThe Author and Co-Authors confirm and warrant that the Work does not and will not breach any applicable law or the rights of any third party and, specifically, that the Work contains no matter that is defamatory or that infringes any literary or proprietary rights, intellectual property rights, or any rights of privacy.
\\n\\nThe Author and Co-Authors confirm that: (i) the Work is their original work and is not copied wholly or substantially from any other work or material or any other source; (ii) the Work has not been formally published in any other peer-reviewed journal or in a book or edited collection, and is not under consideration for any such publication; (iii) Authors and any applicable Co-Authors are qualifying persons under section 154 of the Copyright, Designs and Patents Act 1988; (iv) Authors and any applicable Co-Authors have not assigned, and will not during the term of this Publication Agreement purport to assign, any of the rights granted to IntechOpen under this Publication Agreement; and (v) the rights granted by this Publication Agreement are free from any security interest, option, mortgage, charge or lien.
\\n\\nThe Author and Co-Authors also confirm and warrant that: (i) he/she has the power to enter into this Publication Agreement on his or her own behalf and on behalf of each Co-Author; and (ii) has the necessary rights and/or title in and to the Work to grant IntechOpen, on behalf of themselves and any Co-Author, the rights and licences in this Publication Agreement. If the Work was prepared jointly by the Author and Co-Authors, the Author confirms that: (i) all Co-Authors agree to the submission, license and publication of the Work on the terms of this Publication Agreement; and (ii) the Author has the authority to enter into this biding Publication Agreement on behalf of each Co-Author. The Author shall: (i) ensure each Co-Author complies with all relevant provisions of this Publication Agreement, including those relating to confidentiality, performance and standards, as if a party to this Publication Agreement; and (ii) remain primarily liable for all acts and/or omissions of each Co-Author.
\\n\\nThe Author agrees to indemnify IntechOpen harmless against all liabilities, costs, expenses, damages and losses, as well as all reasonable legal costs and expenses suffered or incurred by IntechOpen arising out of, or in connection with, any breach of the agreed confirmations and warranties. This indemnity shall not apply in a situation in which a claim results from IntechOpen's negligence or willful misconduct.
\\n\\nNothing in this Publication Agreement shall have the effect of excluding or limiting any liability for death or personal injury caused by negligence or any other liability that cannot be excluded or limited by applicable law.
\\n\\nTERMINATION
\\n\\nIntechOpen has the right to terminate this Publication Agreement for quality, program, technical or other reasons with immediate effect, including without limitation (i) if the Author and/or any Co-Author commits a material breach of this Publication Agreement; (ii) if the Author and/or any Co-Author (being a private individual) is the subject of a bankruptcy petition, application or order; or (iii) if the Author and/or any Co-Author (as a corporate entity) commences negotiations with all or any class of its creditors with a view to rescheduling any of its debts, or makes a proposal for, or enters into, any compromise or arrangement with any of its creditors.
\\n\\nIn the event of termination, IntechOpen will notify the Author of the decision in writing.
\\n\\nIntechOpen’s DUTIES AND RIGHTS
\\n\\nUnless prevented from doing so by events beyond its reasonable control, IntechOpen, at its discretion, agrees to publish the Work attributing it to the Author and Co-Authors.
\\n\\nUnless prevented from doing so by events beyond its reasonable control, IntechOpen agrees to provide publishing services which include: managing editing (editorial and publishing process coordination, Author assistance); publishing software technology; language copyediting; typesetting; online publishing; hosting and web management; and abstracting and indexing services.
\\n\\nIntechOpen agrees to offer free online access to readers and use reasonable efforts to promote the Publication to relevant audiences.
\\n\\nIntechOpen is granted the authority to enforce the rights from this Publication Agreement on behalf of the Author and Co-Authors against third parties, for example in cases of plagiarism or copyright infringements. In respect of any such infringement or suspected infringement of the copyright in the Work, IntechOpen shall have absolute discretion in addressing any such infringement that is likely to affect IntechOpen's rights under this Publication Agreement, including issuing and conducting proceedings against the suspected infringer.
\\n\\nIntechOpen has the right to include/use the Author and Co-Authors names and likeness in connection with scientific dissemination, retrieval, archiving, web hosting and promotion and marketing of the Work and has the right to contact the Author and Co-Authors until the Work is publicly available on any platform owned and/or operated by IntechOpen.
\\n\\nMISCELLANEOUS
\\n\\nFurther Assurance: The Author shall ensure that any relevant third party, including any Co-Author, shall execute and deliver whatever further documents or deeds and perform such acts as IntechOpen reasonably requires from time to time for the purpose of giving IntechOpen the full benefit of the provisions of this Publication Agreement.
\\n\\nThird Party Rights: A person who is not a party to this Publication Agreement may not enforce any of its provisions under the Contracts (Rights of Third Parties) Act 1999.
\\n\\nEntire Agreement: This Publication Agreement constitutes the entire agreement between the parties in relation to its subject matter. It replaces all prior agreements, draft agreements, arrangements, collateral warranties, collateral contracts, statements, assurances, representations and undertakings of any nature made by, or on behalf of, the parties, whether oral or written, in relation to that subject matter. Each party acknowledges that in entering into this Publication Agreement it has not relied upon any oral or written statements, collateral or other warranties, assurances, representations or undertakings which were made by or on behalf of the other party in relation to the subject matter of this Publication Agreement at any time before its signature (known as the "Pre-Contractual Statements"), other than those which are set out in this Publication Agreement. Each party hereby waives all rights and remedies which might otherwise be available to it in relation to such Pre-Contractual Statements. Nothing in this clause shall exclude or restrict the liability of either party arising out of any fraudulent pre-contract misrepresentation or concealment.
\\n\\nWaiver: No failure or delay by a party to exercise any right or remedy provided under this Publication Agreement or by law shall constitute a waiver of that or any other right or remedy, nor shall it preclude or restrict the further exercise of that or any other right or remedy. No single or partial exercise of such right or remedy shall preclude or restrict the further exercise of that or any other right or remedy.
\\n\\nVariation: No variation of this Publication Agreement shall have effect unless it is in writing and signed by the parties, or their duly authorized representatives.
\\n\\nSeverance: If any provision, or part-provision, of this Publication Agreement is, or becomes invalid, illegal or unenforceable, it shall be deemed modified to the minimum extent necessary to make it valid, legal and enforceable. If such modification is not possible, the relevant provision or part-provision shall be deemed deleted. Any modification to, or deletion of, a provision or part-provision under this clause shall not affect the validity and enforceability of the rest of this Publication Agreement.
\\n\\nNo partnership: Nothing in this Publication Agreement is intended to, or shall be deemed to, establish or create any partnership or joint venture or the relationship of principal and agent or employer and employee between IntechOpen and the Author or any Co-Author, nor authorize any party to make or enter into any commitments for, or on behalf of, any other party.
\\n\\nGoverning law: This Publication Agreement and any dispute or claim, including non-contractual disputes or claims arising out of, or in connection with it, or its subject matter or formation, shall be governed by and construed in accordance with the law of England and Wales. The parties submit to the exclusive jurisdiction of the English courts to settle any dispute or claim arising out of, or in connection with, this Publication Agreement, including any non-contractual disputes or claims.
\\n\\nPolicy last updated: 2018-09-11
\\n"}]'},components:[{type:"htmlEditorComponent",content:'When submitting a manuscript, the Author is required to accept the Terms and Conditions set out in our Publication Agreement – Monographs/Compacts as follows:
\n\nCORRESPONDING AUTHOR'S GRANT OF RIGHTS
\n\nSubject to the following Article, the Author grants to IntechOpen, during the full term of copyright, and any extensions or renewals of that term, the following:
\n\nThe foregoing licenses shall survive the expiry or termination of this Publication Agreement for any reason.
\n\nThe Author, on his or her own behalf and on behalf of any of the Co-Authors, reserves the following rights in the Work but agrees not to exercise them in such a way as to adversely affect IntechOpen's ability to utilize the full benefit of this Publication Agreement: (i) reprographic rights worldwide, other than those which subsist in the typographical arrangement of the Work as published by IntechOpen; and (ii) public lending rights arising under the Public Lending Right Act 1979, as amended from time to time, and any similar rights arising in any part of the world.
\n\nThe Author, and any Co-Author, confirms that they are, and will remain, a member of any applicable licensing and collecting society and any successor to that body responsible for administering royalties for the reprographic reproduction of copyright works.
\n\nSubject to the license granted above, copyright in the Work and all versions of it created during IntechOpen's editing process, including all published versions, is retained by the Author and any Co-Authors.
\n\nSubject to the license granted above, the Author and Co-Authors retain patent, trademark and other intellectual property rights to the Work.
\n\nAll rights granted to IntechOpen in this Article are assignable, sublicensable or otherwise transferrable to third parties without the specific approval of the Author or Co-Authors.
\n\nThe Author, on his/her own behalf and on behalf of the Co-Authors, will not assert any rights under the Copyright, Designs and Patents Act 1988 to object to derogatory treatment of the Work as a consequence of IntechOpen's changes to the Work arising from the translation of it, corrections and edits for house style, removal of problematic material and other reasonable edits as determined by IntechOpen.
\n\nAUTHOR'S DUTIES
\n\nWhen distributing or re-publishing the Work, the Author agrees to credit the Monograph/Compacts as the source of first publication, as well as IntechOpen. The Author guarantees that Co-Authors will also credit the Monograph/Compacts as the source of first publication, as well as IntechOpen, when they are distributing or re-publishing the Work.
\n\nThe Author agrees to:
\n\nThe Author will be held responsible for the payment of the agreed Open Access Publishing Fee before the completion of the project (Monograph/Compacts publication).
\n\nAll payments shall be due 30 days from the date of issue of the invoice. The Author or whoever is paying on behalf of the Author and Co-Authors will bear all banking and similar charges incurred.
\n\nThe Author shall obtain in writing all consents necessary for the reproduction of any material in which a third-party right exists, including quotations, photographs and illustrations, in all editions of the Work worldwide for the full term of the above licenses, and shall provide to IntechOpen, at its request, the original copies of such consents for inspection or the photocopies of such consents.
\n\nThe Author shall obtain written informed consent for publication from those who might recognize themselves or be identified by others, for example from case reports or photographs.
\n\nThe Author shall respect confidentiality during and after the termination of this Agreement. The information contained in all correspondence and documents as part of the publishing activity between IntechOpen and the Author and Co-Authors are confidential and are intended only for the recipients. The contents of any communication may not be disclosed publicly and are not intended for unauthorized use or distribution. Any use, disclosure, copying, or distribution is prohibited and may be unlawful.
\n\nAUTHOR'S WARRANTY
\n\nThe Author and Co-Authors confirm and warrant that the Work does not and will not breach any applicable law or the rights of any third party and, specifically, that the Work contains no matter that is defamatory or that infringes any literary or proprietary rights, intellectual property rights, or any rights of privacy.
\n\nThe Author and Co-Authors confirm that: (i) the Work is their original work and is not copied wholly or substantially from any other work or material or any other source; (ii) the Work has not been formally published in any other peer-reviewed journal or in a book or edited collection, and is not under consideration for any such publication; (iii) Authors and any applicable Co-Authors are qualifying persons under section 154 of the Copyright, Designs and Patents Act 1988; (iv) Authors and any applicable Co-Authors have not assigned, and will not during the term of this Publication Agreement purport to assign, any of the rights granted to IntechOpen under this Publication Agreement; and (v) the rights granted by this Publication Agreement are free from any security interest, option, mortgage, charge or lien.
\n\nThe Author and Co-Authors also confirm and warrant that: (i) he/she has the power to enter into this Publication Agreement on his or her own behalf and on behalf of each Co-Author; and (ii) has the necessary rights and/or title in and to the Work to grant IntechOpen, on behalf of themselves and any Co-Author, the rights and licences in this Publication Agreement. If the Work was prepared jointly by the Author and Co-Authors, the Author confirms that: (i) all Co-Authors agree to the submission, license and publication of the Work on the terms of this Publication Agreement; and (ii) the Author has the authority to enter into this biding Publication Agreement on behalf of each Co-Author. The Author shall: (i) ensure each Co-Author complies with all relevant provisions of this Publication Agreement, including those relating to confidentiality, performance and standards, as if a party to this Publication Agreement; and (ii) remain primarily liable for all acts and/or omissions of each Co-Author.
\n\nThe Author agrees to indemnify IntechOpen harmless against all liabilities, costs, expenses, damages and losses, as well as all reasonable legal costs and expenses suffered or incurred by IntechOpen arising out of, or in connection with, any breach of the agreed confirmations and warranties. This indemnity shall not apply in a situation in which a claim results from IntechOpen's negligence or willful misconduct.
\n\nNothing in this Publication Agreement shall have the effect of excluding or limiting any liability for death or personal injury caused by negligence or any other liability that cannot be excluded or limited by applicable law.
\n\nTERMINATION
\n\nIntechOpen has the right to terminate this Publication Agreement for quality, program, technical or other reasons with immediate effect, including without limitation (i) if the Author and/or any Co-Author commits a material breach of this Publication Agreement; (ii) if the Author and/or any Co-Author (being a private individual) is the subject of a bankruptcy petition, application or order; or (iii) if the Author and/or any Co-Author (as a corporate entity) commences negotiations with all or any class of its creditors with a view to rescheduling any of its debts, or makes a proposal for, or enters into, any compromise or arrangement with any of its creditors.
\n\nIn the event of termination, IntechOpen will notify the Author of the decision in writing.
\n\nIntechOpen’s DUTIES AND RIGHTS
\n\nUnless prevented from doing so by events beyond its reasonable control, IntechOpen, at its discretion, agrees to publish the Work attributing it to the Author and Co-Authors.
\n\nUnless prevented from doing so by events beyond its reasonable control, IntechOpen agrees to provide publishing services which include: managing editing (editorial and publishing process coordination, Author assistance); publishing software technology; language copyediting; typesetting; online publishing; hosting and web management; and abstracting and indexing services.
\n\nIntechOpen agrees to offer free online access to readers and use reasonable efforts to promote the Publication to relevant audiences.
\n\nIntechOpen is granted the authority to enforce the rights from this Publication Agreement on behalf of the Author and Co-Authors against third parties, for example in cases of plagiarism or copyright infringements. In respect of any such infringement or suspected infringement of the copyright in the Work, IntechOpen shall have absolute discretion in addressing any such infringement that is likely to affect IntechOpen's rights under this Publication Agreement, including issuing and conducting proceedings against the suspected infringer.
\n\nIntechOpen has the right to include/use the Author and Co-Authors names and likeness in connection with scientific dissemination, retrieval, archiving, web hosting and promotion and marketing of the Work and has the right to contact the Author and Co-Authors until the Work is publicly available on any platform owned and/or operated by IntechOpen.
\n\nMISCELLANEOUS
\n\nFurther Assurance: The Author shall ensure that any relevant third party, including any Co-Author, shall execute and deliver whatever further documents or deeds and perform such acts as IntechOpen reasonably requires from time to time for the purpose of giving IntechOpen the full benefit of the provisions of this Publication Agreement.
\n\nThird Party Rights: A person who is not a party to this Publication Agreement may not enforce any of its provisions under the Contracts (Rights of Third Parties) Act 1999.
\n\nEntire Agreement: This Publication Agreement constitutes the entire agreement between the parties in relation to its subject matter. It replaces all prior agreements, draft agreements, arrangements, collateral warranties, collateral contracts, statements, assurances, representations and undertakings of any nature made by, or on behalf of, the parties, whether oral or written, in relation to that subject matter. Each party acknowledges that in entering into this Publication Agreement it has not relied upon any oral or written statements, collateral or other warranties, assurances, representations or undertakings which were made by or on behalf of the other party in relation to the subject matter of this Publication Agreement at any time before its signature (known as the "Pre-Contractual Statements"), other than those which are set out in this Publication Agreement. Each party hereby waives all rights and remedies which might otherwise be available to it in relation to such Pre-Contractual Statements. Nothing in this clause shall exclude or restrict the liability of either party arising out of any fraudulent pre-contract misrepresentation or concealment.
\n\nWaiver: No failure or delay by a party to exercise any right or remedy provided under this Publication Agreement or by law shall constitute a waiver of that or any other right or remedy, nor shall it preclude or restrict the further exercise of that or any other right or remedy. No single or partial exercise of such right or remedy shall preclude or restrict the further exercise of that or any other right or remedy.
\n\nVariation: No variation of this Publication Agreement shall have effect unless it is in writing and signed by the parties, or their duly authorized representatives.
\n\nSeverance: If any provision, or part-provision, of this Publication Agreement is, or becomes invalid, illegal or unenforceable, it shall be deemed modified to the minimum extent necessary to make it valid, legal and enforceable. If such modification is not possible, the relevant provision or part-provision shall be deemed deleted. Any modification to, or deletion of, a provision or part-provision under this clause shall not affect the validity and enforceability of the rest of this Publication Agreement.
\n\nNo partnership: Nothing in this Publication Agreement is intended to, or shall be deemed to, establish or create any partnership or joint venture or the relationship of principal and agent or employer and employee between IntechOpen and the Author or any Co-Author, nor authorize any party to make or enter into any commitments for, or on behalf of, any other party.
\n\nGoverning law: This Publication Agreement and any dispute or claim, including non-contractual disputes or claims arising out of, or in connection with it, or its subject matter or formation, shall be governed by and construed in accordance with the law of England and Wales. The parties submit to the exclusive jurisdiction of the English courts to settle any dispute or claim arising out of, or in connection with, this Publication Agreement, including any non-contractual disputes or claims.
\n\nPolicy last updated: 2018-09-11
\n'}]},successStories:{items:[]},authorsAndEditors:{filterParams:{sort:"featured,name"},profiles:[{id:"6700",title:"Dr.",name:"Abbass A.",middleName:null,surname:"Hashim",slug:"abbass-a.-hashim",fullName:"Abbass A. Hashim",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/6700/images/1864_n.jpg",biography:"Currently I am carrying out research in several areas of interest, mainly covering work on chemical and bio-sensors, semiconductor thin film device fabrication and characterisation.\nAt the moment I have very strong interest in radiation environmental pollution and bacteriology treatment. The teams of researchers are working very hard to bring novel results in this field. I am also a member of the team in charge for the supervision of Ph.D. students in the fields of development of silicon based planar waveguide sensor devices, study of inelastic electron tunnelling in planar tunnelling nanostructures for sensing applications and development of organotellurium(IV) compounds for semiconductor applications. I am a specialist in data analysis techniques and nanosurface structure. I have served as the editor for many books, been a member of the editorial board in science journals, have published many papers and hold many patents.",institutionString:null,institution:{name:"Sheffield Hallam University",country:{name:"United Kingdom"}}},{id:"54525",title:"Prof.",name:"Abdul Latif",middleName:null,surname:"Ahmad",slug:"abdul-latif-ahmad",fullName:"Abdul Latif Ahmad",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:null},{id:"20567",title:"Prof.",name:"Ado",middleName:null,surname:"Jorio",slug:"ado-jorio",fullName:"Ado Jorio",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:{name:"Universidade Federal de Minas Gerais",country:{name:"Brazil"}}},{id:"47940",title:"Dr.",name:"Alberto",middleName:null,surname:"Mantovani",slug:"alberto-mantovani",fullName:"Alberto Mantovani",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:null},{id:"12392",title:"Mr.",name:"Alex",middleName:null,surname:"Lazinica",slug:"alex-lazinica",fullName:"Alex Lazinica",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/12392/images/7282_n.png",biography:"Alex Lazinica is the founder and CEO of IntechOpen. After obtaining a Master's degree in Mechanical Engineering, he continued his PhD studies in Robotics at the Vienna University of Technology. Here he worked as a robotic researcher with the university's Intelligent Manufacturing Systems Group as well as a guest researcher at various European universities, including the Swiss Federal Institute of Technology Lausanne (EPFL). During this time he published more than 20 scientific papers, gave presentations, served as a reviewer for major robotic journals and conferences and most importantly he co-founded and built the International Journal of Advanced Robotic Systems- world's first Open Access journal in the field of robotics. Starting this journal was a pivotal point in his career, since it was a pathway to founding IntechOpen - Open Access publisher focused on addressing academic researchers needs. Alex is a personification of IntechOpen key values being trusted, open and entrepreneurial. Today his focus is on defining the growth and development strategy for the company.",institutionString:null,institution:{name:"TU Wien",country:{name:"Austria"}}},{id:"19816",title:"Prof.",name:"Alexander",middleName:null,surname:"Kokorin",slug:"alexander-kokorin",fullName:"Alexander Kokorin",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/19816/images/1607_n.jpg",biography:"Alexander I. Kokorin: born: 1947, Moscow; DSc., PhD; Principal Research Fellow (Research Professor) of Department of Kinetics and Catalysis, N. Semenov Institute of Chemical Physics, Russian Academy of Sciences, Moscow.\r\nArea of research interests: physical chemistry of complex-organized molecular and nanosized systems, including polymer-metal complexes; the surface of doped oxide semiconductors. He is an expert in structural, absorptive, catalytic and photocatalytic properties, in structural organization and dynamic features of ionic liquids, in magnetic interactions between paramagnetic centers. The author or co-author of 3 books, over 200 articles and reviews in scientific journals and books. He is an actual member of the International EPR/ESR Society, European Society on Quantum Solar Energy Conversion, Moscow House of Scientists, of the Board of Moscow Physical Society.",institutionString:null,institution:{name:"Semenov Institute of Chemical Physics",country:{name:"Russia"}}},{id:"62389",title:"PhD.",name:"Ali Demir",middleName:null,surname:"Sezer",slug:"ali-demir-sezer",fullName:"Ali Demir Sezer",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/62389/images/3413_n.jpg",biography:"Dr. Ali Demir Sezer has a Ph.D. from Pharmaceutical Biotechnology at the Faculty of Pharmacy, University of Marmara (Turkey). He is the member of many Pharmaceutical Associations and acts as a reviewer of scientific journals and European projects under different research areas such as: drug delivery systems, nanotechnology and pharmaceutical biotechnology. Dr. Sezer is the author of many scientific publications in peer-reviewed journals and poster communications. Focus of his research activity is drug delivery, physico-chemical characterization and biological evaluation of biopolymers micro and nanoparticles as modified drug delivery system, and colloidal drug carriers (liposomes, nanoparticles etc.).",institutionString:null,institution:{name:"Marmara University",country:{name:"Turkey"}}},{id:"61051",title:"Prof.",name:"Andrea",middleName:null,surname:"Natale",slug:"andrea-natale",fullName:"Andrea Natale",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:null},{id:"100762",title:"Prof.",name:"Andrea",middleName:null,surname:"Natale",slug:"andrea-natale",fullName:"Andrea Natale",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:{name:"St David's Medical Center",country:{name:"United States of America"}}},{id:"107416",title:"Dr.",name:"Andrea",middleName:null,surname:"Natale",slug:"andrea-natale",fullName:"Andrea Natale",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:{name:"Texas Cardiac Arrhythmia",country:{name:"United States of America"}}},{id:"64434",title:"Dr.",name:"Angkoon",middleName:null,surname:"Phinyomark",slug:"angkoon-phinyomark",fullName:"Angkoon Phinyomark",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/64434/images/2619_n.jpg",biography:"My name is Angkoon Phinyomark. I received a B.Eng. degree in Computer Engineering with First Class Honors in 2008 from Prince of Songkla University, Songkhla, Thailand, where I received a Ph.D. degree in Electrical Engineering. My research interests are primarily in the area of biomedical signal processing and classification notably EMG (electromyography signal), EOG (electrooculography signal), and EEG (electroencephalography signal), image analysis notably breast cancer analysis and optical coherence tomography, and rehabilitation engineering. I became a student member of IEEE in 2008. During October 2011-March 2012, I had worked at School of Computer Science and Electronic Engineering, University of Essex, Colchester, Essex, United Kingdom. In addition, during a B.Eng. I had been a visiting research student at Faculty of Computer Science, University of Murcia, Murcia, Spain for three months.\n\nI have published over 40 papers during 5 years in refereed journals, books, and conference proceedings in the areas of electro-physiological signals processing and classification, notably EMG and EOG signals, fractal analysis, wavelet analysis, texture analysis, feature extraction and machine learning algorithms, and assistive and rehabilitative devices. I have several computer programming language certificates, i.e. Sun Certified Programmer for the Java 2 Platform 1.4 (SCJP), Microsoft Certified Professional Developer, Web Developer (MCPD), Microsoft Certified Technology Specialist, .NET Framework 2.0 Web (MCTS). I am a Reviewer for several refereed journals and international conferences, such as IEEE Transactions on Biomedical Engineering, IEEE Transactions on Industrial Electronics, Optic Letters, Measurement Science Review, and also a member of the International Advisory Committee for 2012 IEEE Business Engineering and Industrial Applications and 2012 IEEE Symposium on Business, Engineering and Industrial Applications.",institutionString:null,institution:{name:"Joseph Fourier University",country:{name:"France"}}},{id:"55578",title:"Dr.",name:"Antonio",middleName:null,surname:"Jurado-Navas",slug:"antonio-jurado-navas",fullName:"Antonio Jurado-Navas",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/55578/images/4574_n.png",biography:"Antonio Jurado-Navas received the M.S. degree (2002) and the Ph.D. degree (2009) in Telecommunication Engineering, both from the University of Málaga (Spain). He first worked as a consultant at Vodafone-Spain. From 2004 to 2011, he was a Research Assistant with the Communications Engineering Department at the University of Málaga. In 2011, he became an Assistant Professor in the same department. From 2012 to 2015, he was with Ericsson Spain, where he was working on geo-location\ntools for third generation mobile networks. Since 2015, he is a Marie-Curie fellow at the Denmark Technical University. His current research interests include the areas of mobile communication systems and channel modeling in addition to atmospheric optical communications, adaptive optics and statistics",institutionString:null,institution:{name:"University of Malaga",country:{name:"Spain"}}}],filtersByRegion:[{group:"region",caption:"North America",value:1,count:5816},{group:"region",caption:"Middle and South America",value:2,count:5281},{group:"region",caption:"Africa",value:3,count:1754},{group:"region",caption:"Asia",value:4,count:10511},{group:"region",caption:"Australia and Oceania",value:5,count:906},{group:"region",caption:"Europe",value:6,count:15912}],offset:12,limit:12,total:119060},chapterEmbeded:{data:{}},editorApplication:{success:null,errors:{}},ofsBooks:{filterParams:{sort:"dateEndThirdStepPublish",topicId:"24"},books:[{type:"book",id:"10964",title:"Wearable Technologies",subtitle:null,isOpenForSubmission:!0,hash:"0981ee7867892cc6e0a4edd65b792ac9",slug:null,bookSignature:"",coverURL:"https://cdn.intechopen.com/books/images_new/10964.jpg",editedByType:null,editors:null,productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"10764",title:"Antenna Systems",subtitle:null,isOpenForSubmission:!0,hash:"2fbf1c7a5d92723f08198fc9b526a8ad",slug:null,bookSignature:"Prof. Hussain Al-Rizzo and Assistant Prof. Said Abushamleh",coverURL:"https://cdn.intechopen.com/books/images_new/10764.jpg",editedByType:null,editors:[{id:"153384",title:"Prof.",name:"Hussain",surname:"Al-Rizzo",slug:"hussain-al-rizzo",fullName:"Hussain Al-Rizzo"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}}],filtersByTopic:[{group:"topic",caption:"Agricultural and Biological Sciences",value:5,count:25},{group:"topic",caption:"Biochemistry, Genetics and Molecular Biology",value:6,count:7},{group:"topic",caption:"Business, Management and Economics",value:7,count:3},{group:"topic",caption:"Chemistry",value:8,count:11},{group:"topic",caption:"Computer and Information Science",value:9,count:9},{group:"topic",caption:"Earth and Planetary Sciences",value:10,count:9},{group:"topic",caption:"Engineering",value:11,count:25},{group:"topic",caption:"Environmental Sciences",value:12,count:3},{group:"topic",caption:"Immunology and Microbiology",value:13,count:4},{group:"topic",caption:"Materials Science",value:14,count:7},{group:"topic",caption:"Mathematics",value:15,count:2},{group:"topic",caption:"Medicine",value:16,count:44},{group:"topic",caption:"Neuroscience",value:18,count:3},{group:"topic",caption:"Pharmacology, Toxicology and Pharmaceutical Science",value:19,count:3},{group:"topic",caption:"Physics",value:20,count:4},{group:"topic",caption:"Psychology",value:21,count:4},{group:"topic",caption:"Robotics",value:22,count:1},{group:"topic",caption:"Social Sciences",value:23,count:3},{group:"topic",caption:"Technology",value:24,count:1},{group:"topic",caption:"Veterinary Medicine and Science",value:25,count:2}],offset:12,limit:12,total:2},popularBooks:{featuredBooks:[{type:"book",id:"8472",title:"Bioactive Compounds in Nutraceutical and Functional Food for Good Human Health",subtitle:null,isOpenForSubmission:!1,hash:"8855452919b8495810ef8e88641feb20",slug:"bioactive-compounds-in-nutraceutical-and-functional-food-for-good-human-health",bookSignature:"Kavita Sharma, Kanchan Mishra, Kula Kamal Senapati and Corina Danciu",coverURL:"https://cdn.intechopen.com/books/images_new/8472.jpg",editors:[{id:"197731",title:"Dr.",name:"Kavita",middleName:null,surname:"Sharma",slug:"kavita-sharma",fullName:"Kavita Sharma"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}},{type:"book",id:"9685",title:"Agroecosystems",subtitle:"Very Complex Environmental Systems",isOpenForSubmission:!1,hash:"c44f7b43a9f9610c243dc32300d37df6",slug:"agroecosystems-very-complex-environmental-systems",bookSignature:"Marcelo L. Larramendy and Sonia Soloneski",coverURL:"https://cdn.intechopen.com/books/images_new/9685.jpg",editors:[{id:"14764",title:"Dr.",name:"Marcelo L.",middleName:null,surname:"Larramendy",slug:"marcelo-l.-larramendy",fullName:"Marcelo L. Larramendy"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}},{type:"book",id:"8564",title:"Cell Interaction",subtitle:"Molecular and Immunological Basis for Disease Management",isOpenForSubmission:!1,hash:"98d7f080d80524285f091e72a8e92a6d",slug:"cell-interaction-molecular-and-immunological-basis-for-disease-management",bookSignature:"Bhawana Singh",coverURL:"https://cdn.intechopen.com/books/images_new/8564.jpg",editors:[{id:"315192",title:"Dr.",name:"Bhawana",middleName:null,surname:"Singh",slug:"bhawana-singh",fullName:"Bhawana Singh"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}},{type:"book",id:"9629",title:"Electroencephalography",subtitle:"From Basic Research to Clinical Applications",isOpenForSubmission:!1,hash:"8147834b6c6deeeec40f407c71ad60b4",slug:"electroencephalography-from-basic-research-to-clinical-applications",bookSignature:"Hideki Nakano",coverURL:"https://cdn.intechopen.com/books/images_new/9629.jpg",editors:[{id:"196461",title:"Prof.",name:"Hideki",middleName:null,surname:"Nakano",slug:"hideki-nakano",fullName:"Hideki Nakano"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}},{type:"book",id:"8760",title:"Structure Topology and Symplectic Geometry",subtitle:null,isOpenForSubmission:!1,hash:"8974840985ec3652492c83e20233bf02",slug:"structure-topology-and-symplectic-geometry",bookSignature:"Kamal Shah and Min Lei",coverURL:"https://cdn.intechopen.com/books/images_new/8760.jpg",editors:[{id:"231748",title:"Dr.",name:"Kamal",middleName:null,surname:"Shah",slug:"kamal-shah",fullName:"Kamal Shah"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}},{type:"book",id:"9161",title:"Frailty in the Elderly",subtitle:"Understanding and Managing Complexity",isOpenForSubmission:!1,hash:"a4f0f2fade8fb8ba35c405f5ad31a823",slug:"frailty-in-the-elderly-understanding-and-managing-complexity",bookSignature:"Sara Palermo",coverURL:"https://cdn.intechopen.com/books/images_new/9161.jpg",editors:[{id:"233998",title:"Ph.D.",name:"Sara",middleName:null,surname:"Palermo",slug:"sara-palermo",fullName:"Sara Palermo"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}},{type:"book",id:"8445",title:"Dam Engineering",subtitle:"Recent Advances in Design and Analysis",isOpenForSubmission:!1,hash:"a7e4d2ecbc65d78fa7582e0d2e143906",slug:"dam-engineering-recent-advances-in-design-and-analysis",bookSignature:"Zhongzhi Fu and Erich Bauer",coverURL:"https://cdn.intechopen.com/books/images_new/8445.jpg",editors:[{id:"249577",title:"Dr.",name:"Zhongzhi",middleName:null,surname:"Fu",slug:"zhongzhi-fu",fullName:"Zhongzhi Fu"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}},{type:"book",id:"9385",title:"Renewable Energy",subtitle:"Technologies and Applications",isOpenForSubmission:!1,hash:"a6b446d19166f17f313008e6c056f3d8",slug:"renewable-energy-technologies-and-applications",bookSignature:"Tolga Taner, Archana Tiwari and Taha Selim Ustun",coverURL:"https://cdn.intechopen.com/books/images_new/9385.jpg",editors:[{id:"197240",title:"Associate Prof.",name:"Tolga",middleName:null,surname:"Taner",slug:"tolga-taner",fullName:"Tolga Taner"}],equalEditorOne:{id:"186791",title:"Dr.",name:"Archana",middleName:null,surname:"Tiwari",slug:"archana-tiwari",fullName:"Archana Tiwari",profilePictureURL:"https://mts.intechopen.com/storage/users/186791/images/system/186791.jpg",biography:"Dr. Archana Tiwari is Associate Professor at Amity University, India. Her research interests include renewable sources of energy from microalgae and further utilizing the residual biomass for the generation of value-added products, bioremediation through microalgae and microbial consortium, antioxidative enzymes and stress, and nutraceuticals from microalgae. She has been working on algal biotechnology for the last two decades. She has published her research in many international journals and has authored many books and chapters with renowned publishing houses. She has also delivered talks as an invited speaker at many national and international conferences. Dr. Tiwari is the recipient of several awards including Researcher of the Year and Distinguished Scientist.",institutionString:"Amity University",position:null,outsideEditionCount:0,totalCites:0,totalAuthoredChapters:"3",totalChapterViews:"0",totalEditedBooks:"1",institution:{name:"Amity University",institutionURL:null,country:{name:"India"}}},equalEditorTwo:{id:"197609",title:"Prof.",name:"Taha Selim",middleName:null,surname:"Ustun",slug:"taha-selim-ustun",fullName:"Taha Selim Ustun",profilePictureURL:"https://mts.intechopen.com/storage/users/197609/images/system/197609.jpeg",biography:"Dr. Taha Selim Ustun received a Ph.D. in Electrical Engineering from Victoria University, Melbourne, Australia. He is a researcher with the Fukushima Renewable Energy Institute, AIST (FREA), where he leads the Smart Grid Cybersecurity Laboratory. Prior to that, he was a faculty member with the School of Electrical and Computer Engineering, Carnegie Mellon University, Pittsburgh, PA, USA. His current research interests include power systems protection, communication in power networks, distributed generation, microgrids, electric vehicle integration, and cybersecurity in smart grids. He serves on the editorial boards of IEEE Access, IEEE Transactions on Industrial Informatics, Energies, Electronics, Electricity, World Electric Vehicle and Information journals. Dr. Ustun is a member of the IEEE 2004 and 2800, IEC Renewable Energy Management WG 8, and IEC TC 57 WG17. He has been invited to run specialist courses in Africa, India, and China. He has delivered talks for the Qatar Foundation, the World Energy Council, the Waterloo Global Science Initiative, and the European Union Energy Initiative (EUEI). His research has attracted funding from prestigious programs in Japan, Australia, the European Union, and North America.",institutionString:"Fukushima Renewable Energy Institute, AIST (FREA)",position:null,outsideEditionCount:0,totalCites:0,totalAuthoredChapters:"1",totalChapterViews:"0",totalEditedBooks:"0",institution:{name:"National Institute of Advanced Industrial Science and Technology",institutionURL:null,country:{name:"Japan"}}},equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}},{type:"book",id:"8937",title:"Soil Moisture Importance",subtitle:null,isOpenForSubmission:!1,hash:"3951728ace7f135451d66b72e9908b47",slug:"soil-moisture-importance",bookSignature:"Ram Swaroop Meena and Rahul Datta",coverURL:"https://cdn.intechopen.com/books/images_new/8937.jpg",editors:[{id:"313528",title:"Associate Prof.",name:"Ram Swaroop",middleName:null,surname:"Meena",slug:"ram-swaroop-meena",fullName:"Ram Swaroop Meena"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}},{type:"book",id:"7031",title:"Liver Pathology",subtitle:null,isOpenForSubmission:!1,hash:"631321b0565459ed0175917f1c8c727f",slug:"liver-pathology",bookSignature:"Vijay Gayam and Omer Engin",coverURL:"https://cdn.intechopen.com/books/images_new/7031.jpg",editors:[{id:"273100",title:"Dr.",name:"Vijay",middleName:null,surname:"Gayam",slug:"vijay-gayam",fullName:"Vijay Gayam"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}},{type:"book",id:"8158",title:"Veganism",subtitle:"a Fashion Trend or Food as a Medicine",isOpenForSubmission:!1,hash:"d8e51fc25a379e5b92a270addbb4351d",slug:"veganism-a-fashion-trend-or-food-as-a-medicine",bookSignature:"Miljana Z. Jovandaric",coverURL:"https://cdn.intechopen.com/books/images_new/8158.jpg",editors:[{id:"268043",title:"Dr.",name:"Miljana Z.",middleName:"Z",surname:"Jovandaric",slug:"miljana-z.-jovandaric",fullName:"Miljana Z. Jovandaric"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}},{type:"book",id:"2160",title:"MATLAB",subtitle:"A Fundamental Tool for Scientific Computing and Engineering Applications - Volume 1",isOpenForSubmission:!1,hash:"dd9c658341fbd264ed4f8d9e6aa8ca29",slug:"matlab-a-fundamental-tool-for-scientific-computing-and-engineering-applications-volume-1",bookSignature:"Vasilios N. Katsikis",coverURL:"https://cdn.intechopen.com/books/images_new/2160.jpg",editors:[{id:"12289",title:"Prof.",name:"Vasilios",middleName:"N.",surname:"Katsikis",slug:"vasilios-katsikis",fullName:"Vasilios Katsikis"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}}],offset:12,limit:12,total:5315},hotBookTopics:{hotBooks:[],offset:0,limit:12,total:null},publish:{},publishingProposal:{success:null,errors:{}},books:{featuredBooks:[{type:"book",id:"8472",title:"Bioactive Compounds in Nutraceutical and Functional Food for Good Human Health",subtitle:null,isOpenForSubmission:!1,hash:"8855452919b8495810ef8e88641feb20",slug:"bioactive-compounds-in-nutraceutical-and-functional-food-for-good-human-health",bookSignature:"Kavita Sharma, Kanchan Mishra, Kula Kamal Senapati and Corina Danciu",coverURL:"https://cdn.intechopen.com/books/images_new/8472.jpg",editors:[{id:"197731",title:"Dr.",name:"Kavita",middleName:null,surname:"Sharma",slug:"kavita-sharma",fullName:"Kavita Sharma"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}},{type:"book",id:"9685",title:"Agroecosystems",subtitle:"Very Complex Environmental Systems",isOpenForSubmission:!1,hash:"c44f7b43a9f9610c243dc32300d37df6",slug:"agroecosystems-very-complex-environmental-systems",bookSignature:"Marcelo L. Larramendy and Sonia Soloneski",coverURL:"https://cdn.intechopen.com/books/images_new/9685.jpg",editors:[{id:"14764",title:"Dr.",name:"Marcelo L.",middleName:null,surname:"Larramendy",slug:"marcelo-l.-larramendy",fullName:"Marcelo L. Larramendy"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}},{type:"book",id:"8564",title:"Cell Interaction",subtitle:"Molecular and Immunological Basis for Disease Management",isOpenForSubmission:!1,hash:"98d7f080d80524285f091e72a8e92a6d",slug:"cell-interaction-molecular-and-immunological-basis-for-disease-management",bookSignature:"Bhawana Singh",coverURL:"https://cdn.intechopen.com/books/images_new/8564.jpg",editors:[{id:"315192",title:"Dr.",name:"Bhawana",middleName:null,surname:"Singh",slug:"bhawana-singh",fullName:"Bhawana Singh"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}},{type:"book",id:"9629",title:"Electroencephalography",subtitle:"From Basic Research to Clinical Applications",isOpenForSubmission:!1,hash:"8147834b6c6deeeec40f407c71ad60b4",slug:"electroencephalography-from-basic-research-to-clinical-applications",bookSignature:"Hideki Nakano",coverURL:"https://cdn.intechopen.com/books/images_new/9629.jpg",editors:[{id:"196461",title:"Prof.",name:"Hideki",middleName:null,surname:"Nakano",slug:"hideki-nakano",fullName:"Hideki Nakano"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}},{type:"book",id:"8760",title:"Structure Topology and Symplectic Geometry",subtitle:null,isOpenForSubmission:!1,hash:"8974840985ec3652492c83e20233bf02",slug:"structure-topology-and-symplectic-geometry",bookSignature:"Kamal Shah and Min Lei",coverURL:"https://cdn.intechopen.com/books/images_new/8760.jpg",editors:[{id:"231748",title:"Dr.",name:"Kamal",middleName:null,surname:"Shah",slug:"kamal-shah",fullName:"Kamal Shah"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}},{type:"book",id:"9161",title:"Frailty in the Elderly",subtitle:"Understanding and Managing Complexity",isOpenForSubmission:!1,hash:"a4f0f2fade8fb8ba35c405f5ad31a823",slug:"frailty-in-the-elderly-understanding-and-managing-complexity",bookSignature:"Sara Palermo",coverURL:"https://cdn.intechopen.com/books/images_new/9161.jpg",editors:[{id:"233998",title:"Ph.D.",name:"Sara",middleName:null,surname:"Palermo",slug:"sara-palermo",fullName:"Sara Palermo"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}},{type:"book",id:"8445",title:"Dam Engineering",subtitle:"Recent Advances in Design and Analysis",isOpenForSubmission:!1,hash:"a7e4d2ecbc65d78fa7582e0d2e143906",slug:"dam-engineering-recent-advances-in-design-and-analysis",bookSignature:"Zhongzhi Fu and Erich Bauer",coverURL:"https://cdn.intechopen.com/books/images_new/8445.jpg",editors:[{id:"249577",title:"Dr.",name:"Zhongzhi",middleName:null,surname:"Fu",slug:"zhongzhi-fu",fullName:"Zhongzhi Fu"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}},{type:"book",id:"9385",title:"Renewable Energy",subtitle:"Technologies and Applications",isOpenForSubmission:!1,hash:"a6b446d19166f17f313008e6c056f3d8",slug:"renewable-energy-technologies-and-applications",bookSignature:"Tolga Taner, Archana Tiwari and Taha Selim Ustun",coverURL:"https://cdn.intechopen.com/books/images_new/9385.jpg",editors:[{id:"197240",title:"Associate Prof.",name:"Tolga",middleName:null,surname:"Taner",slug:"tolga-taner",fullName:"Tolga Taner"}],equalEditorOne:{id:"186791",title:"Dr.",name:"Archana",middleName:null,surname:"Tiwari",slug:"archana-tiwari",fullName:"Archana Tiwari",profilePictureURL:"https://mts.intechopen.com/storage/users/186791/images/system/186791.jpg",biography:"Dr. Archana Tiwari is Associate Professor at Amity University, India. Her research interests include renewable sources of energy from microalgae and further utilizing the residual biomass for the generation of value-added products, bioremediation through microalgae and microbial consortium, antioxidative enzymes and stress, and nutraceuticals from microalgae. She has been working on algal biotechnology for the last two decades. She has published her research in many international journals and has authored many books and chapters with renowned publishing houses. She has also delivered talks as an invited speaker at many national and international conferences. Dr. Tiwari is the recipient of several awards including Researcher of the Year and Distinguished Scientist.",institutionString:"Amity University",position:null,outsideEditionCount:0,totalCites:0,totalAuthoredChapters:"3",totalChapterViews:"0",totalEditedBooks:"1",institution:{name:"Amity University",institutionURL:null,country:{name:"India"}}},equalEditorTwo:{id:"197609",title:"Prof.",name:"Taha Selim",middleName:null,surname:"Ustun",slug:"taha-selim-ustun",fullName:"Taha Selim Ustun",profilePictureURL:"https://mts.intechopen.com/storage/users/197609/images/system/197609.jpeg",biography:"Dr. Taha Selim Ustun received a Ph.D. in Electrical Engineering from Victoria University, Melbourne, Australia. He is a researcher with the Fukushima Renewable Energy Institute, AIST (FREA), where he leads the Smart Grid Cybersecurity Laboratory. Prior to that, he was a faculty member with the School of Electrical and Computer Engineering, Carnegie Mellon University, Pittsburgh, PA, USA. His current research interests include power systems protection, communication in power networks, distributed generation, microgrids, electric vehicle integration, and cybersecurity in smart grids. He serves on the editorial boards of IEEE Access, IEEE Transactions on Industrial Informatics, Energies, Electronics, Electricity, World Electric Vehicle and Information journals. Dr. Ustun is a member of the IEEE 2004 and 2800, IEC Renewable Energy Management WG 8, and IEC TC 57 WG17. He has been invited to run specialist courses in Africa, India, and China. He has delivered talks for the Qatar Foundation, the World Energy Council, the Waterloo Global Science Initiative, and the European Union Energy Initiative (EUEI). His research has attracted funding from prestigious programs in Japan, Australia, the European Union, and North America.",institutionString:"Fukushima Renewable Energy Institute, AIST (FREA)",position:null,outsideEditionCount:0,totalCites:0,totalAuthoredChapters:"1",totalChapterViews:"0",totalEditedBooks:"0",institution:{name:"National Institute of Advanced Industrial Science and Technology",institutionURL:null,country:{name:"Japan"}}},equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}},{type:"book",id:"8937",title:"Soil Moisture Importance",subtitle:null,isOpenForSubmission:!1,hash:"3951728ace7f135451d66b72e9908b47",slug:"soil-moisture-importance",bookSignature:"Ram Swaroop Meena and Rahul Datta",coverURL:"https://cdn.intechopen.com/books/images_new/8937.jpg",editors:[{id:"313528",title:"Associate Prof.",name:"Ram Swaroop",middleName:null,surname:"Meena",slug:"ram-swaroop-meena",fullName:"Ram Swaroop Meena"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}},{type:"book",id:"7031",title:"Liver Pathology",subtitle:null,isOpenForSubmission:!1,hash:"631321b0565459ed0175917f1c8c727f",slug:"liver-pathology",bookSignature:"Vijay Gayam and Omer Engin",coverURL:"https://cdn.intechopen.com/books/images_new/7031.jpg",editors:[{id:"273100",title:"Dr.",name:"Vijay",middleName:null,surname:"Gayam",slug:"vijay-gayam",fullName:"Vijay Gayam"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}}],latestBooks:[{type:"book",id:"8472",title:"Bioactive Compounds in Nutraceutical and Functional Food for Good Human Health",subtitle:null,isOpenForSubmission:!1,hash:"8855452919b8495810ef8e88641feb20",slug:"bioactive-compounds-in-nutraceutical-and-functional-food-for-good-human-health",bookSignature:"Kavita Sharma, Kanchan Mishra, Kula Kamal Senapati and Corina Danciu",coverURL:"https://cdn.intechopen.com/books/images_new/8472.jpg",editedByType:"Edited by",editors:[{id:"197731",title:"Dr.",name:"Kavita",middleName:null,surname:"Sharma",slug:"kavita-sharma",fullName:"Kavita Sharma"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"8760",title:"Structure Topology and Symplectic Geometry",subtitle:null,isOpenForSubmission:!1,hash:"8974840985ec3652492c83e20233bf02",slug:"structure-topology-and-symplectic-geometry",bookSignature:"Kamal Shah and Min Lei",coverURL:"https://cdn.intechopen.com/books/images_new/8760.jpg",editedByType:"Edited by",editors:[{id:"231748",title:"Dr.",name:"Kamal",middleName:null,surname:"Shah",slug:"kamal-shah",fullName:"Kamal Shah"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"9536",title:"Education at the Intersection of Globalization and Technology",subtitle:null,isOpenForSubmission:!1,hash:"0cf6891060eb438d975d250e8b127ed6",slug:"education-at-the-intersection-of-globalization-and-technology",bookSignature:"Sharon Waller, Lee Waller, Vongai Mpofu and Mercy Kurebwa",coverURL:"https://cdn.intechopen.com/books/images_new/9536.jpg",editedByType:"Edited by",editors:[{id:"263302",title:"Dr.",name:"Sharon",middleName:null,surname:"Waller",slug:"sharon-waller",fullName:"Sharon Waller"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"8564",title:"Cell Interaction",subtitle:"Molecular and Immunological Basis for Disease Management",isOpenForSubmission:!1,hash:"98d7f080d80524285f091e72a8e92a6d",slug:"cell-interaction-molecular-and-immunological-basis-for-disease-management",bookSignature:"Bhawana Singh",coverURL:"https://cdn.intechopen.com/books/images_new/8564.jpg",editedByType:"Edited by",editors:[{id:"315192",title:"Dr.",name:"Bhawana",middleName:null,surname:"Singh",slug:"bhawana-singh",fullName:"Bhawana Singh"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"9629",title:"Electroencephalography",subtitle:"From Basic Research to Clinical Applications",isOpenForSubmission:!1,hash:"8147834b6c6deeeec40f407c71ad60b4",slug:"electroencephalography-from-basic-research-to-clinical-applications",bookSignature:"Hideki Nakano",coverURL:"https://cdn.intechopen.com/books/images_new/9629.jpg",editedByType:"Edited by",editors:[{id:"196461",title:"Prof.",name:"Hideki",middleName:null,surname:"Nakano",slug:"hideki-nakano",fullName:"Hideki Nakano"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"9685",title:"Agroecosystems",subtitle:"Very Complex Environmental Systems",isOpenForSubmission:!1,hash:"c44f7b43a9f9610c243dc32300d37df6",slug:"agroecosystems-very-complex-environmental-systems",bookSignature:"Marcelo L. Larramendy and Sonia Soloneski",coverURL:"https://cdn.intechopen.com/books/images_new/9685.jpg",editedByType:"Edited by",editors:[{id:"14764",title:"Dr.",name:"Marcelo L.",middleName:null,surname:"Larramendy",slug:"marcelo-l.-larramendy",fullName:"Marcelo L. Larramendy"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"9524",title:"Organ Donation and Transplantation",subtitle:null,isOpenForSubmission:!1,hash:"6ef47e03cd4e6476946fc28ca51de825",slug:"organ-donation-and-transplantation",bookSignature:"Vassil Mihaylov",coverURL:"https://cdn.intechopen.com/books/images_new/9524.jpg",editedByType:"Edited by",editors:[{id:"313113",title:"Associate Prof.",name:"Vassil",middleName:null,surname:"Mihaylov",slug:"vassil-mihaylov",fullName:"Vassil Mihaylov"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"9280",title:"Underwater Work",subtitle:null,isOpenForSubmission:!1,hash:"647b4270d937deae4a82f5702d1959ec",slug:"underwater-work",bookSignature:"Sérgio António Neves Lousada",coverURL:"https://cdn.intechopen.com/books/images_new/9280.jpg",editedByType:"Edited by",editors:[{id:"248645",title:"Dr.",name:"Sérgio António",middleName:null,surname:"Neves Lousada",slug:"sergio-antonio-neves-lousada",fullName:"Sérgio António Neves Lousada"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"9161",title:"Frailty in the Elderly",subtitle:"Understanding and Managing Complexity",isOpenForSubmission:!1,hash:"a4f0f2fade8fb8ba35c405f5ad31a823",slug:"frailty-in-the-elderly-understanding-and-managing-complexity",bookSignature:"Sara Palermo",coverURL:"https://cdn.intechopen.com/books/images_new/9161.jpg",editedByType:"Edited by",editors:[{id:"233998",title:"Ph.D.",name:"Sara",middleName:null,surname:"Palermo",slug:"sara-palermo",fullName:"Sara Palermo"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"8158",title:"Veganism",subtitle:"a Fashion Trend or Food as a Medicine",isOpenForSubmission:!1,hash:"d8e51fc25a379e5b92a270addbb4351d",slug:"veganism-a-fashion-trend-or-food-as-a-medicine",bookSignature:"Miljana Z. Jovandaric",coverURL:"https://cdn.intechopen.com/books/images_new/8158.jpg",editedByType:"Edited by",editors:[{id:"268043",title:"Dr.",name:"Miljana Z.",middleName:"Z",surname:"Jovandaric",slug:"miljana-z.-jovandaric",fullName:"Miljana Z. Jovandaric"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}}]},subject:{topic:{id:"248",title:"Autonomous Research Robotics",slug:"autonomous-research-robotics",parent:{title:"Robotics",slug:"physical-sciences-engineering-and-technology-robotics"},numberOfBooks:1,numberOfAuthorsAndEditors:2,numberOfWosCitations:36,numberOfCrossrefCitations:49,numberOfDimensionsCitations:73,videoUrl:null,fallbackUrl:null,description:null},booksByTopicFilter:{topicSlug:"autonomous-research-robotics",sort:"-publishedDate",limit:12,offset:0},booksByTopicCollection:[{type:"book",id:"3792",title:"Robotics 2010",subtitle:"Current and Future Challenges",isOpenForSubmission:!1,hash:"b266dc4d99301e4ddf0dd05915a81bda",slug:"robotics-2010-current-and-future-challenges",bookSignature:"Houssem Abdellatif",coverURL:"https://cdn.intechopen.com/books/images_new/3792.jpg",editedByType:"Edited by",editors:[{id:"2524",title:"Dr.",name:"Houssem",middleName:null,surname:"Abdellatif",slug:"houssem-abdellatif",fullName:"Houssem Abdellatif"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}}],booksByTopicTotal:1,mostCitedChapters:[{id:"9376",doi:"10.5772/7323",title:"Development of Mobile Robots Based on Peristaltic Crawling of an Earthworm",slug:"development-of-mobile-robots-based-on-peristaltic-crawling-of-an-earthworm",totalDownloads:2135,totalCrossrefCites:10,totalDimensionsCites:15,book:{slug:"robotics-2010-current-and-future-challenges",title:"Robotics 2010",fullTitle:"Robotics 2010 Current and Future Challenges"},signatures:"Hayato Omori, Taro Nakamura, Tomohide Iwanaga and Takeshi Hayakawa",authors:null},{id:"9370",doi:"10.5772/7327",title:"Screw and Cable Acutators (SCS) and Their Applications to Force Feedback Teleoperation, Exoskeleton and Anthropomorphic Robotics",slug:"screw-and-cable-acutators-scs-and-their-applications-to-force-feedback",totalDownloads:2804,totalCrossrefCites:7,totalDimensionsCites:14,book:{slug:"robotics-2010-current-and-future-challenges",title:"Robotics 2010",fullTitle:"Robotics 2010 Current and Future Challenges"},signatures:"Phillipe Garrec",authors:null},{id:"9371",doi:"10.5772/7328",title:"A Novel Verticalized Reeducation Device for Spinal Cord Injuries: the WalkTrainer, from Design to Clinical Trials",slug:"a-novel-verticalized-reeducation-device-for-spinal-cord-injuries",totalDownloads:2079,totalCrossrefCites:5,totalDimensionsCites:7,book:{slug:"robotics-2010-current-and-future-challenges",title:"Robotics 2010",fullTitle:"Robotics 2010 Current and Future Challenges"},signatures:"Stauffer Yves, Mohamed Bouri, Reymond Clavel,\r\nYves Allemand and Roland Brodard2",authors:null}],mostDownloadedChaptersLast30Days:[{id:"9384",title:"Development of an Android System Integrated with Sensor Networks",slug:"development-of-an-android-system-integrated-with-sensor-networks",totalDownloads:2352,totalCrossrefCites:1,totalDimensionsCites:3,book:{slug:"robotics-2010-current-and-future-challenges",title:"Robotics 2010",fullTitle:"Robotics 2010 Current and Future Challenges"},signatures:"Takenobu Chikaraishi, Takashi Minato and Hiroshi Ishiguro",authors:[{id:"11981",title:"Prof.",name:"Hiroshi",middleName:null,surname:"Ishiguro",slug:"hiroshi-ishiguro",fullName:"Hiroshi Ishiguro"}]},{id:"9361",title:"From Oil to Pure Water Hydraulics, Making Cleaner and Safer Force Feedback High Payload Telemanipulators",slug:"from-oil-to-pure-water-hydraulics-making-cleaner-and-safer-force-feedback-high-payload-telemanipulat",totalDownloads:2577,totalCrossrefCites:1,totalDimensionsCites:1,book:{slug:"robotics-2010-current-and-future-challenges",title:"Robotics 2010",fullTitle:"Robotics 2010 Current and Future Challenges"},signatures:"Gregory Dubus, Olivier David and Yvan Measson",authors:null},{id:"9362",title:"Operational Space Dynamics of a Space Robot and Computational Efficient Algorithm",slug:"operational-space-dynamics-of-a-space-robot-and-computational-efficient-algorithm",totalDownloads:2259,totalCrossrefCites:0,totalDimensionsCites:0,book:{slug:"robotics-2010-current-and-future-challenges",title:"Robotics 2010",fullTitle:"Robotics 2010 Current and Future Challenges"},signatures:"Satoko Abiko and Gerd Hirzinger",authors:null},{id:"9370",title:"Screw and Cable Acutators (SCS) and Their Applications to Force Feedback Teleoperation, Exoskeleton and Anthropomorphic Robotics",slug:"screw-and-cable-acutators-scs-and-their-applications-to-force-feedback",totalDownloads:2804,totalCrossrefCites:7,totalDimensionsCites:14,book:{slug:"robotics-2010-current-and-future-challenges",title:"Robotics 2010",fullTitle:"Robotics 2010 Current and Future Challenges"},signatures:"Phillipe Garrec",authors:null},{id:"9371",title:"A Novel Verticalized Reeducation Device for Spinal Cord Injuries: the WalkTrainer, from Design to Clinical Trials",slug:"a-novel-verticalized-reeducation-device-for-spinal-cord-injuries",totalDownloads:2078,totalCrossrefCites:5,totalDimensionsCites:7,book:{slug:"robotics-2010-current-and-future-challenges",title:"Robotics 2010",fullTitle:"Robotics 2010 Current and Future Challenges"},signatures:"Stauffer Yves, Mohamed Bouri, Reymond Clavel,\r\nYves Allemand and Roland Brodard2",authors:null},{id:"9365",title:"Reinforcement learningApproach to Objectcontact Motion with Estimation of Lowdimensional Submanifold and Mode-Boundary",slug:"reinforcement-learning-approach-to-objectcontact-motion-with-estimation-of-lowdimensional-submanifol",totalDownloads:1141,totalCrossrefCites:0,totalDimensionsCites:0,book:{slug:"robotics-2010-current-and-future-challenges",title:"Robotics 2010",fullTitle:"Robotics 2010 Current and Future Challenges"},signatures:"Yuichi Kobayashi and Shigeyuki Hosoe",authors:null},{id:"9378",title:"A Model-Based Synthetic Approach to the Dynamics, Guidance, and Control of AUVs",slug:"a-model-based-synthetic-approach-to-the-dynamics-guidance-and-control-of-auvs",totalDownloads:1593,totalCrossrefCites:0,totalDimensionsCites:0,book:{slug:"robotics-2010-current-and-future-challenges",title:"Robotics 2010",fullTitle:"Robotics 2010 Current and Future Challenges"},signatures:"Kangsoo Kim and Tamaki Ura",authors:null},{id:"9375",title:"Design, Development, Dynamic Analysis, and Control of a Pipe Crawling Robot",slug:"design-development-dynamic-analysis-and-control-of-a-pipe-crawling-robot",totalDownloads:3930,totalCrossrefCites:0,totalDimensionsCites:0,book:{slug:"robotics-2010-current-and-future-challenges",title:"Robotics 2010",fullTitle:"Robotics 2010 Current and Future Challenges"},signatures:"Amir H. Heidari, Mehran Mehrandezh, Homayoun Najjaran and Raman Paranjape",authors:null},{id:"9363",title:"Modeling and Control of Mechanical Systems in Terms of Quasi-Velocities",slug:"modeling-and-control-of-mechanical-systems-in-terms-of-quasi-velocities",totalDownloads:2444,totalCrossrefCites:3,totalDimensionsCites:3,book:{slug:"robotics-2010-current-and-future-challenges",title:"Robotics 2010",fullTitle:"Robotics 2010 Current and Future Challenges"},signatures:"Farhad Aghili",authors:null},{id:"9364",title:"Practical Model-based and Robust Control of Parallel Manipulators Using Passivity and Sliding Mode Theory",slug:"practical-model-based-and-robust-control-of-parallel-manipulators-using-passivity-and-sliding-mode-t",totalDownloads:1953,totalCrossrefCites:4,totalDimensionsCites:5,book:{slug:"robotics-2010-current-and-future-challenges",title:"Robotics 2010",fullTitle:"Robotics 2010 Current and Future Challenges"},signatures:"Houssem Abdellatif, Jens Kotlarski, Tobias Ortmaier and Bodo Heimann",authors:null}],onlineFirstChaptersFilter:{topicSlug:"autonomous-research-robotics",limit:3,offset:0},onlineFirstChaptersCollection:[],onlineFirstChaptersTotal:0},preDownload:{success:null,errors:{}},aboutIntechopen:{},privacyPolicy:{},peerReviewing:{},howOpenAccessPublishingWithIntechopenWorks:{},sponsorshipBooks:{sponsorshipBooks:[{type:"book",id:"10176",title:"Microgrids and Local Energy Systems",subtitle:null,isOpenForSubmission:!0,hash:"c32b4a5351a88f263074b0d0ca813a9c",slug:null,bookSignature:"Prof. Nick Jenkins",coverURL:"https://cdn.intechopen.com/books/images_new/10176.jpg",editedByType:null,editors:[{id:"55219",title:"Prof.",name:"Nick",middleName:null,surname:"Jenkins",slug:"nick-jenkins",fullName:"Nick Jenkins"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}}],offset:8,limit:8,total:1},route:{name:"profile.detail",path:"/profiles/102080/gonzalo-martinez-barrera",hash:"",query:{},params:{id:"102080",slug:"gonzalo-martinez-barrera"},fullPath:"/profiles/102080/gonzalo-martinez-barrera",meta:{},from:{name:null,path:"/",hash:"",query:{},params:{},fullPath:"/",meta:{}}}},function(){var m;(m=document.currentScript||document.scripts[document.scripts.length-1]).parentNode.removeChild(m)}()