Anatomy of a Robot – Charles M. Bergren – 1st Edition

Preface
Introduction

Chapter 1 Project Management
Project Management
Project Process Flowchart
How This Works When It's Implemented Right
The User's Manual for the "Boss"
The User's Manual for PMs
Conclusion

Chapter 2 Control Systems
Distributed Control Systems
Central Control Systems
Open-Loop Control
Closed-Loop Control
Designing the Control System
Notes on Robot Design
Multivariable Control Systems
Time
Space

Chapter 3 Computer Hardware
Leverage Existing Technology
Speeding Up Engineering
Computer Architecture
Process for Choosing a Robot's Computer Hardware

Chapter 4 Reliability, Safety, and Compliance
Reliability
Safety
Environmental Considerations
Common Sense
Emissions
Quality Issues
Testing

Chapter 5 Design Steps: HLD
Power
Locomotion
Automation

Chapter 6 Energy and Power Systems
Energy
Energy Sources

Chapter 7 Energy Control and Software
Considerations
Energy Conservation
Hardware Considerations
Spy-hopping
Software Considerations for Energy Control
Mechanical Considerations: Software for Energy Control

Chapter 8 Digital Signal Processing (DSP)
The Nyquist-Shannon Sampling Theorem
A/D Conversion
A/D Dithering
Sample and Hold (S/H)
Antialias Filters
D/A Effects: Sinc Compensation
DSP Filter Design
Physical Implementation of DSP Filters
Multirate DSP

Chapter 9 Communications
OSI Seven-Layer Model
Physical Layer
Baseband Transmission
Modulated Communications
Error Control
Shared Access
Compression
Encryption and Security
Popular Communication Channels

Chapter 10 Motors and Actuators
AC Motors
DC Motors
Exotic Motors

Chapter 11 Mechanics
Materials
Some Cautions
Static Mechanics
Dynamic Mechanics

Index