Note: Front Cover -- Advances in Spectroscopic Monitoring of the Atmosphere -- Advances in Spectroscopic Monitoring of the Atmosphere -- Copyright -- Contents -- Preface -- 1 - Current trends and future outlook in spectroscopic monitoring of the atmosphere -- 1.1 Introduction -- 1.2 Monitoring atmospheric composition -- 1.3 Spectroscopy and the composition of the atmosphere -- 1.4 Current topics of interest -- 1.4.1 Particulate matter -- 1.4.2 Flux measurements -- 1.4.3 Vertical profiles -- 1.4.4 Species of interest -- 1.5 Advances in technology -- 1.5.1 Supercontinuum sources -- 1.5.2 Mid-IR sources: quantum cascade lasers and interband cascade lasers -- 1.5.3 Mid-IR sources: frequency combs -- 1.5.4 Optical cavity techniques -- 1.5.5 Unmanned aerial systems -- 1.5.6 Other spectroscopic techniques -- 1.6 Outlook -- References -- 2 - Remote sensing using open-path dual-comb spectroscopy -- 2.1 Introduction -- 2.1.1 Long open-path atmospheric measurements -- 2.1.2 Current techniques -- 2.1.3 Advantages of open-path DCS -- 2.2 Open-path DCS technology -- 2.2.1 DCS history -- 2.2.2 DCS principle -- 2.2.3 Dual-comb sources and spectral coverage -- 2.2.4 Open-path sensing configuration -- 2.2.4.1 Telescope design -- 2.2.4.2 Telescope efficiency -- 2.2.5 SNR considerations -- 2.2.6 Data acquisition and coherent averaging -- 2.2.7 Extraction of species concentrations -- 2.2.7.1 Line parameters -- 2.2.7.2 Spectral fitting of ro-vibrationally resolved species -- 2.2.7.3 More complex fitting cases -- 2.2.8 Comparability -- 2.2.9 Long-term operation and field deployment challenges -- 2.3 Applications -- 2.3.1 Emission rate determination -- 2.3.2 Urban GHG emissions -- 2.3.3 Industrial oil and gas methane emissions -- 2.3.4 DCS with an airborne retroreflector -- 2.3.5 Agricultural emissions -- 2.3.6 VOC measurements -- 2.4 What is next in DCS-based sensing?. , 2.4.1 Extending the spectral region beyond 1.5 and 3 µm -- 2.4.2 Instrument performance -- 2.4.3 Data analysis -- 2.5 Summary -- List of Acronyms -- References -- 3 - Broadband optical cavity methods -- 3.1 Introduction -- 3.2 Optical cavities -- 3.2.1 Resonator theory -- 3.2.2 Comparison of multipass cells and optical cavities -- 3.3 Measurement strategies -- 3.3.1 Ringdown spectroscopy -- 3.3.2 Cavity-enhanced absorption -- 3.3.3 Phase shift measurements -- 3.4 Instrument design -- 3.4.1 Broadband light sources -- 3.4.2 Detectors -- 3.4.3 Cavity configuration -- 3.4.4 Mechanical design -- 3.4.5 Sample stream handling -- 3.5 Data analysis and performance characterization -- 3.5.1 Data analysis -- 3.5.2 Mirror reflectivity calibration -- 3.5.2.1 Ringdown measurements -- 3.5.2.2 Phase shift measurements -- 3.5.2.3 Samples of known extinction -- 3.5.2.4 Low-loss optical elements -- 3.5.3 Other instrument parameters -- 3.5.4 Analytical performance -- 3.5.4.1 Measurement uncertainty -- 3.5.4.2 Instrument stability and measurement precision -- 3.5.4.3 Limit of detection -- 3.5.4.4 Evaluation of instrument performance -- 3.6 Applications -- 3.6.1 Cross-section measurements -- 3.6.2 Optical properties of particles -- 3.6.3 Concentration measurements -- 3.6.3.1 Nitrogen dioxide, NO2 -- 3.6.3.2 NO3 and N2O5 -- 3.6.3.3 HONO -- 3.6.3.4 Glyoxal and methylglyoxal -- 3.6.3.5 Halogenated species -- 3.6.3.6 Other species -- 3.7 Conclusion and outlook -- References -- 4 - Atmospheric trace gas measurements using laser heterodyne spectroscopy -- 4.1 Introduction -- 4.1.1 Presentation -- 4.1.2 Elements of history -- 4.2 Underlying theoretical principles -- 4.2.1 Laser heterodyne spectrometer models -- 4.2.1.1 Heterodyne signal models -- 4.2.1.2 Noise model -- 4.2.1.3 Signal to noise ratio and noise equivalent power -- 4.2.1.4 Heterodyne efficiency -- 4.2.1.5 Summary. , 4.2.2 Atmospheric information retrieval -- 4.2.2.1 Forward model -- 4.2.2.2 Retrieval -- 4.2.2.3 Summary -- 4.3 Quantum cascade laser heterodyne spectro-radiometers -- 4.3.1 Ground-based measurements of ozone -- 4.3.1.1 Rationale -- 4.3.1.2 Observing system simulations for prior analysis -- 4.3.1.3 Experimental system development -- 4.3.1.4 Results and analysis -- 4.3.2 Ground-based measurement of greenhouse gases -- 4.3.2.1 Rationale -- 4.3.2.2 Prior analysis -- 4.3.2.3 Laboratory demonstration systems -- 4.3.2.4 Deployable LHR for greenhouse gas measurements -- 4.3.2.5 Atmospheric emission -- 4.3.3 Multispecies measurements using widely tunable local oscillators -- 4.4 Prospects for space-borne measurements -- 4.4.1 Small satellite mission concepts -- 4.4.1.1 Greenhouse gas vertical profiling -- 4.4.1.2 Prospects for meteorology applications -- 4.4.1.3 Demonstrator of the hollow waveguide integrated LHR -- 4.4.2 Constellation mission concept -- 4.4.3 Ground-based Mars atmosphere analyzer -- 4.5 Conclusion, wider context, and forward look -- List of acronyms -- Acknowledgments -- References -- 5 - Photoacoustic spectroscopy for gas sensing -- 5.1 - Basics, theory, experimental systems, and applications -- Outline placeholder -- 5.1.1 Introduction and historical perspectives -- 5.1.2 Fundamentals of gas-phase photoacoustics -- 5.1.3 Photoacoustic signal analysis -- 5.1.4 Experimental issues -- 5.1.4.1 Sources and radiation modulation -- 5.1.4.2 Photoacoustic cells -- 5.1.4.2.1 Resonant PA cell combined with multipass arrangement and multimicrophone array -- 5.1.4.2.2 Dual-mode photoacoustic cell -- 5.1.4.2.3 Heatable PA cell -- 5.1.4.2.4 Multifunctional, compact, and miniaturized PA cells -- 5.1.4.3 Quartz-enhanced photoacoustic spectroscopy -- 5.1.4.4 Cantilever-enhanced photoacoustic spectroscopy. , 5.1.5 Examples of photoacoustic spectroscopy applications in trace gas detection -- 5.1.5.1 Traffic pollutant monitoring with conventional PAS -- 5.1.5.2 Aircraft measurements with conventional PAS -- 5.1.5.3 OPO-PA system for simultaneous measurements of CH4, NO2, and NH3 -- 5.1.5.4 Intracavity PA spectroscopy for trace gas sensing -- 5.1.5.5 Alternative configurations of conventional PA method -- 5.1.5.6 QEPAS study on short-lived species -- 5.1.5.7 Most recent QEPAS developments -- 5.1.5.8 Applications of CEPAS sensors -- 5.1.5.9 Further recent CEPAS developments -- 5.1.6 Conclusions and outlook -- Acknowledgments -- References -- 5.2 - Airborne application of a photoacoustic instrument -- Outline placeholder -- 5.2.1 Introduction -- 5.2.2 A brief history of the WaSul-Hygro instrument -- 5.2.3 General advantages of the PA detection method -- 5.2.4 Near-infrared diode lasers in PA measurements -- 5.2.5 System optimization for airborne operation -- 5.2.6 Summary -- References -- 5.3 - Aerosol photoacoustic spectroscopy -- Outline placeholder -- 5.3.1 Introduction -- 5.3.2 PAS and its alternatives for the measurement of light absorption by aerosol -- 5.3.3 The principles and some practical considerations of aerosol PAS -- 5.3.4 Instrument development and its applicability -- 5.3.4.1 Single-wavelength PA instrument for light absorption and mass concentration measurement of BC aerosol -- 5.3.4.2 Multi-wavelength PA instruments for qualitative investigation and source apportionment of LAC -- 5.3.5 Application of aerosol PAS for source apportionment of ambient aerosol -- 5.3.6 Perspectives and outlook -- Acknowledgments -- References -- 6 - Unmanned aerial systems for trace gases -- 6.1 Introduction -- 6.2 Environmental considerations -- 6.2.1 Local emission sampling -- 6.2.2 Long-duration drone sampling. , 6.3 Spectroscopic approaches for sampling on sUAS -- 6.3.1 In situ -- 6.3.2 Path-integrated -- 6.3.3 Other approaches -- 6.4 Flight sampling examples -- 6.4.1 Mass balance -- 6.4.2 Inverse Gaussian dispersion methods -- 6.4.3 Spatial mapping -- 6.4.4 Vertical profiles -- 6.5 Future considerations -- References -- 7 - Measurements of aerosol optical properties using spectroscopic techniques -- 7.1 Introduction -- 7.2 Light scattering and absorption by particles -- 7.2.1 Light scattering and absorption by a single particle -- 7.2.2 Light scattering and absorption by an ensemble of particles -- 7.2.3 Aerosol optical models -- 7.2.4 Effects of optical properties on radiative balance -- 7.3 Measurement techniques of aerosol optical property -- 7.3.1 Remote sensing techniques -- 7.3.2 Filter-based photometers -- 7.3.3 Photoacoustic spectroscopy and photothermal interferometry -- 7.3.4 Integrating nephelometers -- 7.3.5 Cavity ring-down and cavity-enhanced spectroscopy -- 7.3.6 Polar nephelometry -- 7.3.7 Other techniques -- 7.4 Aerosol albedometer -- 7.4.1 Integrated photoacoustic nephelometer -- 7.4.2 Cavity ring-down/enhanced albedometer -- 7.4.2.1 Tube cell configuration -- 7.4.3 Integrating sphere configuration -- 7.5 Intercomparison in the aerosol optical property measurements -- 7.6 Application to optical property measurements of aerosol particles -- 7.6.1 Light absorption of black carbon -- 7.6.1.1 TD method -- 7.6.1.2 MAC method -- 7.6.1.3 Aerosol filter filtration-dissolution method -- 7.6.2 Optical properties of organic carbon -- 7.6.3 Optical properties of mineral dust and iron oxide particles -- 7.6.4 RH dependence of aerosol optical properties -- 7.7 Conclusion -- References -- 8 - Trace gas measurements using cavity ring-down spectroscopy -- 8.1 Introduction -- 8.2 Experimental methods of CRDS -- 8.2.1 Principles of CRDS. , 8.2.2 Optical resonant cavity.

Note: Intro -- Preface -- Contents -- Part I Embodied-Brain Systems Science -- Clustering Latent Sensor Distribution on Body Map for Generating Body Schema -- 1 Introduction -- 2 Previous Research -- 2.1 Body Map -- 2.2 Body Schema -- 3 Proposed Method -- 3.1 Overview -- 3.2 Generation of the Body Map -- 3.3 Estimation of Nodes for the Body Schema -- 4 Verification Experiments in Virtual Space -- 4.1 Overview of Experiments -- 4.2 Virtual Multilink Model for Verification Experiments -- 4.3 Experiment for Generating the Body Map -- 4.4 Experiment for Estimating Nodes of the Body Schema -- 5 Conclusion -- References -- Improvement of EMG Pattern Recognition by Eliminating Posture-Dependent Components -- 1 Introduction -- 2 Method -- 2.1 Bilinear Model -- 2.2 Proposed Method -- 3 Experiment -- 3.1 Data Collection -- 3.2 Signal Preprocessing and Feature Extraction -- 3.3 Analysis -- 4 Result -- 4.1 Analysis 1 -- 4.2 Analysis 2 -- 5 Conclusion -- References -- 3 Quantification of Temporal Parameters for Tripedalism -- Abstract -- 1 Introduction -- 2 Methods -- 3 Results -- 4 Discussion -- Acknowledgements -- References -- Proposal of a Stance Postural Control Model with Vestibular and Proprioceptive Somatosensory Sensory Input -- 1 Introduction -- 2 Problem Statement -- 2.1 Musculoskeletal Model -- 2.2 Neurological Time Delay -- 2.3 Sensory Inputs -- 3 Proposed Neural Controller -- 3.1 Feed-Forward Control -- 3.2 Proprioceptive Feedback Control -- 3.3 Vestibular Feedback Control -- 4 Parameter Design -- 5 Results -- 6 Discussion -- 7 Conclusion -- References -- Simultaneous Localization, Mapping and Self-body Shape Estimation by a Mobile Robot -- 1 Introduction -- 2 SLAM -- 3 SLAM-SBE -- 4 Experiment -- 4.1 Conditions -- 4.2 Results -- 5 Conclusion and Future Directions -- References. , 6 Objective Measurement of Dynamic Balance Function by the Simultaneous Measurement of the Center of Gravity (COG) and Center of Pressure (COP) -- Abstract -- 1 Introduction -- 2 Materials and Methods -- 2.1 Subjects -- 2.2 Measurements -- 2.3 Data Analysis -- 3 Results -- 4 Discussion -- 5 Conclusion -- References -- Development of a Master--Slave Finger Exoskeleton Driven by Pneumatic Artificial Muscles -- 1 Introduction -- 2 Construction of the Finger Exoskeleton -- 3 Bilateral Control Specialized for the Developed Device -- 3.1 Basic Bilateral Control for the Master--Slave System -- 3.2 Relationship Between Pressures and Tensions When the Master and Slave Take the Same Posture -- 3.3 Relationship Between Pressures and Tensions with a Constant Amount of Internal Air -- 3.4 Derivation of the Proposed Method -- 4 Experiment -- 4.1 Experimental Setup -- 4.2 Results -- 5 Conclusion and Future Works -- References -- Temporal Structure of Muscle Synergy of Human Stepping Leg During Sit-to-Walk Motion -- 1 Introduction -- 2 Methods -- 2.1 Muscle Synergy Model -- 2.2 Experiment -- 3 Results -- 4 Discussion -- 5 Conclusion -- References -- Part II Field Robot -- Fast and Accurate Crop and Weed Identification with Summarized Train Sets for Precision Agriculture -- 1 Introduction -- 2 Related Work -- 3 Vision-Based Plant Classification -- 3.1 Vegetation Detection -- 3.2 Pixel-Wise Crop/Weed Classification -- 3.3 Blob-Wise Crop/Weed Classification -- 4 Unsupervised Dataset Summarization -- 4.1 Subset Selection as a Document Summarization -- 4.2 Bag-of-Visual-Words from the CNN -- 4.3 The Proposed Algorithm -- 5 Experimental Results -- 5.1 Experimental Setup -- 5.2 Vegetation Detection -- 5.3 Crop/Weed Classification -- 5.4 Unsupervised Dataset Summarization -- 6 Conclusions -- References. , Supervised Autonomy for Exploration and Mobile Manipulation in Rough Terrain -- 1 Introduction -- 2 Related Work -- 3 Mapping and Localization -- 3.1 Preprocessing and 3D Scan Assembly -- 3.2 Local Mapping -- 3.3 Allocentric Mapping -- 3.4 Localization -- 3.5 Height Mapping -- 4 Object Perception -- 5 Navigation -- 5.1 Local Height Difference Maps -- 5.2 Path Planning -- 5.3 Base Orientation Control -- 6 Manipulation -- 7 Evaluation -- 7.1 Mapping and Self-localization -- 7.2 Navigation System -- 7.3 Object Manipulation -- 7.4 Full System Performance at DLR SpaceBot Camp 2015 -- 8 Conclusion -- References -- Behavior-Based Collision Avoidance Using a Cylinder-Coordinate Octree -- 1 Introduction -- 2 System Background -- 3 Main Components -- 3.1 Cylinder-Coordinate Octree -- 3.2 Obstacle Avoidance -- 4 Experiments -- 5 Conclusion and Future Work -- References -- 12 An Integrated Robotic System for Autonomous Brake Bleeding in Rail Yards -- Abstract -- 1 Introduction -- 2 System Design -- 2.1 System Architecture -- 2.2 Environmental Modeling and Platform Motion Control -- 2.3 Target-of-Interest Detection and Pose-Estimation [19] -- 2.4 Trajectory Planning and Actuation -- 3 Experimental Results and Discussion -- 3.1 Detection Results -- 3.2 Motion Planning Results -- 3.3 System Testing Results -- 4 Conclusion -- References -- Part III Flying Robot -- 13 I Believe I Can Fly-Gesture-Driven Quadrotor Control Based on a Fuzzy Control System -- Abstract -- 1 Introduction -- 2 The Technology -- 3 Kinematics -- 4 Fuzzy-Controller -- 4.1 Fuzzification -- 4.2 Inference -- 4.3 Defuzzification -- 4.4 Usage in This Project -- 5 Conclusions -- References -- 14 ROS-Gazebo Supported Platform for Tag-in-Loop Indoor Localization of Quadrocopter -- Abstract -- 1 Introduction -- 2 ROS-Gazebo Supported System Development -- 2.1 System Architecture -- 2.2 System Workflow. , 3 Tag-in-Loop Localization Algorithm and Implementation -- 3.1 Principle of AprilTag Algorithm -- 3.2 ROS-Based Implementation -- 4 System Demonstration -- 5 Concluding Remarks -- References -- The Project PRISMA: Post-Disaster Assessment with UAVs -- 1 Introduction -- 2 The Asctec Multirotors and the ETHNOS Framework -- 3 SLAM and Image Stitching -- 4 Real-Time Path Generation with Obstacle Avoidance -- 5 Coverage Algorithms for Search & -- Rescue -- 6 Movement in Formation and Human-Swarm Interfaces -- 7 Conclusions -- References -- An Automatic Collision Avoidance Approach to Assist Remotely Operated Quadrotors -- 1 Introduction -- 2 Related Work and State-of-the-Art -- 3 Collision Avoidance: Our Approach -- 3.1 The Quadrotor Platform -- 3.2 Future Trajectory Estimation -- 3.3 Simultaneous Localization and Mapping -- 3.4 Our Approach for Collision Detection -- 3.5 Controlling to Safe Position -- 4 Experimental Setup and Results -- 5 Conclusion -- References -- Part IV Hand -- Shared Control with Flexible Obstacle Avoidance for Manipulator -- 1 Introduction -- 2 Flexible Obstacle Avoidance -- 2.1 Flexible Potential Field -- 2.2 Flexible Space -- 2.3 Flexible Potential Field Estimation -- 3 Semantic Mapping -- 4 Shared Control -- 5 Simulation -- 5.1 Simulator -- 5.2 Result -- 6 Conclusion -- References -- An RGB-D Visual Application for Error Detection in Robot Grasping Tasks -- 1 Introduction -- 2 Application Architecture -- 3 Gripper Recognition -- 4 Grasp Check -- 5 Experimental Results -- 6 Conclusions -- References -- Sensorless In-Hand Caging Manipulation -- 1 Introduction -- 2 Related Works -- 3 Conditions for In-Hand Caging Manipulation -- 3.1 Conditions for Caging -- 3.2 Caging Manipulability -- 4 Planning of In-Hand Caging Manipulation -- 4.1 Problem Statement -- 4.2 Planning Algorithm -- 4.3 Tests for In-Hand Caging Manipulation. , 4.4 Heuristics to Avoid Jamming -- 4.5 Execution of Manipulation Plans -- 5 3D In-Hand Caging Manipulation -- 5.1 Overview of 3D In-Hand Caging Manipulation -- 5.2 Experimental Setup -- 5.3 Experimental Results -- 6 Conclusion -- References -- 20 Development of New Cosmetic Gloves for Myoelectric Prosthetic Hand by Using Thermoplastic Styrene Elastomer -- Abstract -- 1 Introduction -- 2 Design Concept and Requirements -- 2.1 Appearance -- 2.2 Function of Grasping and Handling (Dynamic Viscoelasticity and Shape of Fingertip) -- 2.3 Durability -- 2.4 Bio-texturized Feeling -- 2.5 Flexibility -- 3 Experimental Result of Functional Evaluation -- 3.1 Tear-Strength Comparison Test -- 3.2 Fitting-Time Comparison -- 3.3 Electric Current During EMG Prosthetic Hand Motion -- 3.4 Flexibility -- 4 Pick-and-Place Experiment -- 5 Summary -- Acknowledgements -- References -- Part V Human Robot Interaction -- Cloud-Based Task Planning for Smart Robots -- 1 Introduction -- 2 Related Work -- 3 The Ontology -- 3.1 Design -- 3.2 Implementation Details -- 4 The Cloud-Based Engine -- 4.1 Data Retrieval -- 4.2 Data Insertion -- 4.3 Human-Robot Interaction -- 4.4 Manipulation Data Generation -- 5 Experiments -- 5.1 Results -- 6 Conclusion and Future Work -- References -- 22 Tracking Control of Human-Following Robot with Sonar Sensors -- Abstract -- 1 Introduction -- 2 Robot System Structure -- 2.1 Hardware Structure -- 2.2 Software Structure -- 3 Tracking Control Strategy -- 3.1 Firing Strategy -- 3.2 Human-Following and Obstacle-Avoiding Strategy -- 4 Experiment and Analysis -- 5 Conclusion -- Acknowledgements -- References -- 23 Active Sensing for Human Activity Recognition by a Home Bio-monitoring Robot in a Home Living Environment -- Abstract -- 1 Introduction -- 2 Methods -- 2.1 Active Sensing -- 2.2 Experiments -- 2.2.1 Experiment 1, Controlled Scenario. , 2.2.2 Experiment 2, Daily Life Activity Scenario.