This volume contains the selected papers presented at the EUROTHERM SEMINAR No. 17 - Heat Transfer in Radiating and Combusting Systems held at Cascais from October 8th- 10th, 1990. The EUROTHERM COMMITTEE was created by representatives of the member countries of the European Communities for the organization and coordination of European Scientific events in the field of thermal sciences and their applications. The book is focused on the integration of the heat transfer and combustion. These two subjects have traditionally been considered separate disciplines. In reality, the two are closely interwoven. The central purpose of the book is to generate an effective cross fertilisation of the two at both the fundamental and applied levels. The book reports on: mathematical simulations of heat transfer in reacting systems, new measurements of and measurement techniques for the radiation properties of the intervening medium, and data and theoretical analyses which clarify the physical nature of the complex interactions between the radiation/convection heat transfer processes and the combustion and turbulence of real reacting flows.

The author developed this text over many years, teaching graduate courses in advanced dynamics and flexible multibody dynamics at the Daniel Guggenheim School of Aerospace Engineering of the Georgia Institute of Technology.

The book presents a unified treatment of rigid body dynamics, analytical dynamics, constrained dynamics, and flexible multibody dynamics. A comprehensive review of numerical tools used to enforce both holonomic and nonholonomic constraints is presented. Advanced topics such as Maggi s, index-1, null space, and Udwadia and Kalaba s formulations are presented because of their fundamental importance in multibody dynamics. Methodologies for the parameterization of rotation and motion are discussed and contrasted. Geometrically exact beams and shells formulations, which have become the standard in flexible multibody dynamics, are presented and numerical aspects of their finite element implementation detailed. Methodologies for the direct solution of the index-3 differential-algebraic equations characteristic of constrained multibody systems are presented. It is shown that with the help of proper scaling procedures, such equations are not more difficult to integrate than ordinary differential equations.

This book is illustrated with numerous examples and should prove valuable to both students and researchers in the fields of rigid and flexible multibody dynamics."

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By the dawn of the new millennium, robotics has undergone a major transformation in scope and dimensions. This expansion has been brought about by the maturity of the field and the advances in its related technologies. From a largely dominant industrial focus, robotics has been rapidly expanding into the challenges of the human world. The new generation of robots is expected to safely and dependably co-habitat with humans in homes, workplaces, and communities, providing support in services, entertainment, education, healthcare, manufacturing, and assistance. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider range of applications reaching across diverse research areas and scientific disciplines, such as: biomechanics, haptics, neurosciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are proving an abundant source of stimulation and insights for the field of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The goal of the series of Springer Tracts in Advanced Robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on the basis of their significance and quality. It is our hope that the wider dissemination of research developments will stimulate more exchanges and collaborations among the research community and contribute to further advancement of this rapidly growing field.

The International Union of Theoretical and Applied Mechanics (IUTAM) decided in 1992 to sponsor the fourth Symposium on Laminar-Turbulent Transition, Sendai/Japan, 1994. The objectives of the present Symposium were to deepen the fundamental knowledge of stability and laminar turbulent transition in three-dimensional and compressible flows and to contribute to recent developing technologies in the field. This Symposium followed the three previous IUTAM-Symposia (Stuttgart 1979, Novosibirsk 1984 and Toulouse 1989). The Scientific Committee selected two keynote lectures and 62 technical papers. The Symposium was held on the 5th to 9th of September, 1994, at the Sendai International Center in Sendai. The participants were 82 scientists from 10 countries. The keynote lectures have critically reviewed recent development of researches concerning the laminar-to-turbulent transition phenomena from the fundamental and the application aspects. Many papers presented were concerned about the detailed mechanism of the boundary layer transition (receptivity, secondary instability, turbulent spot and bypass transition). Particular emphasis was further placed on the transition of three-dimensional boundary layers on rotation systems and on swept wings. Attention was also given to compressible hypersonic flows."

MANNED SPACE FLIGHT introduces into space travel parameters that are unique. Man can live without food for a reasonably long period; without water, the period becomes quite a bit shorter; but without air, the result-almost instantaneous-is death. This would make the atmosphere the most important consideration. In fact, however, man needs all three components: oxygen, water, and food; and if anyone of them failS, he is doomed. With our space efforts approaching trips of several weeks in length and certainly heading for month-long journeys, it is most appropriate to ask: Are we ready to provide an adequate atmo spheric milieu for the astronauts? The present volume represents the first integrated attempt to answer this question on a scientific level and on a broad basis of physical and mechanical, biological, biochemical and medical factors. The main features of this work were presented at a symposium of the Division of Industrial and Engineering Chemistry of the American Chemical Society, held in Atlantic City on Septem ber 13, 1965. The volume is an expanded and reorganized treatise based on, but not merely proceeding from, the symposium. Obviously, medical aspects are of paramount importance. A down-to-earth appraisal of the status quo, presented by Dr. E. M. Roth, shows that the problem of 100% oxygen atmosphere still is beset with some uncertainty in the 200 to 500 mm. total cabin pressure range. Additionally, attention is called to inherent dangers of greatly increased flammability in such an atmosphere."

I wrote this book because I wanted to learn more about interstel lar flight. Not the Star Trek notion of tearing around the Galaxy in a huge spaceship-that was obviously beyond existing tech nology-but a more realistic mission. In 1989 I had videotaped Voyager 2's encounter with Neptune and watched the drama of robotic exploration over and over again. I started to wonder whether we could do something similar with Alpha Centauri, the nearest star to the Sun. Everyone seemed to agree that manned flight to the stars was out of the question, if not permanently then for the indefinitely foreseeable future. But surely we could do something with robotics. And if we could figure out a theoretical way to do it, how far were we from the actual technology that would make it happen? In other words, what was the state of our interstellar technology today, those concepts and systems that might translate into a Voyager to the stars? Finding answers meant talking to people inside and outside of NASA. I was surprised to learn that there is a large literature of interstellar flight. Nobody knows for sure how to propel a space craft fast enough to make the interstellar crossing within a time scale that would fit the conventional idea of a mission, but there are candidate systems that are under active investigation. Some of this effort begins with small systems that we'll use near the Earth and later hope to extend to deep space missions."

Wave breaking is a commonly occurring phenomena associated with wave motion in fluids, often inducing significant effects which are of fundamental and technological importance, A familiar illustration is provided with white-capping and microbreaking of the wind-driven ocean sUrface waves, which is believed to play an important part in the transfers of momentum, mass and heat across the air-sea interface, as well as in the production of underwater ambient noise and augmented microwave backscatter. The enhanced hydrodynamic forces associated with the breaking of the more energetic ocean wave components constitute a significant challenge in ocean engineering, coastal engineering and naval architecture. Other less conspicuous but equally important manifestations are the breaking of internal waves and the fila mentation of vorticity interfaces. Despite recent theoretical and observational progress towards a more complete understanding of wave breaking, mathematical descriptions of its onset and consequences are presently lacking. The aim of this Symposium was to bring together theoretical and observational expertise, with the goal of determining the current state of knowledge of wave breaking and providing a stimulus to future research. The Symposium focused on water waves of all scales from capillary waves to ocean swell, but also considered internal waves and the filamentation of vorticity interfaces. Specific topics included were: Fundamental theoretical studies; wave instabilities; routes to breaking. Models of wave breaking. Field observations, including statistical information. Laboratory studies. Shoaling waves, breaking waves on currents, breaking induced by the motion of a ship.

This monograph is intended to provide a snapshot of the status and opportunities for advan cement in the technologies of dynamics and control oflarge flexible spacecraft structures. It is a reflection ofthe serious dialog and assessments going on all over the world, across a wide variety of scientific and technical disciplines, as we contemplate the next major milestone in mankind's romance with space: the transition from exploration and experimentation to commercial and defense exploitation. This exploitation is already in full swing in the space communications area. Both military and civilian objectives are being pursued with increasingly more sophisticated systems such as large antenna reflectors with active shape control. Both the NATO and Warsaw pact alliances are pursuing permanent space stations in orbit: large structural systems whose development calls for in-situ fabrication and/or assembly and whose operation will demand innovations in controls technology. The last ten years have witnessed a fairly brisk research activity in the dynamics and control oflarge space structures in orderto establish a technology base forthe development of advanced spacecraft systems envisioned for the future. They have spanned a wide spectrum of activity from fundamental methods development to systems concept studies and laboratory experimentation and demonstrations. Some flight experiments have also been conducted for various purposes such as the characterization of the space enviroment, durability of materials and devices in that environment, assembly and repair operations, and the dynamic behavior of flexible structures. It is this last area that has prompted this monogram."

The concept of traffic conflict was initiated in the Uni ted States in the 60s and raised a lot of interest in many countries: it was an opening towards the develop ment of a new tool for safety evaluation and the diagnosis of local safety pro blems. The need for such a tool was great, because of the many situations where accident data was either scarce, unsatisfactory or unavailable. Development of Traffic Conflict Techniques (TCT) started simultaneously in the 70s in several European count ries and new studies were also undertaken in the Uni ted States, Canada and Israel. The need for international cooperation was rapidly feIt, in order to exchange data, compare definitions and check progresses. An Association for International Cooperation on Traffic Conflict Techniques (ICTCT) was therefore created, grouping researchers and safety administrators, with the aim of promoting and organising exchange of information and common practical work. Three Traffic Conflict Techniques Workshops were organised, in Oslo (1977), Paris (1979) and Leidschendam (1982). A small scale international experiment of calibra tion of TCTs was also carried out in Rouen, France, in 1979, and five teams took part in it from France, Germany, Sweden, the United Kingdom and the United States; results of this first experiment were used as a basis for the present enterprise. To be acknowledged as a safety measuring tool, traffic conflict techniques had to be validated in relation to traditional safety indicators such as injury-accidents."

The aim of the present book is the formulation, mathematical study and numerical treatment of static and dynamic problems in mechanics and engineering sciences involving nonconvex and nonsmooth energy functions, or nonmonotone and multivalued stress-strain laws. Such problems lead to a new type of variational forms, the hemivariational inequalities, which also lead to multivalued differential or integral equations. Innovative numerical methods are presented for the treament of realistic engineering problems. This book is the first to deal with variational theory of engineering problems involving nonmonotone multivalue realations, their mechanical foundation, their mathematical study (existence and certain approximation results) and the corresponding eigenvalue and optimal control problems. All the numerical applications give innovative answers to as yet unsolved or partially solved engineering problems, e.g. the adhesive contact in cracks, the delamination problem, the sawtooth stress-strain laws in composites, the shear connectors in composite beams, the semirigid connections in steel structures, the adhesive grasping in robotics, etc. The book closes with the consideration of hemivariational inequalities for fractal type geometries and with the neural network approach to the numerical treatment of hemivariational inequalities.

The authors and editors of this Handbook have attempted to fill a serious gap in the professional literature on industrial automation. Much past attention has been directed to the general concepts and philosophy of automation as a way to convince owners and managers of manufacturing facilities that automation is indeed one of the few avenues available to increase productivity and improve competitive position. Seventy-three contributors share their knowledge in this Handbook. Less attention has been given to the "What" and "How" of automation. To the extent feasible and practical within the confines of the pages allowed, this Handbook concentrates on the implementation of automation. Once the "Go" signal has been given by management, concrete details-not broad definitions and philosophical discussions-are required. To be found in this distinctly different book in the field are detailed parameters for designing and specifying equipment, the options available with an evaluation of their relative advantages and limitations, and insights for engineers and production managers on the operation and capabilities of present-generation automation system components, subsystems, and total systems. In a number of instances, the logical extension of current technology into the future is given. A total of 445 diagrams and photos and 57 tables augments detailed discussions. In addition to its use as a ready reference for technical and management personnel, the book has wide potential for training and group discussions at the college and university level and for special education programs as may be provided by consultants or by "in-house" training personnel.

This book is the product of four years of collaborative work within the framework of the European Science Foundation's Regional and Urban Restructuring in Europe (RURE) programme. With one exception, all of the chapters have been prepared by participants in RURE - the exception being that commissioned from Conti and Enrietti on Fiat and Italy to provide a fuller coverage of changes in the main automobile producing companies and countries of Europe. A - perhaps the - central theme around which the RURE programme was conceived is that the restructuring of the production system lies at the heart of the changing map of Europe. Equally, it continues to be the case that the automobile industry lies at the cutting edge of the search for viable new models of production. Some eighty years ago the automobile industry occupied a pivotal position in the transition from craft to mass production - indeed "Fordism" came to denote not just a particular micro-economic model of production organisation in the factory but a macro-scale model of economic development, characterized by a particular pattern of relations between mass production, mass consumption and national state regulation. From the late 1960s, however, it became increasingly clear that Fordism as a macro-scale model of advanced capitalist development was reaching its limits.

The IUTAM Symposium on Macro- and Micro-Mechanics of High Velocity Deformation and Fracture (MMMHVDF) (August 12 - 15, 1985) was held at Science Council of Japan, under the sponsor ship of IUTAM, Science Council of Japan, Japan Society for the Promotion of Science, The Commemorative Association for the Japan World Exposition (1970), and The Japan Society for Aeronautical and Space Sciences. The proposal of the symposium was accepted by the General Assembly of IUTAM, and the scientists mentioned below were appointed by the Bureau of IUTAM to serve as member of the Scientific Committee. The main object of the Symposium was to make a general survey of recent developments in the re search of high velocity solid mechanics and to explore further new ideas for dealing with unsettled problems, of fundamental nature as well as of practical importance. The subjects covered theoretical, experimental, and numerical fields in macro- and micro-mechanics associated with high velocity de formatio and fracture in soldis, covering metals, ceramics, polymers, and composites."

In recent years more emphasis has been placed in transport research on using existing roads as efficiently as possible in order to diminish the impact of traffic congestion. This book describes new theoretical, empirical and simulation models to analyse the impact of information provision to drivers and road pricing on congestion levels. It is the first publication presenting a wide variety of economic models to study information and road pricing effects jointly.

t~icrogravity research, a new field originating from the accessibility of space, has reached the age of adolescence. An impressive set of results has emerged from the fi rst Space 1 ab fl i ght, whi ch by now has been fully evaluated. In view of this and the wealth of information available from other space experiments, ground based research, and short-term microgra- vity experiments in ai rp 1 anes, rockets or fall towers, it was felt that the time was ripe for a comprehensive review of the field. The initiative of the US to build a permanent station in space, which was soon followed by a European decision to join this venture, further focussed attention onto microgravity materials sciences. This originates from the interesting prospects of a commercial space uti 1 ization, which would heavily rely on the results of scientific or technical experiments in space. From this point of view it also seemed timely and essential to provi de prospective commerci a 1 users with the necessary i nformat i on on previous experience, and more importantly, with a sound scientific basis for space processing. The aim of the present volume consequently is twofold, namely - to stimulate new scientific experiments in space in order to expand our knowledge gained from microgravity research, and to provide industry with the information obtained from space experi- ments sofar and to contribute to the scientific background for commer- cial space utilization.

It was on a proposal of the late Professor Maurice Roy, member of the French Academy of Sciences, that in 1982, the General Assembly of the International Union of Theoretical and Applied Mechanics decided to sponsor a symposium on Turbulent Shear-Layer/Shock-Wave Interactions. This sympo sium might be arranged in Paris -or in its immediate vicinity-during the year 1985. Upon request of Professor Robert Legendre, member of the French Academy of Sciences, the organization of the symposium might be provided by the Office National d'Etudes et de Recherches Aerospatiales (ONERA). The request was very favorably received by Monsieur l'Ingenieur General Andre Auriol, then General Director of ONERA. The subject of interactions between shock-waves and turbulent dissipative layers is of considerable importance for many practical devices and has a wide range of engineering applications. Such phenomena occur almost inevitably in any transonic or supersonic flow and the subject has given rise to an important research effort since the advent of high speed fluid mechanics, more than forty years ago. However, with the coming of age of modern computers and the development of new sophisticated measurement techniques, considerable progress has been made in the field over the past fifteen years. The aim of the symposium was to provide an updated status of the research effort devoted to shear layer/shock-wave interactions and to present the most significant results obtained recently."

The interest in the field of active flow control (AFC) is steadily increasing. In - cent years the number of conferences and special sessions devoted to AFC org- ized by various institutions around the world continuously rises. New advanced courses for AFC are offered by the American Institute of Aeronautics and Ast- nautics (AIAA), the European Research Community on Flow, Turbulence and Combustion (ERCOFTAC), the International Centre for Mechanical Sciences (CISM), the von Karman Institute for Fluid Dynamics (VKI), to name just a few. New books on AFC are published by prominent colleagues of our field and even a new periodical, the 'International Journal of Flow Control', appeared. Despite these many activities in AFC it was felt that a follow-up of the highly successful 'ACTIVE FLOW CONTROL' Conference held in Berlin in 2006 was appropriate. As in 2006, 'ACTIVE FLOW CONTROL II' consisted only of invited lectures. To sti- late multidisciplinary discussions between experimental, theoretical and numerical fluid dynamics, aerodynamics, turbomachinary, mathematics, control engineering, metrology and computer science parallel sessions were excluded. Unfortunately, not all of the presented papers made it into this volume. As the preparation and printing of a book takes time and as this volume should be available at the conf- ence, the Local Organizing Committee had to set up a very ambitious time sch- ule which could not be met by all contributors.

Multibody systems are the appropriate models for predicting and evaluating performance of a variety of dynamical systems such as spacecraft, vehicles, mechanisms, robots or biomechanical systems. This book adresses the general problem of analysing the behaviour of such multibody systems by digital simulation. This implies that pre-computer analytical methods for deriving the system equations must be replaced by systematic computer oriented formalisms, which can be translated conveniently into efficient computer codes for - "generatin"g the system equations based on simple user data describing the system model - "solving" those complex equations yielding results ready for design evaluation. Emphasis is on computer based derivation of the system equations thus freeing the user from the time consuming and error-prone task of developing equations of motion for various problems again and again.

Very light, very strong. extremely reliable -aircraft and aerospace engineers are. and have to be. very demanding partners in the materials community. The results of their research and development work is not only crucial for one special area of applications. but can also lead the way to new solutions in many other areas of advanced technology. Springer-Verlag and the undersigned editor are pleased to present in this volume. an overview of the many facets of materials science and technology which have been the objective of intensive and systematic research work during past decades in the laboratories of the German Aerospace Research Establishment. Its contents shows clearly the interrelations between goals defined by the user. fundamentals provided by the scientists and viable solutions developed by the practical engineer. The particular personal touch which has been given to this volume by its authors in dedicating it as a farewell present to Professor Wolfgang Bunk. inspiring sci entist and director of the DLR Intitute of Materials Research for more than 20 years. has obviously given an added value to this important publication. Surely. this truly cooperative endeavour will render a valuable service to a large interna tional community of interested readers. many of them having personal links to the Institute. its director and its staff."

The Joint Institute for Aeronautics and Acoustics at Stanford University was established in October 1973 to provide an academic environment for long-term cooperative research between Stanford and NASA Ames Research Center. Since its establishment, the Institute has conducted theoretical and experimental work in the areas of aerodynamics, acoustics, fluid mechanics, flight dynamics, guidance and control, and human factors. This research has involved Stanford faculty, research associates, graduate students, and many distinguished visitors in collaborative efforts with the research staff of NASA Ames Research Center. The occasion of the Institute's tenth anniversary was used to reflect back on where that research has brought us, and to consider where our endeavors should be directed next. Thus, an International Symposium was held to review recent advances in the fields relevant to the activities of the Institute and to discuss the areas of research to be undertaken in the future. This anniversary was also chosen as an opportunity to honor one of the Institute's founders and its director, Professor Krishnamurty Karamcheti. It has been his crea tive inspiration that has provided the ideal research environment at the Joint Institute."

Spaceflight Life Support and Biospherics is the introduction to space life support systems and artificial ecosystems that has so far been lacking. It is a source of information for everyone involved in the life support system design and development process - engineers, scientists, and students - as well as all those who are simply interested in this existing discipline. The structure of this book is such that it gives step-by-step answers to the basic questions concerning life support systems on any scale - from small microbial systems to the Earth's biosphere: Why life support system development and biosphere research? How does our natural life support system, the biosphere, work? What are the environmental conditions for life support systems in space? What are the fundamental terms and requirements of life support? Which physicochemical life support subsystems currently exist? Which are the potential bioregenerative life support technologies of the future? What are life support systems of future planetary habitats going to look like? What are the experiences of the largest artificial ecosystem - Biosphere 2? What are the potential terrestrial benefits of life support development? GBP/LISTGBP

This volume contains selected contributions to the second Hydrogen Power, Theoretical and Engineering Solutions, International Symposium (HYPOTHESIS II), held in Grimstad, Norway, from 18 to 22 August 1997. The scientific programme included 10 oral sessions and a poster session. Widely based national committees, supported by an International Scientific Advisory Board and the International Coordinators, made every effort to design and bring together a programme of great excellence. The more than one hundred papers submitted represent the efforts of research groups from all over the World. The international character of HYPOTHESIS II has been augmented by contributions coming from seven countries outside Europe. The contributions reflect the progress that has been achieved in hydrogen technology aimed primarily at hydrogen as the ultimate energy vector. This research have already yielded mature technologies for mass production in many areas. These and future results will be of increased interest and importance as global and local environmental issues move higher up the political agenda. In order to facilitate new contacts between scientists and strengthen existing ones, the symposium incorporated an extensive social program managed by the Conference Administrator, Ms. Ann Y stad.

Composite materials are increasingly used in aerospace, underwater, and automotive structures. To take advantage of the full potential of composite materials, structural analysts and designers must have accurate mathematical models and design methods at their disposal. The objective of this monograph is to present the laminated plate theories and their finite element models to study the deformation, strength and failure of composite structures. Emphasis is placed on engineering aspects, such as the analytical descriptions, effective analysis tools, modeling of physical features, and evaluation of approaches used to formulate and predict the response of composite structures. The first chapter presents an overview of the text. Chapter 2 is devoted to the introduction of the definitions and terminology used in composite materials and structures. Anisotropic constitutive relations and Iaminate plate theories are also reviewed. Finite element models of laminated composite plates are presented in Chapter 3. Numerical evaluation of element coefficient matrices, post-computation of strains and stresses, and sample examples of laminated plates in bending and vibration are discussed. Chapter 4 introduces damage and failure criteria in composite laminates. Finally, Chapter 5 is dedicated to case studies involving various aspects and types of composite structures. Joints, cutouts, woven composites, environmental effects, postbuckling response and failure of composite laminates are discussed by considering specific examples.

This textbook deals with optimization of dynamic systems. The motivation for undertaking this task is as follows: There is an ever increasing need to produce more efficient, accurate, and lightweight mechanical and electromechanical de vices. Thus, the typical graduating B.S. and M.S. candidate is required to have some familiarity with techniques for improving the performance of dynamic systems. Unfortunately, existing texts dealing with system improvement via optimization remain inaccessible to many of these students and practicing en gineers. It is our goal to alleviate this difficulty by presenting to seniors and beginning graduate students practical efficient techniques for solving engineer ing system optimization problems. The text has been used in optimal control and dynamic system optimization courses at the University of Deleware, the University of Washington and Ohio University over the past four years. The text covers the following material in a straightforward detailed manner: * Static Optimization: The problem of optimizing a function that depends on static variables (i.e., parameters) is considered. Problems with equality and inequality constraints are addressed. * Numerical Methods: Static Optimization: Numerical algorithms for the solution of static optimization problems are presented here. The methods presented can accommodate both the unconstrained and constrained static optimization problems. * Calculus of Variation: The necessary and sufficient conditions for the ex tremum of functionals are presented. Both the fixed final time and free final time problems are considered.

The utilization of mathematical models to numerically describe the performance of internal combustion engines is of great significance in the development of new and improved engines. Today, such simulation models can already be viewed as standard tools, and their importance is likely to increase further as available com puter power is expected to increase and the predictive quality of the models is constantly enhanced. This book describes and discusses the most widely used mathematical models for in-cylinder spray and combustion processes, which are the most important subprocesses affecting engine fuel consumption and pollutant emissions. The relevant thermodynamic, fluid dynamic and chemical principles are summarized, and then the application of these principles to the in-cylinder processes is ex plained. Different modeling approaches for the each subprocesses are compared and discussed with respect to the governing model assumptions and simplifica tions. Conclusions are drawn as to which model approach is appropriate for a specific type of problem in the development process of an engine. Hence, this book may serve both as a graduate level textbook for combustion engineering stu dents and as a reference for professionals employed in the field of combustion en gine modeling. The research necessary for this book was carried out during my employment as a postdoctoral scientist at the Institute of Technical Combustion (ITV) at the Uni versity of Hannover, Germany and at the Engine Research Center (ERC) at the University of Wisconsin-Madison, USA."