1. Background This textbook is an introduction to and exploration of a number of core topics in the ?eld of applied mechanics. Mechanics, in both its theoretical and applied contexts, is, like all scienti?c endeavors, a human construct. It re?ects the personalities, thoughts, errors, and successes of its creators. We therefore provide some personal information about each of these individuals when their names arise for the ?rst time in this book. This should enable the reader to piece together a cultural-historical picture of the ?eld s origins and development. This does not mean that we are writing history. Nevertheless, some remarks putting individuals and ideas in context are necessary in order to make clear what we are speaking about - and what we are not speaking about. At the end of the 19th century, technical universities were established eve- where in Europe in an almost euphoric manner. But the practice of technical mechanics itself, as one of the basics of technical development, was in a desolate state, due largely to the refusal of its practitioners to recognize the in?uence of kinetics on motion. They were correct to the extend that then current mechanical systems moved with small velocities where kinetics does not play a signi?cant role. But they had failed to keep up with developments in the science underlying their craft and were unable to keep pace with the speeds of such systems as the steam engine.

Nowadays, the engineering practice raises far more vibration problems than can be theoretically explained or modelled. Because Df this, measurements are used in almost all fields of industry, transportation and civil engineering in studies of mechanical and structural vibration. They are an invaluable tool for designing products and machines with high reliability and low noise level, vehicles and buildings with improved comfort and resistance to dynamic loads, as well as for obtaining increased safety of opera tion and optimum running parameters. In order to cope with the increasing demand for experimental measurement of vibration characteristics, young engineers and designers need an introductory book with emphasis on "what has to be measured" and "by what means" before learning "how measurements are done." The expertise to perform vibration measurements must be gained in time, with every new investi gation and studied problem . .A detailed presentation of instrumentation and measuring techniques is beyond the aim of this book. Such information can be found in product data sheets, application manuals and hand books supplied by equipment manufacturers. Only general princi ples and widely used methods are presented herein, in order to provide the reader with an overview of the instrumentation and techniques encountered in vibration measurement."

Micromechanics provides a link between the structure and the properties at different scales of observation. This book deals with micromechanical analysis of interfaces and interface layers and presents several modelling tools. These range from the rigorous method of asymptotic expansions to practical finite element simulations, suitable for this class of problems. The corresponding two parts of the book are self-contained, so they can be read separately.

For most cases of interest, exact solutions to nonlinear equations describing stochastic dynamical systems are not available. This book details the relatively simple and popular linearization techniques available, covering theory as well as application. It examines models with continuous external and parametric excitations, those that cover the majority of known approaches.

In this book, the major ideas behind Organic Computing are delineated, together with a sparse sample of computational projects undertaken in this new field. Biological metaphors include evolution, neural networks, gene-regulatory networks, networks of brain modules, hormone system, insect swarms, and ant colonies. Applications are as diverse as system design, optimization, artificial growth, task allocation, clustering, routing, face recognition, and sign language understanding.

Over the past decade there has been an increasing demand for suitable material in the area of mathematical modelling as applied to science and engineering. There has been a constant movement in the emphasis from developing proficiency in purely mathematical techniques to an approach which caters for industrial and scientific applications in emerging new technologies. In this textbook we have attempted to present the important fundamental concepts of mathematical modelling and to demonstrate their use in solving certain scientific and engineering problems. This text, which serves as a general introduction to the area of mathematical modelling, is aimed at advanced undergraduate students in mathematics or closely related disciplines, e.g., students who have some prerequisite knowledge such as one-variable calculus, linear algebra and ordinary differential equations. Some prior knowledge of computer programming would be useful but is not considered essential. The text also contains some more challenging material which could prove attractive to graduate students in engineering or science who are involved in mathematical modelling. In preparing the text we have tried to use our experience of teaching mathematical modelling to undergraduate students in a wide range of areas including mathematics and computer science and disciplines in engineering and science. An important aspect of the text is the use made of scientific computer software packages such as MAPLE for symbolic algebraic manipulations and MA TLAB for numerical simulation.

Unlike the conventional research for the general theory of stability, this mono graph deals with problems on stability and stabilization of dynamic systems with respect not to all but just to a given part of the variables characterizing these systems. Such problems are often referred to as the problems of partial stability (stabilization). They naturally arise in applications either from the requirement of proper performance of a system or in assessing system capa bility. In addition, a lot of actual (or desired) phenomena can be formulated in terms of these problems and be analyzed with these problems taken as the basis. The following multiaspect phenomena and problems can be indicated: * "Lotka-Volterra ecological principle of extinction;" * focusing and acceleration of particles in electromagnetic fields; * "drift" of the gyroscope axis; * stabilization of a spacecraft by specially arranged relative motion of rotors connected to it. Also very effective is the approach to the problem of stability (stabilization) with respect to all the variables based on preliminary analysis of partial sta bility (stabilization). A. M. Lyapunov, the founder of the modern theory of stability, was the first to formulate the problem of partial stability. Later, works by V. V. Rumyan tsev drew the attention of many mathematicians and mechanicians around the world to this problem, which resulted in its being intensively worked out. The method of Lyapunov functions became the key investigative method which turned out to be very effective in analyzing both theoretic and applied problems.

T~~botogy and Vynam~c~ a~e u6uatty con6~de~ed a~ 6epa~ate 6ubject6. Acco~d~ngty, ~e6ea~che~6 ~n th06e two 6~etd6 6etdom meet, de6p~te, the 6act that the~e ~6 a con~~de~a- bie ove~tap 06 ~nte~e~t~ namety when deat~ng w~th ~otat~ng mach~ne~y cond~t~on mon~to~~ng. Rotat~ng mach~ne~ a~e u~ed ~n atmo~t eve~y ~ndu~t~~at appt~cat~on namety m~t~ta~y, powe~ gene~at~on, chem~cat , 600d p~oce6~~ng, etc. Any powe~ u~e~ o~ gene~at~ng ~y~tem ~6 ba6ed on ~otat~ng mach~ne~ 6uch a~ tu~b~ne~, 6an~, pump6, comp~e~~o~~, etc. mak~ng the ~c~ent~6ic e660~t~ in the 6~etd 06 ~otat~ng mach~ne~y in ~ecent yea~~ wett ju~t~6~ed. Fa~tu~e 06 ~otat~ng component~, due to wea~ andlo~ v~b~a- t~on p~obtem~, ~~ 6t~tt d~66~cutt to p~ed~ct and ~e~utt~ 6~eQuentty 6~om ~nadeQuaxe de~~gn. Thi~ i~ o~iginaxed by ~mpe~6ecx knowtedge 06 the acxuat behav~ou~ 06 xhe ~y~tem~ Ve~pixe xhe p~og~e~~ achieved in xhe 6ietd~ 06 x~ibotogy and dynamic~, a tack 06 communicaxion ctea~ty ~xitl exi~x~ between xh06e ~nvolved in de~ign and developmenx ~n ind- x~y and ~e~ea~ch team~ in un~ve~~ixie6 and othe~ li~hmenx~. B~inging togethe~ x~ibotog~6t~ and dynam~c~6t~ ~n o~de~ xo cont~ibute xo inc~ea6e p~og~e~6 ~n both 6ietd~ wa~ the main object~6 06 the NATO AVVANCEV STUVY INSTITUTE (ASI) on "VIBRATION ANV WEAR VAMAGE IN HIGH SPEW ROTATING MACHINERY" hetd ~n T~oia, Po~xugat, 10xh to 22nd Ap~il 1989, and o~ga- n~zed by CEMUL-Cente~ 06 Mechan~c~ and Maxe~ial~ 06 the Technicat Un~ve~~~ty 06 Li~bon.

Adaptive Structural Systems with Piezoelectric Transducer Circuitry provides a comprehensive discussion on the integration of piezoelectric transducers with electrical circuitry for the development and enhancement of adaptive structural systems.

Covering a wide range of interdisciplinary research, this monograph presents a paradigm of taking full advantage of the two-way electro-mechanical coupling characteristics of piezoelectric transducers for structural control and identification in adaptive structural systems. Presenting descriptions of algorithm development, theoretical analysis and experimental investigation, engineers and researchers alike will find this a valuable reference.

This monograph combines the knowledge of both the field of nonlinear dynamics and non-smooth mechanics, presenting a framework for a class of non-smooth mechanical systems using techniques from both fields. The book reviews recent developments, and opens the field to the nonlinear dynamics community. This book addresses researchers and graduate students in engineering and mathematics interested in the modelling, simulation and dynamics of non-smooth systems and nonlinear dynamics.

We are honoured to present this collection of selected papers from the International Conference on Mixing and Crystallization, held at the Tioman Island, Malaysia in April, 1998. We are grateful to the editorial board comprising five eminent researchers in the field of mixing and crystallization for their thoughtful review and suggestions. In order to make this book as current as possible some of the papers have been thoroughly revised, which caused some delay in bringing out this edited version. We received necessary support from the Institute of Post Graduate Studies and Research, the University of Malaya and the Special Research Centre for Multiphase Processes, and the University of Newcastle, Australia in organizing this conference. We are indebted to the Institute of Chemical Engineers, United Kingdom, and the Institution of Engineers, Malaysia for their sponsorship. We would like to thank K.C. Lim, Dr. C. Ramakanth and Ms. Zubaidah for their help at the various stages of editing. We would also like to express our gratitude to Professor Mohd. Ali Hashim and Dr. Nafis Ahmed for their help and encouragement. Finally, I would like to thank Kluwer Academic Publishers for publishing this book. Bhaskar Sen Gupta Shaliza Ibrahim University of Malaya, Kuala Lumpur xi CFD MODELLING OF HYDRODYNAMIC CONDITIONS WITHIN THE WAKE OF MIXING IMPELLER BLADES 1 G.D. RIGByl., G. LANE . AND G.M. EVANSl.

It is at least two decades since the conventional robotic manipulators have become a common manufacturing tool for different industries, from automotive to pharmaceutical. The proven benefits of utilizing robotic manipulators for manufacturing in different industries motivated scientists and researchers to try to extend the applications of robots to many other areas by inventing several new types of robots other than conventional manipulators. The new types of robots can be categorized in two groups; redundant (and hyper-redundant) manipulators, and mobile (ground, marine, and aerial) robots. These groups of robots, known as advanced robots, have more freedom for their mobility, which allows them to do tasks that the conventional manipulators cannot do.

Engineers have taken advantage of the extra mobility of the advanced robots to make them work in constrained environments, ranging from limited joint motions for redundant (or hyper-redundant) manipulators to obstacles in the way of mobile (ground, marine, and aerial) robots.

Since these constraints usually depend on the work environment, they are variable. Engineers have had to invent methods to allow the robots to deal with a variety of constraints automatically. A robot that is equipped with those methods is called an Autonomous Robot.

Autonomous Robots: Kinematics, Path Planning, and Control covers the kinematics and dynamic modeling/analysis of Autonomous Robots, as well as the methods suitable for their control. The text is suitable for mechanical and electrical engineers who want to familiarize themselves with methods of modeling/analysis/control that have been proven efficient through research.

Delay Differential Equations: Recent Advances and New Directions cohesively presents contributions from leading experts on the theory and applications of functional and delay differential equations (DDEs).

Students and researchers will benefit from a unique focus on theory, symbolic, and numerical methods, which illustrate how the concepts described can be applied to practical systems ranging from automotive engines to remote control over the Internet. Comprehensive coverage of recent advances, analytical contributions, computational techniques, and illustrative examples of the application of current results drawn from biology, physics, mechanics, and control theory.

Students, engineers and researchers from various scientific fields will find Delay Differential Equations: Recent Advances and New Directions a valuable reference.

Modeling and analysing multibody systems require a comprehensive understanding of the kinematics and dynamics of rigid bodies. In this volume, the relevant fundamental principles are first reviewed in detail and illustrated in conformity with the multibody formalisms that follow. Whatever the kind of system (tree-like structures, closed-loop mechanisms, systems containing flexible beams or involving tire/ground contact, wheel/rail contact, etc), these multibody formalisms have a common feature in the proposed approach, viz, the symbolic generation of most of the ingredients needed to set up the model.
The symbolic approach chosen, specially dedicated to multibody systems, affords various advantages: it leads to a simplification of the theoretical formulation of models, a considerable reduction in the size of generated equations and hence in resulting computing time, and also enhanced portability of the multibody models towards other specific environments. Moreover, the generation of multibody models as symbolic toolboxes proves to be an excellent pedagogical medium in teaching mechanics.

On average, 60% of the world's people and cargo is transported by vehicle that move on rubber tires over roadways of various construction, composition, and quality. The number of such vehicles, including automobiles and all manner of trucks, increases continually with a growing positive impact on accessibility and a growing negative impact on interactions among humans and their relationship to the surrounding environment. This multiplicity of vehicles, through their physical impact and their emissions, is responsible for, among other negative results: waste of energy, pollution through emission of harmful compounds, degradation of road surfaces, crowding of roads leading to waste of time and increase of social stress, and decrease in safety and comfort. In particular, the safety of vehicular traffic depends on a man-vehicle-road system that includes both active and passive security controls. In spite of the drawbacks mentioned above, the governments of almost every country in the world not only expect but facilitate improvements in vehicular transport performance in order to increase such parameters as load capacity and driving velocity, while decreasing such parameters as costs to passengers, energy resources investments, fuel consumption, etc. Some of the problems have clear, if not always easily attainable, solutions.

This volume contains the edited version of selected papers presented at the Nato Advanced Study Institute on "Computer Aided Analysis of Rigid and Flexible Mechanical Systems," held in Portugal, from the 27 June to 9 July, 1994. The present volume can be viewed as a natural extension of the material addressed in the Institute which was published by KLUWER in the NATO ASI Series, Vol. 268, in 1994. The requirements for accurate and efficient analysis tools for design of large and lightweight mechanical systems has driven a strong interest in the challenging problem of multibody dynamics. The development of new analysis and design formulations for multi body systems has been more recently motivated with the need to include general features such as: real-time simulation capabilities, active control of machine flexibilities and advanced numerical methods related to time integration of the dynamic systems equations. In addition to the presentation of some basic formulations and methodologies in dynamics of multibody systems, including computational aspects, major applications of developments to date are presented herein. The scope of applications is extended to vehicle dynamics, aerospace technology, robotics, mechanisms design, intermittent motion and crashworthiness analysis. Several of these applications are explored by many contributors with a constant objective to pace development and improve the dynamic performance of mechanical systems avoiding different mechanical limitations and difficult functional requirements, such as, for example, accurate positioning of manipulators.

The core of ths book presents a theory developed by the author to combine the recent insight into empirical data with mathematical models in freeway traffic research based on dynamical non-linear processes.

Most books on this subject are designed for elective courses in "intermediate dynamics" covering advanced Newtonian and introductory Lagrangian methods. Such books do not give adequate emphasis to advanced topics in Newton-Euler dynamics. Because the first required course in dynamics usually concentrates on 2-D dynamics, important 3-D problems are left to a further course. Examples are robots, automated manufacturing devices, aerospace vehicles, and biomechanical components. This material cannot be covered adequately in one course if it is to be shared with an introduction to Langrangian methods. This text is devoted to application of Newton-Euler methods to complex, real-life 3-D dynamics problems; it essentially completes this topic.

Finite element model updating has emerged in the 1990s as a subject of immense importance to the design, construction and maintenance of mechanical systems and civil engineering structures. This book, the first on the subject, sets out to explain the principles of model updating, not only as a research text, but also as a guide for the practising engineer who wants to get acquainted with, or use, updating techniques. It covers all aspects of model preparation and data acquisition that are necessary for updating. The various methods for parameter selection, error localisation, sensitivity and parameter estimation are described in detail and illustrated with examples. The examples can be easily replicated and expanded in order to reinforce understanding. The book is aimed at researchers, postgraduate students and practising engineers.

The aim of this book is to present a rigorous phenomenological and mathematical formulation of sedimentation processes and to show how this theory can be applied to the design and control of continuous thickeners. The book is directed to stu dents and researchers in applied mathematics and engineering sciences, especially in metallurgical, chemical, mechanical and civil engineering, and to practicing en gineers in the process industries. Such a vast and diverse audience should read this book differently. For this reason we have organized the chapters in such a way that the book can be read in two ways. Engineers and engineering students will find a rigorous formulation of the mathematical model of sedimentation and the exact and approximate solutions for the most important problems encountered in the laboratory and in industry in Chapters 1 to 3, 7 and 8, and 10 to 12, which form a self-contained subject. They can skip Chapters 4 to 6 and 9, which are most important to applied mathematicians, without losing the main features of sedimentation processes. On the other hand, applied mathematicians will find special interest in Chapters 4 to 6 and 9 which show some known but many recent results in the field of conservation laws of quasilinear hyperbolic and degenerate parabolic equations of great interest today. These two approaches to the theory keep their own styles: the mathematical approach with theorems and proofs, and the phenomenological approach with its deductive technique."

Complexity science has been a source of new insight in physical and social systems and has demonstrated that unpredictability and surprise are fundamental aspects of the world around us. This book is the outcome of a discussion meeting of leading scholars and critical thinkers with expertise in complex systems sciences and leaders from a variety of organizations, sponsored by the Prigogine Center at The University of Texas at Austin and the Plexus Institute, to explore strategies for understanding uncertainty and surprise. Besides contributions to the conference, it includes a key digest by the editors as well as a commentary by the late nobel laureate Ilya Prigogine, "Surprises in half of a century." The book is intended for researchers and scientists in complexity science, as well as for a broad interdisciplinary audience of both practitioners and scholars. It will well serve those interested in the research issues and in the application of complexity science to physical and social systems.

The ?eld of applied nonlinear dynamics has attracted scientists and engineers across many different disciplines to develop innovative ideas and methods to study c- plex behavior exhibited by relatively simple systems. Examples include: population dynamics, ?uidization processes, applied optics, stochastic resonance, ?ocking and ?ightformations, lasers, andmechanicalandelectricaloscillators. Acommontheme among these and many other examples is the underlying universal laws of nonl- ear science that govern the behavior, in space and time, of a given system. These laws are universal in the sense that they transcend the model-speci?c features of a system and so they can be readily applied to explain and predict the behavior of a wide ranging phenomena, natural and arti?cial ones. Thus the emphasis in the past decades has been in explaining nonlinear phenomena with signi?cantly less att- tion paid to exploiting the rich behavior of nonlinear systems to design and fabricate new devices that can operate more ef?ciently. Recently, there has been a series of meetings on topics such as Experimental Chaos, Neural Coding, and Stochastic Resonance, which have brought together many researchers in the ?eld of nonlinear dynamics to discuss, mainly, theoretical ideas that may have the potential for further implementation. In contrast, the goal of the 2007 ICAND (International Conference on Applied Nonlinear Dynamics) was focused more sharply on the implementation of theoretical ideas into actual - vices and system

This monograph is devoted to construction of novel theoretical approaches of m- eling non-homogeneous structural members as well as to development of new and economically ef?cient (simultaneously keeping the required high engineering ac- racy)computationalalgorithmsofnonlineardynamics(statics)ofstronglynonlinear behavior of either purely continuous mechanical objects (beams, plates, shells) or hybrid continuous/lumped interacting mechanical systems. In general, the results presented in this monograph cannot be found in the - isting literature even with the published papers of the authors and their coauthors. We take a challenging and originally developed approach based on the integrated mathematical-numerical treatment of various continuous and lumped/continuous mechanical structural members, putting emphasis on mathematical and physical modeling as well as on the carefully prepared and applied novel numerical - gorithms used to solve the derived nonlinear partial differential equations (PDEs) mainly via Bubnov-Galerkin type approaches. The presented material draws on the ?elds of bifurcation, chaos, control, and s- bility of the objects governed by strongly nonlinear PDEs and ordinary differential equations (ODEs),and may have a positive impact on interdisciplinary ? elds of n- linear mechanics, physics, and applied mathematics. We show, for the ?rst time in a book, the complexity and fascinating nonlinear behavior of continual mechanical objects, which cannot be found in widely reported bifurcational and chaotic dyn- ics of lumped mechanical systems, i. e. , those governed by nonlinear ODEs.

Vibro-impact dynamics has occupied a wide spectrum of studies by dyn- icists, physicists, and mathematicians. These studies may be classi?ed into three main categories: modeling, mapping and applications. The main te- niques used in modeling of vibro-impact systems include phenomenological modelings, Hertzian models, and non-smooth coordinate transformations- velopedbyZhuravlevandIvanov. Oneofthemostcriticalsituationsimpeded invibro-impactsystemsisthegrazingbifurcation. Grazingbifurcationisu- ally studied through discontinuity mapping techniques, which are very useful to uncover the rich dynamics in the process of impact interaction. Note the availablemappings arevalidonly intheabsenceofnon-impactnonlinearities. Complex dynamic phenomena of vibro-impact systems include subharmonic oscillations, chaotic motion, and coexistence of di?erent attractors for the sameexcitationand systemparametersbut under di?erent initial conditions. Selectedapplicationsofvibro-impactdynamics. Theseincludelumpedand continuous systems. Lumped systems cover a bouncing ball on an oscillating barrier, mass-spring-dashpot systems, normal and inverted pendulums, the spherical pendulum, the ship roll motion against icebergs, joints with fr- play, rotor-stator rubbing in rotating machinery, vocal folds, microactuators, strings, beams, pipes conveying ?uids with end-restraints, nuclear reactors and heat exchangers, and plates. These applications are discussed within the framework of the deterministic theory. Under random excitation the tre- ment requires special tools. The techniques of equivalent linearization and stochastic averaging have been applied to limited number of problems. One of the most bene?cial outcomesof vibro-impact dynamics is the development of impact dampers, which have witnessed signi?cant activities over the last four decades and have been used in several applications. On the other hand, vibro-impacthas detrimental e?ects on the operationsof mechanicalsystems and damage of pipes and rods in nuclear reactors.