This book introduces the latest advances in modular robotics, and presents a unified geometric framework for modeling, analysis, and design of modular robots, including kinematics, dynamics, calibration, and configuration optimization. Supplementing the main content with a wealth of illustrations, the book offers a valuable guide for researchers, engineers and graduate students in the fields of mechatronics, robotics, and automation who wish to learn about the theory and practice of modular robots.

Engineering dynamics and vibrations has become an essential topic for ensuring structural integrity and operational functionality in different engineering areas. However, practical problems regarding dynamics and vibrations are in many cases handled without success despite large expenditures. This book covers a wide range of topics from the basics to advances in dynamics and vibrations; from relevant engineering challenges to the solutions; from engineering failures due to inappropriate accounting of dynamics to mitigation measures and utilization of dynamics. It lays emphasis on engineering applications utilizing state-of-the-art information.

Provides Typical Abstract Representations of Different Steps for Analyzing Any Dynamic System Vibration and dynamics are common in everyday life, and the use of vibration measurements, tests, and analyses is becoming standard for various applications. Vibration Analysis, Instruments, and Signal Processing focuses on the basic understanding of vibration measurements and analysis. This book covers different areas of vibration measurements and analysis needed in practice, and discusses theory, application, and a variety of methods, in a simplified way. It communicates the fundamental principles of all three facets of vibration-based analysis, and highlights four major points-theory, instruments, experiments, and signal processing. Useful for everyday work, the book dedicates several chapters to the day-to-day requirements involved in vibration measurements and analysis, and addresses a number of topics useful for many day-to-day analyses and experiments. The book provides experimental examples in each chapter-considering basic theories and analysis methods, instrumentations and signal processing methods, and combined analysis-as well as experimental approaches and case studies. In addition, it dedicates a complete chapter to case studies relating the basic theory, types of instruments and measurements needed, and requisite signal processing that ultimately result in a final diagnosis. Consisting of ten chapters, this informative text: Provides the basic understanding and concept of the vibration theory, mathematical modeling of structures and machines using the finite element (FE) method, and the vibration response computation using the FE model for the load applied Discusses a simplified vibration theory through a single degree of freedom (SDOF) system of a mass and a spring Introduces the concept of FE modeling at a very basic level through a few simple examples Explores how the equation of motion in matrix form for any system can be integrated to solve for the responses at all DOFs due to the time-varying external loadings Developed for diverse audiences interested in vibration analysis, this book is suitable for every level of student, engineer, and scientist associated with vibration, structural and rotor dynamics, vibration-based diagnosis, and vibration-based condition monitoring.

The control of vibrating systems is a significant issue in the design of aircraft, spacecraft, bridges, and high-rise buildings. This book discusses the control of vibrating systems, integrating structural dynamics, vibration analysis, modern control, and system identification. By integrating these subjects engineers will need only one book, rather than several texts or courses, to solve vibration control problems. The authors cover key developments in aerospace control and identification theory, including virtual passive control, observer and state-space identification, and data-based controller synthesis. They address many practical issues and applications, and show examples of how various methods are applied to real systems. Some methods show the close integration of system identification and control theory from the state-space perspective, rather than from the traditional input-output model perspective of adaptive control. This text will be useful for advanced undergraduate and beginning graduate students in aerospace, mechanical, and civil engineering, as well as for practicing engineers.

Viscoelastic damping is becoming widely applied for vibration and noise control in various industries, the most notable examples being aerospace, automotive, computer peripherals and propulsion. A recent review of the literature shows that many engineers are still applying the technology without having a good understanding of the basic underlying principles or the means of describing and measuring the damping parameters.

The comprehensive book introduces simple and effective approaches for describing the damping related properties of viscoelastic materials, with emphasis on the effects of frequency and temperature, and proceeds to illustrate simple techniques for measuring the desired properties and for selecting and applying the materials. In all cases, the need for simplicity in practical applications is emphasized.

Particular topics addressed in some detail include:

• the complex modulus model of viscoelastic behaviour
• effects of frequency and temperature on stiffness and damping of viscoelastic materials
• combination of frequency and temperature into a single variable
• analysis and evaluation of the quality of available test data by means of the Wicket Plot
• simple means of meauring stiffness and damping of viscoelastic materials
• simple approaches for design of treatments for practical structural applications

Since the publication of the first edition, considerable progress has been made in the development and application of active noise control (ANC) systems, particularly in the propeller aircraft and automotive industries. Treating the active control of both sound and vibration in a unified way, this second edition of Active Control of Noise and Vibration continues to combine coverage of fundamental principles with the most recent theoretical and practical developments. What's New in This Edition Revised, expanded, and updated information in every chapter Advances in feedforward control algorithms, DSP hardware, and applications Practical application examples of active control of noise propagating in ducts The use of a sound intensity cost function, model reference control, sensing radiation modes, modal filtering, and a comparison of the effectiveness of various sensing strategies New material on feedback control of sound transmission into enclosed spaces New material on model uncertainty, experimental determination of the system model, optimization of the truncated model, collocated actuators and sensors, biologically inspired control, and a discussion of centralised versus de-centralised control A completely revised chapter on control system implementation New material on parametric array loudspeakers, turbulence filtering, and virtual sensing More material on smart structures, electrorheological fluids, and magnetorheological fluids Integrating the related disciplines of active noise control and active vibration control, this comprehensive two-volume set explains how to design and implement successful active control systems in practice. It also details the pitfalls one must avoid to ensure a reliable and stable system.

Controlling a system's vibrational behavior, whether for reducing harmful vibrations or for enhancing useful types, is critical to ensure safe and economical operation as well as longer structural and equipment lifetimes. A related issue is the effect of vibration on humans and their environment. Achieving control of vibration requires thorough understanding of system behavior, and Vibration Monitoring, Testing, and Instrumentation provides a convenient, thorough, and up-to-date source of tools, techniques, and data for instrumenting, experimenting, monitoring, measuring, and analyzing vibration in a variety of mechanical and structural systems and environments.
Drawn from the immensely popular Vibration and Shock Handbook, each expertly crafted chapter of this book includes convenient summary windows, tables, graphs, and lists to provide ready access to the important concepts and results. The authors give equal emphasis to the theoretical and practical aspects, supplying methodologies for analyzing shock, vibration, and seismic behavior. They thoroughly review instrumentation and testing methods such as exciters, sensors, and LabVIEW(r) tools for virtual instrumentation as well as signal acquisition, conditioning, and recording. Illustrative examples and case studies accompany a wide array of industrial and experimental techniques, analytical formulations, and design approaches. The book also includes a chapter on human response to vibration.
Vibration Monitoring, Testing, and Instrumentation supplies a thorough understanding of the concepts, tools, instruments, and techniques you need to know before the design process begin

Understanding and controlling vibration is critical for reducing noise, improving work environments and product quality, and increasing the useful life of industrial machinery and other mechanical systems. Computer-based modeling and analytical tools provide fast, accurate, and efficient means of designing and controlling a system for improved vibratory and, subsequently, acoustic performance. Computer Techniques in Vibration provides an overview as well as a detailed account and application of the various tools and techniques available for modeling and simulating vibrations. Drawn from the immensely popular Vibration and Shock Handbook, each expertly crafted chapter of this book includes convenient summary windows, tables, graphs, and lists to provide ready access to the important concepts and results. Working systematically from general principles to specific applications, the coverage spans from numerical techniques, modeling, and software tools to analysis of flexibly supported multibody systems, finite element applications, vibration signal analysis, fast Fourier transform (FFT), and wavelet techniques and applications. MATLAB(R) toolboxes and other widely available software packages feature prominently in the discussion, accompanied by numerous examples, sample outputs, and a case study. Instead of wading through heavy volumes or software manuals for the techniques you need, find a ready collection of eminently practical tools in Computer Techniques in Vibration.

Delineating a comprehensive theory, Advanced Vibration Analysis provides the bedrock for building a general mathematical framework for the analysis of a model of a physical system undergoing vibration. The book illustrates how the physics of a problem is used to develop a more specific framework for the analysis of that problem. The author elucidates a general theory applicable to both discrete and continuous systems and includes proofs of important results, especially proofs that are themselves instructive for a thorough understanding of the result. The book begins with a discussion of the physics of dynamic systems comprised of particles, rigid bodies, and deformable bodies and the physics and mathematics for the analysis of a system with a single-degree-of-freedom. It develops mathematical models using energy methods and presents the mathematical foundation for the framework. The author illustrates the development and analysis of linear operators used in various problems and the formulation of the differential equations governing the response of a conservative linear system in terms of self-adjoint linear operators, the inertia operator, and the stiffness operator. The author focuses on the free response of linear conservative systems and the free response of non-self-adjoint systems. He explores three method for determining the forced response and approximate methods of solution for continuous systems. The use of the mathematical foundation and the application of the physics to build a framework for the modeling and development of the response is emphasized throughout the book. The presence of the framework becomes more important as the complexity of the system increases. The textbuilds the foundation, formalizes it, and uses it in a consistent fashion including application to contemporary research using linear vibrations.

Maintaining the outstanding features and practical approach that led the bestselling first edition to become a standard textbook in engineering classrooms worldwide, Clarence de Silva's Vibration: Fundamentals and Practice, Second Edition remains a solid instructional tool for modeling, analyzing, simulating, measuring, monitoring, testing, controlling, and designing for vibration in engineering systems. It condenses the author's distinguished and extensive experience into an easy-to-use, highly practical text that prepares students for real problems in a variety of engineering fields. What's New in the Second Edition? A new chapter on human response to vibration, with practical considerations Expanded and updated material on vibration monitoring and diagnosis Enhanced section on vibration control, updated with the latest techniques and methodologies New worked examples and end-of-chapter problems. Incorporates software tools, including LabVIEW (TM), SIMULINK (R), MATLAB (R), the LabVIEW Sound and Vibration Toolbox, and the MATLAB Control Systems Toolbox Enhanced worked examples and new solutions using MATLAB and SIMULINK The new chapter on human response to vibration examines representation of vibration detection and perception by humans as well as specifications and regulatory guidelines for human vibration environments. Remaining an indispensable text for advanced undergraduate and graduate students, Vibration: Fundamentals and Practice, Second Edition builds a unique and in-depth understanding of vibration on a sound framework of practical tools and applications.

Flexible Multibody Dynamics comprehensively describes the numerical modelling of flexible multibody dynamics systems in space and aircraft structures, vehicles, and mechanical systems. A rigorous approach is followed to handle finite rotations in 3D, with a thorough discussion of the different alternatives for parametrization. Modelling of flexible bodies is treated following the Finite Element technique, a novel aspect in multibody systems simulation.

Moreover, this book provides extensive coverage of the formulation of a general purpose software for flexible multibody dynamics analysis, based on an exhaustive treatment of large rotations and finite element modelling, and incorporating useful reference material.

Features include different solution techniques such as:

• time integration of differential-algebraic equations

• non-linear substructuring

• continuation methods

• nonlinear bifurcation analysis.

Machinery Vibration Analysis and Predictive Maintenance provides a detailed examination of the detection, location and diagnosis of faults in rotating and reciprocating machinery using vibration analysis. The basics and underlying physics of vibration signals are first examined. The acquisition and processing of signals is then reviewed followed by a discussion of machinery fault diagnosis using vibration analysis. Hereafter the important issue of rectifying faults that have been identified using vibration analysis is covered. The book also covers the other techniques of predictive maintenance such as oil and particle analysis, ultrasound and infrared thermography. The latest approaches and equipment used together with the latest techniques in vibration analysis emerging from current research are also highlighted.
1.Understand the basics of vibration measurement
2.Apply vibration analysis for different machinery faults
3.Diagnose machinery-related problems with vibration analysis techniques

Reducing and controlling the level of vibration in a mechanical system leads to an improved work environment and product quality, reduced noise, more economical operation, and longer equipment life. Adequate design is essential for reducing vibrations, while damping and control methods help further reduce and manipulate vibrations when design strategies reach their limits. There are also useful types of vibration, which may require enhancement or control. Vibration Damping, Control, and Design balances theoretical and application-oriented coverage to enable optimal vibration and noise suppression and control in nearly any system. Drawn from the immensely popular Vibration and Shock Handbook, each expertly crafted chapter of this book includes convenient summary windows, tables, graphs, and lists to provide ready access to the important concepts and results. Working systematically from general principles to specific applications, coverage spans from theory and experimental techniques in vibration damping to isolation, passive control, active control, and structural dynamic modification. The book also discusses specific issues in designing for and controlling vibrations and noise such as regenerative chatter in machine tools, fluid-induced vibration, hearing and psychological effects, instrumentation for monitoring, and statistical energy analysis. This carefully edited work strikes a balance between practical considerations, design issues, and experimental techniques. Complemented by design examples and case studies, Vibration Damping, Control, and Design builds a deep understanding of the concepts and demonstrates how to apply these principles to real systems.

Until now, information on the dynamic loading of structures has been widely scattered. No other book has examined the different types of loading in a comprehensive and systematic manner, and looked at their signficance in the design process. The book begins with a survey of the probabilistic background to all forms of loads, which is particularly important to dynamic loads, and then looks at the main types in turn: wind, earthquake, wave, blast and impact loading. The relevant code provisions (Eurocode and UBC American) are detailed and a number of examples are used to illustrate the principles. A final section covers the analysis for dynamic loading, drawing out the concepts underlying the treatment of all dynamic loads, and the corresponding modelling techniques. Throughout there is a focus on the modelling of structures, rather than on classical structural dynamics.

Advanced Applications in Acoustics, Noise and Vibration provides comprehensive and up-to-date overviews of knowledge, applications and research activities in a range of topics that are of current interest in the practice of engineering acoustics and vibration technology. The thirteen chapters are grouped into four parts: signal processing, acoustic modelling, environmental and industrial acoustics, and vibration. Following on from its companion volume Fundamentals of Noise and Vibration this book is based partly on material covered in a selection of elective modules in the second semester of the Masters programme in 'Sound and Vibration Studies' of the Institute of Sound and Vibration Research at the University of Southampton, UK and partly on material presented in the annual ISVR short course 'Advanced Course in Acoustics, Noise and Vibration'.

Working knowledge of the relations of various quantities and their derivatives across a shock wave is useful for any advanced research involving shock waves. Although these relations can be derived in principle by any diligent student of the subject, the derivations are often not trivial, and once derived, neither the approach nor the result can be confidently verified. Comprehensive and analytical, Shock Wave Dynamics: Derivatives and Related Topics includes not only the final results but also the methods, which are of great practical value as examples of mathematical procedure in this field. The book focuses on shock wave derivatives under various conditions and extensively covers shock-generated vorticity, including a novel analysis of triple points. Special care is given to the presentation of assumptions, implementation requirements, and the illustrative examples included for partial verification of the preceding analysis. Designed both as a research monograph and for self study, Shock Wave Dynamics is a complete discussion of shock wave dynamics. An analytical exploration of shock wave phenomena, it will be interesting reading for experts in the field of high-speed gas dynamics. Given today's emphasis on numerical simulation, it will also be of interest to computational engineers as a source for code verification and validation.

A virtual sound barrier is an active noise control system that uses arrays of loudspeakers and microphones to create a useful size of quiet zone and can be used to reduce sound propagation, radiation, or transmission from noise sources or to reduce noise level around people in a noisy environment. This book introduces the history, principle, and design methods of virtual sound barriers first, and then describes recent progress in research on the systems. Two virtual sound barrier systems, i.e., planar virtual sound barrier system and three-dimensional virtual sound barrier system, are discussed including applications, limitations and future direction discussions.

This major textbook provides comprehensive coverage of the analytical tools required to determine the dynamic response of structures. The topics covered include: formulation of the equations of motion for single- as well as multi-degree-of-freedom discrete systems using the principles of both vector mechanics and analytical mechanics; free vibration response; determination of frequencies and mode shapes; forced vibration response to harmonic and general forcing functions; dynamic analysis of continuous systems;and wave propagation analysis. The key assets of the book include comprehensive coverage of both the traditional and state-of-the-art numerical techniques of response analysis, such as the analysis by numerical integration of the equations of motion and analysis through frequency domain. The large number of illustrative examples and exercise problems are of great assistance in improving clarity and enhancing reader comprehension. The text aims to benefit students and engineers in the civil, mechanical and aerospace sectors.

Engineering dynamics and vibrations has become an essential topic for ensuring structural integrity and operational functionality in different engineering areas. However, practical problems regarding dynamics and vibrations are in many cases handled without success despite large expenditures. This book covers a wide range of topics from the basics to advances in dynamics and vibrations; from relevant engineering challenges to the solutions; from engineering failures due to inappropriate accounting of dynamics to mitigation measures and utilization of dynamics. It lays emphasis on engineering applications utilizing state-of-the-art information.

This edition of this well-received engineering text retains the clarity of exposition that made the previous editions so popular, and contains the most widely-used problem sets in the business. Its approach to vibration analysis is clear, concise, and simple, backed up by a wealth of problems and examples. Multi- degree-of-freedom problems are well-prefaced with two-degree-of- freedom cases. There is a special treatment of damping, including non-viscous problems (standard texts make much use of viscous damping, but most practical examples are not viscous). The text now includes an excellent development of Rayleigh's principle and an introduction to finite element vibration analysis. It also contains 100 new problems.

Transfer function form, zpk, state space, modal, and state space modal forms. For someone learning dynamics for the first time or for engineers who use the tools infrequently, the options available for constructing and representing dynamic mechanical models can be daunting. It is important to find a way to put them all in perspective and have them available for quick reference.

It is also important to have a strong understanding of modal analysis, from which the total response of a system can be constructed. Finally, it helps to know how to take the results of large dynamic finite element models and build small MATLAB® state space models.

Vibration Simulation Using MATLAB and ANSYS answers all those needs. Using a three degree-of-freedom (DOF) system as a unifying theme, it presents all the methods in one book. Each chapter provides the background theory to support its example, and each chapter contains both a closed form solution to the problem-shown in its entirety-and detailed MATLAB code for solving the problem.

Bridging the gap between introductory vibration courses and the techniques used in actual practice, Vibration Simulation Using MATLAB and ANSYS builds the foundation that allows you to simulate your own real-life problems.

Features

o Demonstrates how to solve real problems, covering the vibration of systems from single DOF to finite element models with thousands of DOF
o Illustrates the differences and similarities between different models by tracking a single example throughout the book
o Includes the complete, closed-form solution and the MATLAB code used to solve each problem
o Shows explicitly how to take the results of a realistic ANSYS finite element model and develop a small MATLAB state-space model
o Provides a solid grounding in how individual modes of vibration combine for overall system response

Mechanical Vibrations: Theory and Application to Structural Dynamics, Third Edition is a comprehensively updated new edition of the popular textbook. It presents the theory of vibrations in the context of structural analysis and covers applications in mechanical and aerospace engineering. Key features include: * A systematic approach to dynamic reduction and substructuring, based on duality between mechanical and admittance concepts * An introduction to experimental modal analysis and identification methods * An improved, more physical presentation of wave propagation phenomena * A comprehensive presentation of current practice for solving large eigenproblems, focusing on the efficient linear solution of large, sparse and possibly singular systems * A deeply revised description of time integration schemes, providing framework for the rigorous accuracy/stability analysis of now widely used algorithms such as HHT and Generalized- * Solved exercises and end of chapter homework problems * A companion website hosting supplementary material

Developments in passive control technology and theory over recent years require a comprehensive new work on the subject, a gap now filled by Passive Vibration Control. In this volume, the divide between the many classical text books on vibration analysis and the few books on specialist aspects of passive control is finally bridged. In addition, the valuable analytical tool of receptance/dynamic stiffness theory is extensively covered. Initially, a review of recent findings on vibration levels which cause structural damage, machine malfunctioning or human disturbance, discomfort and injury is presented. The following four chapters review the theoretical response of structures to imposed forces or motions (which may in turn be harmonic, periodic, random or transient) and aim to advance the reader’s existing knowledge of vibration theory into the theory of receptances and structural modal analysis. This presentation has a two-fold purpose: (a) to enhance physical understanding of theoretical concepts and (b) to identify the principal system parameters which control vibration levels before passive control measures are undertaken. The remaining chapters consider successively the controlling factors in beam and plate vibration and methods of reduction, general structural design principles for minimizing vibration, the control of vibration by localized additions (with special emphasis on dynamics absorbers), and sources of structural damping and damping methods. The use of vibration isolators and, finally, combinations of these methods are also examined, resulting in a text of great value and interest to all vibration control analysts, practitioners, and researchers.

Sound reinforcement is the increasing of the power of sound signals and reproducing them as acoustic signals. This book gives an introduction to the fundamentals of sound reinforcement engineering, and also explains how it relates to disciplines such as room acoustics. It discusses in detail the components and layout of sound reinforcement systems and gives examples and case studies of successfully installed systems.

This textbook is the student edition of the work on vibrations, dynamics and structural systems. There are exercises included at the end of each chapter.