This book is for researchers, engineers, and students who are willing to understand how humanoid robots move and be controlled. The book starts with an overview of the humanoid robotics research history and state of the art. Then it explains the required mathematics and physics such as kinematics of multi-body system, Zero-Moment Point (ZMP) and its relationship with body motion. Biped walking control is discussed in depth, since it is one of the main interests of humanoid robotics. Various topics of the whole body motion generation are also discussed. Finally multi-body dynamics is presented to simulate the complete dynamic behavior of a humanoid robot. Throughout the book, Matlab codes are shown to test the algorithms and to help the reader´s understanding.

This book includes an in-depth analysis of the environmental and energy security impacts of replacing the internal combustion engine vehicle with various forms of electric vehicles and replacing gasoline and diesel fuel with alternative fuels including electricity, hydrogen and biofuels. In addition to a detailed “well-to-wheels� analysis of local air pollution, greenhouse gas emissions and oil consumption for each alternative vehicle, the book estimates the market penetration potential of each fuel/vehicle combination to determine the most likely societal impact of each alternative vehicle pathway. To support the market penetration estimates, the book analyses the likely cost of each alternative vehicle in mass production and the cost of installing the necessary fuel infrastructure to support each option. The book provides sufficient detail to allow decision makers in governments and industry to choose among the alternative vehicle/fuel combinations that will lead to a truly sustainable transportation system.

'Proceedings of the FISITA 2012 World Automotive Congress' are selected from nearly 2,000 papers submitted to the 34th FISITA World Automotive Congress, which is held by Society of Automotive Engineers of China (SAE-China ) and the International Federation of Automotive Engineering Societies (FISITA). This proceedings focus on solutions for sustainable mobility in all areas of passenger car, truck and bus transportation. Volume 1: Advanced Internal Combustion Engines (I) focuses on:
New Gasoline Direct Injection(GDI), Spark Ignition(SI)&Compression Ignition(CI) Engines and Components
Fuel Injection and Sprays
Fuel and Lubricants
After-Treatment and Emission Control
Above all researchers, professional engineers and graduates in fields of automotive engineering, mechanical engineering and electronic engineering will benefit from this book.
SAE-China is a national academic organization composed of enterprises and professionals who focus on research, design and education in the fields of automotive and related industries. FISITA is the umbrella organization for the national automotive societies in 37 countries around the world. It was founded in Paris in 1948 with the purpose of bringing engineers from around the world together in a spirit of cooperation to share ideas and advance the technological development of the automobile.
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The increasing demands for internal combustion engines with regard to fuel consumption, emissions and driveability lead to more actuators, sensors and complex control functions. A systematic implementation of the electronic control systems requires mathematical models from basic design through simulation to calibration. The book treats physically-based as well as models based experimentally on test benches for gasoline (spark ignition) and diesel (compression ignition) engines and uses them for the design of the different control functions. The main topics are: - Development steps for engine control - Stationary and dynamic experimental modeling - Physical models of intake, combustion, mechanical system, turbocharger, exhaust, cooling, lubrication, drive train - Engine control structures, hardware, software, actuators, sensors, fuel supply, injection system, camshaft - Engine control methods, static and dynamic feedforward and feedback control, calibration and optimization, HiL, RCP, control software development - Control of gasoline engines, control of air/fuel, ignition, knock, idle, coolant, adaptive control functions - Control of diesel engines, combustion models, air flow and exhaust recirculation control, combustion-pressure-based control (HCCI), optimization of feedforward and feedback control, smoke limitation and emission control This book is an introduction to electronic engine management with many practical examples, measurements and research results. It is aimed at advanced students of electrical, mechanical, mechatronic and control engineering and at practicing engineers in the field of combustion engine and automotive engineering.

Wind-Turbine Aerodynamics is a self-contained textbook which shows how to come from the basics of fluid mechanics to modern wind turbine blade design. It presents a fundamentals of fluid dynamics and inflow conditions, and gives a extensive introduction into theories describing the aerodynamics of wind turbines. After introducing experiments the book applies the knowledge to explore the impact on blade design.The book is an introduction for professionals and students of very varying levels.

This book presents a unique approach for studying mechanisms and machines with drawings that were depicted unclearly in ancient Chinese books. The historical, cultural and technical backgrounds of the mechanisms are explained, and various mechanisms described and illustrated in ancient books are introduced. By utilizing the idea for the conceptual design of modern mechanisms, all feasible designs of ancient mechanisms with uncertain members and joints that meet the technical standards of the subjects’ time periods are synthesized systematically. Ancient Chinese crossbows (the original crossbow and repeating crossbows), textile mechanisms (silk-reeling mechanism, spinning mechanisms, and looms), and many other artisan's tool mechanisms are used as illustrated examples. Such an approach provides a logical method for the reconstruction designs of ancient mechanisms with uncertain structures. It also provides an innovative direction for researchers to further identify the original structures of mechanisms and machines with drawings in ancient literature. This book can be used as a textbook and/or supplemental reading material for courses related to history of ancient (Chinese) machinery and creative mechanism design for senior and graduate students.

The fuel consumption of a modern combustion engine is one of the most important purchase criteria in contemporary society. Increasing oil prices and exhaust emissions taxes force the automotive industry to continuously improve the vehicle engines. The fuel consumption is closely related to the frictional losses of an engine. New material pairings or constructive modifications of the piston group can reduce such losses. Another innovative concept to lower the frictional forces is the micro-structuring of thermo-mechanically highly stressed surfaces. Within an interdisciplinary research group sponsored by the German Research Foundation, scientists at the Leibniz Universität Hannover and Universität Kassel have been working together to investigate this research topic. This final report presents their findings and offers scope for further discussion.

The aim of the book is to be a reference book in automotive technology, as far as automotive chassis (i.e. everything that is inside a vehicle except the engine and the body) is concerned. The book is a result of a decade of work heavily sponsored by the FIAT group (who supplied material, together with other automotive companies, and sponsored the work). The first volume deals with the design of automotive components and the second volume treats the various aspects of the design of a vehicle as a system.

This unique collection is the post-conference proceedings of the 4th "International Conference on Field and Service Robotics" (FSR). This book has authoritative contributors and presents current developments and new directions in field and service robotics. The book represents a cross-section of the current state of robotics research from one particular aspect: field and service applications, and how they reflect on the theoretical basis of subsequent developments.

Cracks can develop in rotating shafts and can propagate to relevant depths without affecting consistently the normal operating conditions of the shaft. In order to avoid catastrophic failures, accurate vibration analyses have to be performed for crack detection. The identification of the crack location and depth is possible by means of a model based diagnostic approach, provided that the model of the crack and the model of the cracked shaft dynamical behavior are accurate and reliable. This monograph shows the typical dynamical behavior of cracked shafts and presents tests for detecting cracks. The book describes how to model cracks, how to simulate the dynamical behavior of cracked shaft, and compares the corresponding numerical with experimental results. All effects of cracks on the vibrations of rotating shafts are analyzed, and some results of a numerical sensitivity analysis of the vibrations to the presence and severity of the crack are shown. Finally the book describes some crack identification procedures and shows some results in model based crack identification in position and depth. The book is useful for higher university courses in mechanical and energetic engineering, but also for skilled technical people employed in power generation industries.

There is a growing number of applications that require fast-rotating machines; motivation for this thesis comes from a project in which downsized spindles for micro-machining have been researched. The thesis focuses on analysis and design of high-speed PM machines and uses a practical design of a high-speed spindle drive as a test case. Phenomena, both mechanical and electromagnetic, that take precedence in high-speed permanent magnet machines are identified and systematized. The thesis identifies inherent speed limits of permanent magnet machines and correlates those limits with the basic parameters of the machines. The analytical expression of the limiting quantities does not only impose solid constraints on the machine design, but also creates the way for design optimization leading to the maximum mechanical and/or electromagnetic utilization of the machine. The models and electric-drive concepts developed in the thesis are evaluated in a practical setup.

Electrical Machines primarily covers the basic functionality and the role of electrical machines in their typical applications. The effort of applying coordinate transforms is justified by obtaining a more intuitive, concise and easy-to-use model. In this textbook, mathematics is reduced to a necessary minimum, and priority is given to bringing up the system view and explaining the use and external characteristics of machines on their electrical and mechanical ports. Covering the most relevant concepts relating to machine size, torque and power, the author explains the losses and secondary effects, outlining cases and conditions in which some secondary phenomena are neglected. While the goal of developing and using machine mathematical models, equivalent circuits and mechanical characteristics persists through the book, the focus is kept on physical insight of electromechanical conversion process. Details such as the slot shape and the disposition of permanent magnets and their effects on the machine parameters and performance are also covered.

Uranium Processing and Properties describes developments in uranium science, engineering and processing and covers a broad spectrum of topics and applications in which these technologies are harnessed. This book offers the most up-to-date knowledge on emerging nuclear technologies and applications while also covering new and established practices for working with uranium supplies. The book also aims to provide insights into current research and processing technology developments in order to stimulate and motivate innovation among readers. Topics covered include casting technology, plate and sheet rolling, machining of uranium and uranium alloys, forming and fabrication techniques, corrosion kinetics, nondestructive evaluation and thermal modeling.

The International Symposia on Distributed Autonomous Robotic Systems (DARS) started at Riken, Japan in 1992. Since then, the DARS symposia have been held every two years: in 1994 and 1996 in Japan (Riken, Wako), in 1998 in Germany (Karlsruhe), in 2000 in the USA (Knoxville, TN), in 2002 in Japan (Fukuoka), in 2004 in France (Toulouse), and in 2006 in the USA (Minneapolis, MN). The 9th DARS symposium, which was held during November 17-19 in T- kuba, Japan, hosted 84 participants from 13 countries. The 48 papers presented there were selected through rigorous peer review with a 50% acceptance ratio. Along with three invited talks, they addressed the spreading research fields of DARS, which are classifiable along two streams: theoretical and standard studies of DARS, and interdisciplinary studies using DARS concepts. The former stream includes multi-robot cooperation (task assignment methodology among multiple robots, multi-robot localization, etc.), swarm intelligence, and modular robots. The latter includes distributed sensing, mobiligence, ambient intelligence, and mul- agent systems interaction with human beings. This book not only offers readers the latest research results related to DARS from theoretical studies to application-oriented ones; it also describes the present trends of this field. With the diversity and depth revealed herein, we expect that DARS technologies will flourish soon.

Vibration of Hydraulic Machinery deals with the vibration problem which has significant influence on the safety and reliable operation of hydraulic machinery. It provides new achievements and the latest developments in these areas, even in the basic areas of this subject. The present book covers the fundamentals of mechanical vibration and rotordynamics as well as their main numerical models and analysis methods for the vibration prediction. The mechanical and hydraulic excitations to the vibration are analyzed, and the pressure fluctuations induced by the unsteady turbulent flow is predicted in order to obtain the unsteady loads. This book also discusses the loads, constraint conditions and the elastic and damping characters of the mechanical system, the structure dynamic analysis, the rotor dynamic analysis and the system instability of hydraulic machines, including the illustration of monitoring system for the instability and the vibration in hydraulic units. All the problems are necessary for vibration prediction of hydraulic machinery.

This book analyzes the main problems in the real-time control of parallel hybrid electric powertrains in non-road applications that work in continuous high dynamic operation. It also provides practical insights into maximizing the energy efficiency and drivability of such powertrains. It introduces an energy-management control structure, which considers all the physical powertrain constraints and uses novel methodologies to predict the future load requirements to optimize the controller output in terms of the entire work cycle of a non-road vehicle. The load prediction includes a methodology for short-term loads as well as cycle detection methodology for an entire load cycle. In this way, the energy efficiency can be maximized, and fuel consumption and exhaust emissions simultaneously reduced. Readers gain deep insights into the topics that need to be considered in designing an energy and battery management system for non-road vehicles. It also becomes clear that only a combination of management systems can significantly increase the performance of a controller.

SYROM conferences have been organized since 1973 by the Romanian branch of the International Federation for the Promotion of Mechanisms and Machine Science IFToMM, Year by year the event grew in quality. Now in its 10th edition, international visibility and recognition among the researchers active in the mechanisms science field has been achieved. SYROM 2009 brought together researchers and academic staff from the field of mechanisms and machine science from all over the world and served as a forum for presenting the achievements and most recent results in research and education. Topics treated include conceptual design, kinematics and dynamics, modeling and simulation, synthesis and optimization, command and control, current trends in education in this field, applications in high-tech products. The papers presented at this conference were subjected to a peer-review process to ensure the quality of the paper, the engineering significance, the soundness of results and the originality of the paper. The accepted papers fulfill these criteria and make the proceedings unique among the publications of this type.

"Foundations of Large-Scale Multimedia Information Management and Retrieval: Mathematics of Perception" covers knowledge representation and semantic analysis of multimedia data and scalability in signal extraction, data mining, and indexing. The book is divided into two parts: Part I - Knowledge Representation and Semantic Analysis focuses on the key components of mathematics of perception as it applies to data management and retrieval. These include feature selection/reduction, knowledge representation, semantic analysis, distance function formulation for measuring similarity, and multimodal fusion. Part II - Scalability Issues presents indexing and distributed methods for scaling up these components for high-dimensional data and Web-scale datasets. The book presents some real-world applications and remarks on future research and development directions. The book is designed for researchers, graduate students, and practitioners in the fields of Computer Vision, Machine Learning, Large-scale Data Mining, Database, and Multimedia Information Retrieval. Dr. Edward Y. Chang was a professor at the Department of Electrical & Computer Engineering, University of California at Santa Barbara, before he joined Google as a research director in 2006. Dr. Chang received his M.S. degree in Computer Science and Ph.D degree in Electrical Engineering, both from Stanford University.

Nontraditional machining employs processes that remove material by various methods involving thermal, electrical, chemical and mechanical energy or even combinations of these. Nontraditional Machining Processes covers recent research and development in techniques and processes which focus on achieving high accuracies and good surface finishes, parts machined without burrs or residual stresses especially with materials that cannot be machined by conventional methods. With applications to the automotive, aircraft and mould and die industries, Nontraditional Machining Processes explores different aspects and processes through dedicated chapters. The seven chapters explore recent research into a range of topics including laser assisted manufacturing, abrasive water jet milling and hybrid processes. Students and researchers will find the practical examples and new processes useful for both reference and for developing further processes. Industry professionals and materials engineers will also find Nontraditional Machining Processes to be a source of ideas and processes for development and industrial application.

21st Century Kinematics focuses on algebraic problems in the analysis and synthesis of mechanisms and robots, compliant mechanisms, cable-driven systems and protein kinematics. The specialist contributors provide the background for a series of presentations at the 2012 NSF Workshop. The text shows how the analysis and design of innovative mechanical systems yield increasingly complex systems of polynomials, characteristic of those systems. In doing so, it takes advantage of increasingly sophisticated computational tools developed for numerical algebraic geometry and demonstrates the now routine derivation of polynomial systems dwarfing the landmark problems of even the recent past. The 21st Century Kinematics workshop echoes the NSF-supported 1963 Yale Mechanisms Teachers Conference that taught a generation of university educators the fundamental principles of kinematic theory. As such these proceedings will provide admirable supporting theory for a graduate course in modern kinematics and should be of considerable interest to researchers in mechanical design, robotics or protein kinematics or who have a broader interest in algebraic geometry and its applications.

This book considers the behavior of fluids in a low-gravity environment (e.g. spacecraft) with special emphasis on application in PMD (propellant management device) systems. Since PMD designs are not testable on ground and thus completely rely on analytical or numerical concepts, this book treats three different flow problems with analytical, numerical and experimental means. These problems are linked together by the same set of equations and boundary conditions.

The EUCOMES08, Second European Conference on Mechanism Science is the second event of a series that has been started in 2006 as a conference activity for an European community working in Mechanism Science. The ?rst event was held in Obergurgl, Austria in 2006. This year EUCOMES08 Conference has come to Cassino in Italy taking place from 17 to 20 September 2008. TheaimoftheEUCOMESConference istobringtogetherEuropean researchers, industry professionals and students from the broad ranges of disciplines referring to Mechanism Science, in an intimate, collegial and stimulating environment. In this second event we have received an increased attention to the initiative, as canbeseenbythefactthattheEUCOMES08Proceedingswillcontaincontributions by authors even from all around the world. This means also that there is a really interest to have not only a conference frame but even a need of aggregation for an European Community well identi?ed in Mechanism Science with the aim to strengthen common views and collaboration activities among European researchers and institutions. I believe that a reader will take advantage of the papers in these Proceedings with further satisfaction and motivation for her or his work. These papers cover the wide ?eld of the Mechanism Science. The program of EUCOMES08 Conference has included technical sessions with oral presentations, which, together with informal conversations during the social program, have enabled to offer wide opportunities to share experiences and discuss scienti?c achievements and current trends in the areas encompassed by the EUCOMES08 conference.

"Machining dynamics: Frequency response to improved productivity" will train engineers and students in the practical application of machining dynamics, with a particular focus on milling. The book is arranged such that the steps required to improve machining productivity through chatter avoidance and reduced surface location error (forced vibrations resulting in part geometric errors) are clearly evident. The following topics are covered in detail: modal analysis, including experimental methods, to obtain the tool point frequency response function; descriptions of turning and milling, including force modeling, time domain simulation, stability lobe diagram algorithms, and surface location error calculation for milling; and receptance coupling methods for tool point frequency response prediction, including beam theory. Numerical examples are included, as well as the MATLAB code used to develop the figures.

Since the 1970's, an increasing amount of specialized research has focused on the problems created by instability of internal flow in hydroelectric power plants. However, progress in this field is hampered by the inter disciplinary nature of the subject, between fluid mechanics, structural mechanics and hydraulic transients. Flow-induced Pulsation and Vibration in Hydroelectric Machinery provides a compact guidebook explaining the many different underlying physical mechanisms and their possible effects. Typical phenomena are described to assist in the proper diagnosis of problems and various key strategies for solution are compared and considered with support from practical experience and real-life examples. The link between state-of the-art CFD computation and notorious practical problems is discussed and quantitative data is provided on normal levels of vibration and pulsation so realistic limits can be set for future projects. Current projects are also addressed as the possibilities and limitations of reduced-scale model tests for prediction of prototype performance are explained. Engineers and project planners struggling with the practical problems will find Flow-induced Pulsation and Vibration in Hydroelectric Machinery to be a comprehensive and convenient reference covering key topics and ideas across a range of relevant disciplines.

As today s spark-ignition and diesel engines have to fulfil constantly increasing demands with regard to CO2 reduction, emissions, weight and lifetime, detailed knowledge of the components of an internal combustion engine is absolutely essential. Automotive engineers can no longer survive without such expertise, regardless of whether they are involved in design, development, testing or maintenance. This text book provides answers to questions relating to the design, production and machining of cylinder components in a comprehensive technical analysis.