Lyapunov-Based Control of Robotic Systems describes nonlinear control design solutions for problems that arise from robots required to interact with and manipulate their environments. Since most practical scenarios require the design of nonlinear controllers to work around uncertainty and measurement-related issues, the authors use Lyapunov's direct method as an effective tool to design and analyze controllers for robotic systems. After describing the evolution of real-time control design systems and the associated operating environments and hardware platforms, the book presents a host of standard control design tools for robotic systems using a common Lyapunov-based framework. It then discusses several problems in visual servoing control, including the design of homography-based visual servo control methods and the classic structure from motion problem. The book also deals with the issues of path planning and control for manipulator arms and wheeled mobile robots. With a focus on the emerging research area of human machine interaction, the final chapter illustrates the design of control schemes based on passivity such that the machine is a net energy sink. Including much of the authors' own research work in controls and robotics, this book facilitates an understanding of the application of Lyapunov-based control design techniques to up-and-coming problems in robotics.

The Ninth International Symposium on Transportation and Traffic Theory, held in the Netherlands in July 1984, follows the tradition of broad international information exchange that was developed at the eight previous symposia. Over the years the scope of the symposia has gradually widened to become both more international and more comprehensive than that of the earlier meetings. The Ninth Symposium continues this trend by including papers on a wide range of theoretical issues by leading members of the international research community.

Effective urban drainage to manage stormwater and control flooding depends on good engineering, especially when an environmentally sustainable approach is being applied. This new text focuses on green methods and modelling techniques. It covers the principles of hydrology and drainage, low-impact-development (LID) designs, computer modelling techniques, the evaluation of existing systems, and planning for both new development and urban renewal. It outlines design procedures using examples, spreadsheet models, photos, and real-world design examples. Unlike other books, which focus on extreme events, this book covers hydrologic designs for both extreme and frequent events, and reflects the latest revolution in stormwater LID management, and takes a quantitative as well as a qualitative approach. PowerPoint (R) presentations and Excel (R) computer models are provided to follow and build on the exercises in the book. It is written especially for students on urban watershed courses, and also for those studying urban planning, landscaping, water resources, hydrology and hydraulics.

This book presents a complete and unified treatment of the fundamental themes of structural mechanics, ranging from the traditional to the most advanced topics, covering mechanics of linear elastic solids, theory of beam systems, and phenomena of structural failure. The book considers explicitly all the static and kenetic operators of structural mechanics with their dual character. Topics relating to structural symmetry are covered in a single chapter while dynamics is dealt with at various points. The logical presentation allows the clear introduction of topics such as finite element methods, automatic calculation of framed beam systems, plate and shell theory, theory of plasticity, and fracture mechanics. Numerous worked examples, exercises with complete solutions and illustrations make it accessible both as a text for students and as a reference for research workers and practicing engineers.

This book describes the application of nonlinear static and dynamic analysis for the design, maintenance and seismic strengthening of reinforced concrete structures. The latest structural and RC constitutive modelling techniques are described in detail, with particular attention given to multi-dimensional cracking and damage assessment, and their practical applications for performance-based design. Other subjects covered include 2D/3D analysis techniques, bond and tension stiffness, shear transfer, compression and confinement. It can be used in conjunction with WCOMD and COM3 software Nonlinear Mechanics of Reinforced Concrete presents a practical methodology for structural engineers, graduate students and researchers concerned with the design and maintenance of concrete structures.

This second edition of the successful Foundations on Rock presents an up-to-date practical reference book describing current engineering practice in the investigation, design and construction of foundations on rock. An extra chapter on Tension Foundations has been included. The methods set out are readily applicable to high rise buildings, bridges, dams and structures subject to uplift and turning loads. Foundations on Rock differs from the many texts and handbooks on soil foundations in that it focuses on the effect of geology on the stability and settlement of rock foundations. While the intact rock may be strong, defects in the rock such as faults, joints and cavities, and the deterioration of the rock with time, will have a significant effect on foundation performance. Methods of detecting such defects are described, and their implications for foundation design and treatment are elaborated.

The application of fracture mechanics to cementitious materials allows the investigation of many important factors relating to the durability of these materials. This new book provides a comprehensive and readable exposition of this subject and is written by two of the world's foremost experts.

A state-of-the-art summary of recent developments in the behaviour, analysis and design of seismic resistant steel frames. Much more than a simple background volume, it gives the most recent results which can be used in the near future to improve the codified recommendations for steel structures in seismic zones. It contains new material which cannot be found in any standard reference book on seismic engineering.

Modelling large-scale wave fields and their interaction with coastal and offshore structures has become much more feasible over the last two decades with increases in computer speeds. Wave modelling can be viewed as an extension of wave theory, a mature and widely published field, applied to practical engineering through the use of computer tools. Information about the various wave models which have been developed is often widely scattered in the literature, and consequently this is one of the first books devoted to wave models and their applications. At the core of the book is an introduction to various types of wave models. For each model, the theoretical assumptions, the application range, and the advantages and limitations are elaborated. The combined use of different wave models from large-scale to local-scale is highlighted with a detailed discussion of the application and matching of boundary conditions. At the same time the book provides a grounding in hydrodynamics, wave theory, and numerical methods which underlie wave modelling. It presents the theoretical background and also shows how to use these models for achieving different engineering tasks, illustrated and reinforced with case study examples.

Engineers on major building projects continue to echo the sentiment that "painting amounts to 10% of the job, but provides 90% of the problems". This second edition of Steelwork Corrosion Control provides sound advice and authoritative guidance on the principles involved and methods of achieving sound steel protection. Taking into account the considerable developments in the paint protection industry, Steelwork Corrosion Control has been comprehensively updated to include new materials and coating systems, and the number of new ISO / BS / European standards and codes of practice on paints and painting, health and safety, and environmental issues. It is a must-have guide for engineers, architects and designers for whom the protection of structural steelwork is an important, albeit relatively minor, part of their professional activities. David Deacon is the President Elect of the Institute of Corrosion and a Fellow of FTCS (Fellowship of Technical Service Coating). Derek Bayliss is a Past President of the Institute of Corrosion and has served as Chairman of BS 5493 (concerned with coating strucures against corrosion).

Advances in Responsible Land Administration challenges conventional forms of land administration by introducing alternative approaches and provides the basis for a new land administration theory. A compilation of observations about responsible land administration in East Africa, it focuses on a new empirical foundation rather than preexisting ideals. Presenting practical knowledge resulting from real cases, it incorporates empirical studies highlighting Rwanda, Ethiopia, Tanzania, Uganda, and Kenya. The book considers contemporary change forces that include responsible technological innovation, post-conflict contexts, rural poverty, rapid urbanization, food security, and citizen participation. It covers land information system design, innovative data capture tools and techniques, and algorithms and approaches to support land consolidation and pastoralist land administration. The book also evaluates the outcomes of approaches specifically geared toward workflow design, land use changes, land tenure perceptions, conflict reduction, and governance measures. Outlining key aspects of what fit for purpose land administration looks like, this book presents: A contemporary update for the land administration sector An overview of East African developments, a current focus region for innovative land administration design A collection of cutting-edge tools from practice and for practice-with enough support data and methodological underpinnings to be readily utilized for advocacy, design, and assessment Advances in Responsible Land Administration is an up-to-date discourse that promotes the theoretical notion of responsible land administration. The book highlights real cases, provides real data, and introduces novel alternatives to conventional methodologies in land administration. Using the information in this book, you can develop a coherent th

Climate Health Risks in Megacities: Sustainable Management and Strategic Planning courageously confronts the immense challenges of alleviating climate change and takes the initiative to layout an agenda that calls for action in the rapidly changing landscape of our global climate. This guide provides a constructive methodology for developing and implementing risk management and operational continuity management systems to climate change effects on urban populations. It addresses key issues such as physical location, proper sanitation, food security and vector-borne diseases against the backdrop of climate change, and then model its effect on the urban dwellers. The author also reveals the benefits of implementing a unique risk management approach to combat global threats and focuses on building urban resilience in the face of disasters. Prepared with a comprehensive and forward-thinking style, this book draws on indispensable case studies in key megacities like New York, Los Angeles, Beijing, Rio de Janeiro, London, Mumbai, and Lagos, and links researchers, scientists, city's mayors, environmentalists, policy-makers and world leaders from central areas to review, reflect, and expound on future directions.

Based on the International Workshop on Controlled Life-Cycle of Polymeric Materials held in Stockholm, this work examines degradable polymers and the recycling of plastic materials. It highlights recent results on recycling and waste management, including topics such as renewable resources, degradation, processing and products, and environmental issues.

This book presents a series of high level contributions from leading research groups around the world in the field of cement and concrete science. It deals with the rapidly advancing subject of the interfaces between the components of cementitious materials: cements, aggregates, fibres, reinforcement. It will be valuable for all those involved with research and development into cement and concrete materials.

This volume of the series has been specifically designed to show engineering applications of some of these codes together with sufficient exposition of the theoretical background so that a prospective code developer or a user can gain the necessary insight into the current status of BEM.

This book forms the Proceedings of the International RILEM Workshop held in Paisley in March 1993. It contains contributions on theoretical and practical aspects of the use of special concretes, with a particular focus on their behaviour in the fresh state.

This is a collection of ten extensive review chapters by different authors.

Performance-Based Optimization of Structures introduces a method to bridge the gap between structural optimization theory and its practical application to structural engineering. The Performance-Based Optimization (PBO) method combines modern structural optimisation theory with performance based design concepts to produce a powerful technique for use in structural design. This book provides the latest PBO techniques for achieving optimal topologies and shapes of continuum structures with stress, displacement and mean compliance constraints. The emphasis is strongly placed on practical applications of automated PBO techniques to the strut-and-tie modelling of structural concrete, which includes reinforced and prestressed concrete structures. Basic concepts underlying the development of strut-and-lie models, design optimization procedure, and detailing of structural concrete are described in detail. Alternative approaches to topology optimization are also introduced. The book contains numerous practical design examples illustrating the nature of the load transfer mechanism of structures.

Concrete durability in climates where freezing and thawing occurs is a continuing problem. It is particularly acute for highway and bridge structures, where de-icing salts are used to combat the effects of frost, snow and ice. These salts can cause damage to concrete and accelerate corrosion of reinforcements. This book presents the latest international research on this area, with contributions from North America and Europe which were presented at an international RILEM workshop.

This book analyses 'zero-waste' (ZW) as an emerging waste management strategy for the future, which considers waste prevention through innovative design and sustainable consumption practices. Drawing on a diverse range of case studies from Australia, Bangladesh, Japan, New Zealand, Sweden, and the USA, this book explores why urban waste management systems still remain a major challenge for almost all cities around the world. Rejecting waste as an 'end-of-life' problem, Atiq Zaman and Tahmina Ahsan instead consider waste prevention through the ZW model, in which resources are utilized and consumed with minimum environmental degradation. In addition, the authors give extended discussion on why embracing the ZW concept will be beneficial for the circular economy (CE). Providing a strategic zero-waste framework and an evaluation tool to measure waste management performance aimed towards ZW goals, this book will be of great relevance to students, scholars, and policymakers with an interest in waste management, sustainable consumption, urban planning, and sustainable development.

Pesticide Formulation and Adjuvant Technology brings together experts from industry, academia, regulatory offices, and the legal profession to provide a complete and international reference on agrichemical formulations and modern adjuvant technology. Global specialists discuss key topics, from scientific and technical issues to regulatory and legal aspects, including:

This book provides an in-depth look at the behavior, design, and construction of offshore structures. It describes the behavior of cylindrical members and suggests appropriate software, written by the contributors, to determine everything from loading up to the ultimate load, including post-buckling and cyclic inelasticity.

Vadose Zone Hydrology describes the elements of the physical processes most often encountered by hydrogeologists and ground-water engineers in their vadose zone projects. It illustrates the application of soil physics to practical problems relevant to the characterization and monitoring of the vadose zone. It includes an introduction to physical processes, including basic flow theory, and provides examples of important field-scale processes that must be recognizable by hydrogeologists. Considerable attention is given to the concepts of recharge, including how it is most accurately evaluated in the vadose zone. Field and laboratory methods for characterizing hydraulic properties in the vadose zone are also covered, and case studies illustrating these methods are provided. New and emerging technologies for monitoring the vadose zone, particularly for the purpose of detecting contaminants, are highlighted. In the last section of the book, additional case studies are presented, demonstrating applications related to seepage detection, landfill monitoring, and soil gas investigations. This book is written from the perspective of hydrogeologists and is designed to be directly applicable and to maintain continuity and consistency between chapters. It will be an invaluable primer for environmental or geotechnical consultants, regulators, or students who have no prior formal academic training in unsaturated flow concepts. Because the text contains some of the latest advances in this field, it will be an excellent reference for geologists and engineers currently working on problems of vadose zone hydrology.

Federal regulations have required thousands of underground storage tanks (USTs) to be dug up and removed or replaced. The contamination of soil and ground water from leaking USTs has become widespread and has produced an overwhelming number of sites that require remediation. Assessment and Remediation of Petroleum Contaminated Sites presents the broad scope of the remedial process from initial site assessment to closure in an integrated, understandable format. The book guides you effortlessly through regulatory requirements, site assessments and sampling, and remediation methods. RCRA and CERCLA federal regulations are addressed. The chemistry and toxicology of petroleum hydrocarbons in the remediation process are explained, and factors affecting soil remediation are discussed. Environmental assessments, site characterizations, remediation planning, and remediation methods are all covered in detail. The book is an essential guide for environmental consultants, regulatory agency personnel, engineers, and environmental attorneys.

Principles, methods, and calculations for evaluating, designing and operating anaerobic systems