The International Council on Systems Engineering (INCOSE) defines Systems Engineering as an interdisciplinary approach and means to enable the realization of successful systems.

Researchers are using intelligence-based techniques to support the practices of systems engineering in an innovative way. This research volume includes a selection of contributions by subject experts to design better systems.

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Within the past twenty years, the field of robotics has been finding many areas of applications ranging from space to underwater explo rations. One of these areas which is slowly gaining popularity among the users group is the notion of service robotics. This book is an in vestigation and exploration of engineering principles in the design and development of mechanisms and robotic devices that can be used in the field of surgery. Specifically the results of this book can be used for designing tools for class of Minimally Invasive Surgery (MIS). Generally, Minimal Invasive Surgery (MIS), e. g. laparoscopic surgery, is performed by using long surgical tools, that are inserted through small incisions at the ports of entry to the body (e. g. abdominal wall) for reaching the surgical site. The main drawback of current designs of en doscopic tools is that they are not able to extend all the movements and sensory capabilities of the surgeon's hand to the surgical site. By im proving surgical procedures, training, and more practice, it is possible for surgeons to reduce completion time for each task and increase their level of skill. However, even in the best cases the level of performance of a surgeon in Minimally Invasive Surgery is still a fraction of the con ventional surgery. Any dramatically improvement is usually driven by introduction of new tools or systems that in turn bring totally new pro cedures and set of skills.

This book was prepared with the idea of collecting some of the multitudinous new literature on carbanions and pre senting it along with the fundamentals of carbanion chemi stry. Some 400 papers from the period 1976 to 1982 have been assimilated into the book along with about an equal number of references (many to reviews) from the earlier literature. The material is organized under the headings Structures (with emphasis on the results of X-ray studies since they unambiguously show the molecular geometry), Preparations, and Reactions. Reactions, the largest topic, is divided into reactions with electrophiles, eliminations, oxidations, and rearrangements. Under these headings, carbanions without resonance stabilization (0' carbanions) are generally discus sed first, and are further subdivided into Sp3 (alkyl) followed by Sp2 (vinyl and aryl) followed by sp (acetylenic); resonance stabilized (n) hydrocarbon anions such as allyl and benzyl follow; lastly, heteroatom-containing n carbanions such as enolates are considered. Some references to carbanion equivalents are included at the end. Tucson, Arizona U.S.A. Robert B. Bates May 1983 Craig A. Ogle Table of Contents I. Introduction 1 II. Structures . 3 1. Non-delocalized (0") 3 a. Sp3 ..... . 3 b. Sp2 and sp . . . 7 2. Delocalized (n) . . 8 a. Hydrocarbon Anions 8 b. Heteroatom-containing Carbanions 10 III. Preparations. . . . . 13 13 1. From Alkyl Halides 13 a. With Metals . . 15 b. With Organometallics . 17 2. From Alkanes by Proton Abstraction 17 a. Acidities of CH Protons. . 21 b. Base-solvent Systems . . . 25 3. From Unsaturated Compounds 25 a. By Reduction . . . . . ."

The series Advances in Industrial Control aims to report and encourage technology transfer in control engineering. The rapid development of control technology impacts all areas of the control discipline. New theory, new controllers, actuators, sensors, new industrial processes, computing methods, new applications, new philosophies . . . , new challenges. Much of the development work resides in industrial reports, feasibility study papers and the reports of advanced collaborative projects. The series offers an opportunity for researchers to present an extended exposition of such new work in all aspects of industrial control for wider and rapid dissemination. The potentially devastating effect of an operator making the wrong decision in the control of a highly automated system or process is well known. However as even more large-scale automated systems become likely, for example automated highways for cars, it is increasingly important to be able to assess the safety of these mixed or joint systems. Carlo Cacciabue's monograph on the modelling and simulation of these mixed processes of technological systems and human operators is extremely timely. The monograph provides an up-to-date and systematic presentation of the basic concepts and tools needed. This comprehensive coverage of the subject also includes a review of the last twenty years of research effort in the field.

Superblack, supercase, supercomputer, supersonic, superimpose, superquadric (including superellipsoid), superred (and the supergreen and superblue superprimaries), supersampling, supershift, superuser, Super VGA, Super VHS, and superwhite are just a few of the words that make the language of computer graphics. The Dictionary of Computer Graphics Technology and Applications guides novices and specialists alike through the maze of terminology surrounding one of the most exciting growth areas of computers. This dictionary covers the software, hardware, and applications of computer graphics. It contains hundreds of terms not found elsewhere, aiding specialists with the jargon of unfamiliar applications areas and allied technologies. Definitions are clear and concise, with special attention given to alternate spellings and meanings. Acronyms are decoded, and pronunciation of the seemingly unpronounceable is given, from NAPLPS (nap-lips) to WYSIWYG (whizzy-wig).

This book studies methods for a robust design of rotors against self-excited vibrations. The occurrence of self-excited vibrations in engineering applications if often unwanted and in many cases difficult to model. Thinking of complex systems such as machines with many components and mechanical contacts, it is important to have guidelines for design so that the functionality is robust against small imperfections. This book discusses the question on how to design a structure such that unwanted self-excited vibrations do not occur. It shows theoretically and practically that the old design rule to avoid multiple eigenvalues points toward the right direction and have optimized structures accordingly. This extends results for the well-known flutter problem in which equations of motion with constant coefficients occur to the case of a linear conservative system with arbitrary time periodic perturbations.

This book by Mr Glegg on the principles of the design process is concerned with carrying out the scientific research needed to obtain data for engineering design. He discusses the various kinds of experiments THAT are appropriate to particular situations and which are likely to yield the required data at minimum cost. Mr Glegg's objectives are essentially practical and he aims to help the designer, who often tends to become a specialist when he ought to be a general practitioner, to think through a research problem, even in an area totally outside the range of his previous experience. As in Mr Glegg's previous books, the principles are illustrated and brought home by further, often entertaining, examples from his wide range of experience as an inventor, consulting engineer, director of research and company director.

Over the past decade, with greater emphasis being placed upon shorter lead times, better quality products, reduced product costs, and greater customer satisfaction, the topic of Engineering Design has received increased interest from the industrial and ac ademic communities. Considerable effort has been directed at developing design process methodologies and building computer tools that focus upon relatively narrow aspects of design, but many key problems in Engineering Design research and practice remain unanswered. Resulting from the First International Engineering Design Debate held in Glasgow, UK in late 1996, this volume discusses the main issues concerning the improvement of design productivity. Covering design studies, design development, concurrent engineering and design knowledge and information, it attempts to derive a common understanding of the basic factors, problems and potential solutions involved.

The series Advances in Industrial Control aims to report and encourage technology transfer in control engineering. The rapid development of control technology impacts all areas of the control discipline. New theory, new controllers, actuators, sensors, new industrial processes, computer methods, new applications, new philosophies ... , new challenges. Much of this development work resides in industrial reports, feasibility study papers and the reports of advanced collaborative projects. The series offers an opportunity for researchers to present an extended exposition of such new work in all aspects of industrial control for wider and rapid dissemination. The steel industry world-wide is highly competitive and there is significant research in progress to ensure competitive success prevails in the various companies. From an engineering viewpoint, this means the use of increasingly sophisticated techniques and state-of-the-art theory to optimise process throughput and deliver ever more exacting dimensional and material property specifications. Dr. Bjoem Sohlberg's monograph demonstrates this interplay between fundamental control engineering science and the demands of a particular applications project in the steel strip production business. It is an excellent piece of work which clearly shows how these industrial engineering challenges can be formulated and solved.

How does an inventor set about designing a piece of machinery to make a particular product? Are they any basic principles to guide him? Glegg believes that there are and, in his short book, draws on his own wide-ranging experience as an inventor, consulting engineer, company director and university lecturer, to define them. Most books on engineering design are concerned with either mathematical analysis or some individual technique related to a narrow field. This book is neither: it defines the general laws which underlie all creative design, from the philosophy and psychology of inventiveness to the point at which an invention is commercially exploited. It thus cuts across the frontiers of specialised studies and specialised industries. Glegg finds engineering fun and feels that learning about it need not be dull. His book, with many illustrations from the battleground of industry, is both entertaining and profitable reading for engineering designers of the future and for those in general management responsible for design departments.

to Robotics In collaboration with Milan Djurovic, Dragan Hristic, Branko Karan, Manja Kireanski, N enad Kireanski, Dragan Stokic, Dragoljub Vujic, Vesna Zivkovic With 228 Figures Springer-Verlag Berlin Heidelberg New York London Paris Tokyo 1989 .. Miomir Vukobratovic, Ph. D., D. Sc. Milan Djurovic B. Sc. Dragan Hristic Ph.D. Branko Karan B. Sc. Manja Kircanski Ph.D. Nenad Kireanski Ph.D. Dragan Stokic Ph.D. Dragoljub Vujic Ph.D. Vesna Zivkovic Ph.D. Institute Mibajlo Pupin YU-llOOO Beograd Based on the original Uvod u Robotiku published by Institute Mibajlo Pupin, Beograd, Yugoslavia, 1986. ISBN -13: 978-3-642-82999-4 e-ISBN -13: 978-3-642-82997-0 DOl: 10.1007/978-3-642-82997-0 Library of Congress Cataloging-in-Publication Data Vukobratovic, Miomir. Introduction to robotics. Translation of: Uvod u robotiku. Includes index. 1. Robotics. 1. Title. TJ211.V86131988 629.8'92 88-10307 ISBN-i3:978-3-642-82999-4 (U.S.) This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, re-use of illustration, recitation, broadcasting, reproduction on microfilms or in other ways. and storage in data banks. Duplication of this publication or parts thereof is only permitted under the provisions of the German Copyright Law of September 9,1965, in its version of June 24, 1985, and a copyright fee must always be paid. Violations fall under the prosecution act of the German Copyright Law.

Structural topology optimization is a fast growing field that is finding numerous applications in automotive, aerospace and mechanical design processes. Homogenization is a mathematical theory with applications in several engineering problems that are governed by partial differential equations with rapidly oscillating coefficients Homogenization and Structural Topology Optimization brings the two concepts together and successfully bridges the previously overlooked gap between the mathematical theory and the practical implementation of the homogenization method. The book is presented in a unique self-teaching style that includes numerous illustrative examples, figures and detailed explanations of concepts. The text is divided into three parts which maintains the book's reader-friendly appeal.

The purpose of this book is to explain the philosophy set out in Eurocode 7, the new European code of practice for geotechnical design, and, by means of series of typical examples, to show how this philosophy is used in practice. This book is aimed at: * practising engineers, to assist them to carry out geotechnical designs to Eurocode 7 using the limit state design method and partial factors; * lecturers and students on courses where design to Eurocode 7 is being taught. It is envisaged that practising engineers, using this book to assist them carry out geotechnical designs to Eurocode 7, will have access to the prestandard version of Eurocode 7, ENV 1997 -I, so the authors have concentrated on the main principles and have not provided a commentary on all the clauses. However sufficient detail has been included in the book to enable it to be used on its own by those learning the design principles who may not have access to Eurocode 7. For example, the values of the partial factors and the principal equations given in Eurocode 7 have been included and these are used in the design examples in this book. To assist the reader, the numbering, layout and titles of the chapters closely follow those presented in Eurocode 7.

This book addresses an area of perception engineering which deals with constructive processes. A model of the environment is analyzed using the information acquired from mUltiple viewpoints of multiple disparate sensors at multiple time instants. Although the role of successive model building and active exploration of the environment, as is discussed in this book, is of great importance, only a few researchers of machine perception have thus far addressed the problem in these directions. Krotkov's book, which is a modification and continuation of his highly successful dissertation, focuses on active exploratory sensing in the context of spatial layout perception. He uses stereo and focus to obtain distance By information, and to eventually develop cooperative combining techniques. means of a stereo system with verging cameras, it is demonstrated that the distance measurements can be significantly improved by combining two sources. In addition, the problem of merging information from the multiple views is discussed in detail. As the field of perception engineering seems to be of growing scientific and applied importance, both practitioners and researchers in machine perception will find this book a valuable addition to their libraries. RameshJain Series Editor Acknowledgements I would like to thank Professor Ruzena Bajcsy for her constant encouragement and guidance during the five years of research leading to the dissertation upon which this book is based. Without her help in all matters, this work would never have been possible.

By incorporating biologically-inspired functions into ICT, various types of new-generation information and communication systems can be created. Just some example of areas already benefiting from such design inspiration are network architectures, information processing, molecular communication, and complex network modeling for solving real world-problems. This book provides the theoretical basis for understanding these developments and explains their practical applications. Highlighted inserts appears throughout to help readers to understand the very latest topics in these emerging research fields. The book ends with a more philosophical discussion on how new ICT solutions can be found by looking at analogous systems in biology. This new way of thinking may help researchers and practitioners to apply innovative ideas in developing next-generation technologies.

This book contains contributions from various authors on different important topics related with probabilistic methods used for the design of structures. Initially several of the papers were prepared for advanced courses on structural reliability or on probabilistic methods for structural design. These courses have been held in different countries and have been given by different groups of lecturers. They were aimed at engineers and researchers who already had some exposure to structural reliability methods and thus they presented overviews of the work in the various topics. The book includes a selection of those contributions, which can be of support for future courses or for engineers and researchers that want to have an update on specific topics. It is considered a complement to the existing textbooks on structural reliability, which normally ensure the coverage of the basic topics but then are not extensive enough to cover some more specialised aspects. In addition to the contributions drawn from those lectures there are several papers that have been prepared specifically for this book, aiming at complementing the others in providing an overall account of the recent advances in the field. It is with sadness that in the meanwhile we have seen the disappearance of two of the contributors to the book and, in fact two of the early contributors to this field.

LNA-ESD Co-Design for Fully Integrated CMOS Wireless Receivers fits in the quest for complete CMOS integration of wireless receiver front-ends. With a combined discussion of both RF and ESD performance, it tackles one of the final obstacles on the road to CMOS integration. The book is conceived as a design guide for those actively involved in the design of CMOS wireless receivers.

The book starts with a comprehensive introduction to the performance requirements of low-noise amplifiers in wireless receivers. Several popular topologies are explained and compared with respect to future technology and frequency scaling. The ESD requirements are introduced and related to the state-of-the-art protection devices and circuits.

LNA-ESD Co-Design for Fully Integrated CMOS Wireless Receivers provides an extensive theoretical treatment of the performance of CMOS low-noise amplifiers in the presence of ESD-protection circuitry. The influence of the ESD-protection parasitics on noise figure, gain, linearity, and matching are investigated. Several RF-ESD co-design solutions are discussed allowing both high RF-performance and good ESD-immunity for frequencies up to and beyond 5 GHz. Special attention is also paid to the layout of both active and passive components.

LNA-ESD Co-Design for Fully Integrated CMOS Wireless Receivers offers the reader intuitive insight in the LNA s behavior, as well as the necessary mathematical background to optimize its performance. All material is experimentally verified with several CMOS implementations, among which a fully integrated GPS receiver front-end. The book is essential reading for RF design engineers and researchers in the field and is also suitable as a text book for an advanced course on the subject.

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Plastics have become increasingly important in the products used in our society, ranging from housing to packaging, transportation, business machines and especially in medicine and health products. Designing plastic parts for this wide range of uses has become a major activity for designers, architects, engineers, and others who are concerned with product development. Because plastics are unique materials with a broad range of proper ties they are adaptable to a variety of uses. The uniqueness of plastics stems from their physical characteristics which are as different from metals, glasses, and ceramics as these materials are different from each other. One major concern is the design of structures to take loads. Metals as well as the other materials are assumed to respond elastically and to recover completely their original shape after the load is removed. Based on this simple fact, extensive litera ture on applied mechanics of materials has been developed to enable designers to predict accurately the performance of structures under load. Many engineers depend on such texts as Timoshenko's Strength of Materials as a guide to the performance of structures. Using this as a guide, generations of engineers have designed economical and safe structural parts. Unfortunately, these design principles must be modified when designing with plastics since they do not respond elastically to stress and undergo permanent deformation with sus tained loading."

As an instructor in various finishing courses, I have frequently made the statement over the years that "In the field of metal finishing there is very little black and white, just a great deal of grey. It is the purpose of the instructor to familiarize the student with the beacons that will guide him through this fog. " To a very considerable extent, a handbook such as this serves a similar purpose. It is also subject to similar limitations. Providing all the required information would result in a multi-volume encyclopedia rather than a usable handbook. In the pages that follow, you will therefore find frequent references to other sources where more detailed explanations or information can be found. The present goal is proper guidance and the provision ofthe most frequently required facts, not everything that is available. In the 13 years since the last edition, changes in the finishing industry have been profound but in one sense have resulted in simplifying matters rather than complicating them. Because technology has advanced to a level of complexity rendering "home brew" impracti cal in many cases, dependence on proprietary compounds has become common. Therefore, detailed solution compositions are often no longer significant or even practical. It is thus more important to provide instruction about the factors that affect the choice of the most suitable type of proprietary material."

This work gives a concise introduction to four important optimization techniques, presenting a range of applications drawn from electrical, manufacturing, mechanical, and systems engineering-such as the design of microstrip antennas, digital FIR filters, and fuzzy logic controllers. The book also contains the C programs used to implement the main techniques for those wishing to experiment with them.

to Optimization of Structures With 66 Illustrations Springer-Verlag New York Berlin Heidelberg London Paris Tokyo Hong Kong N.V. Banichuk Institute for Problems in Mechanics USSR Academy of ScienCes 117526 Moscow Soviet Union Translator Vadim Komkov Mathematics and Computer Science Department Air Force Institute of Technology Wright Patterson Air Force Base, OH 45433 USA Original Russian edition Vvedenie v Optimizatsiyu Konstruktsiy published (c) 1986 by Nauka Moscow. Library of Congress Cataloging-in-Publication Data Banichuk, Nikolai Vladimirovich. [Vvedenie v optimizatsiiii konstruktsii. English] Introduction to optimization of structuresfN.V. Banichuk. p. cm. Translation of: Vvedenie v optimizaiSiiu konstrukiSii. Includes bibliographical references. ISBN-13:978-1-4612-7988-4 (aIk. paper) 1. Structures, Theory of. I. Title. TA645.B3513 1990 624. 1 '7-dc20 89-26165 Printed on acid-free paper. (c) 1990 Springer-Verlag New York, Inc. Softcover reprint of the hardcover 1st edition 1990 All rights reserved. This work may not be translated or copied in whole or in part without the written permission of the publisher (Springer-Verlag New York, Inc., 175 Fifth Avenue, Ne\l York, NY 10010, USA), except for brief excerpts in connection with reviews or scholarly analysis Use in connection with any form of information storage and retrieval, electronic adaptation computer software, or by similar or dissimilar methodology now known or hereafter developec is forbidden.

The International Union of Theoretical and Applied Mechanics (IUTAM) initiated and sponsored an International Symposium on Optimization of Mechanical Systems held in 1995 in Stuttgart, Germany. The Symposium was intended to bring together scientists working in different fields of optimization to exchange ideas and to discuss new trends with special emphasis on multi body systems. A Scientific Committee was appointed by the Bureau of IUTAM with the following members: S. Arimoto (Japan) EL. Chernousko (Russia) M. Geradin (Belgium) E.J. Haug (U.S.A.) C.A.M. Soares (Portugal) N. Olhoff (Denmark) W.O. Schiehlen (Germany, Chairman) K. Schittkowski (Germany) R.S. Sharp (U.K.) W. Stadler (U.S.A.) H.-B. Zhao (China) This committee selected the participants to be invited and the papers to be presented at the Symposium. As a result of this procedure, 90 active scientific participants from 20 countries followed the invitation, and 49 papers were presented in lecture and poster sessions.

Base isolation technology offers a cost-effective and reliable strategy for mitigating seismic damage to structures. The effectiveness of this new technology has been demonstrated not only in laboratory research, but also in the actual response of base-isolated buildings during earthquakes. Increasingly, new and existing buildings in earthquake-prone regions throughout the world are making use of this innovative strategy. In this expanded and updated edition, the design methods and guidelines associated with seismic isolation are detailed. The main focus of the book is on isolation systems that use a damped natural rubber. Topics covered include coupled lateral-torsional response, the behavior of multilayer bearings under compression and bending, and the buckling behavior of elastomeric bearings. Also featured is a section covering the recent changes in building code requirements.

I wish to express my full indebtedness to all researchers in the field. Without their outstanding contribution to knowledge, this book would not have been written. The author wishes to express his sincere thanks and gratitude to Professors M. F. Ashby (University of Cambridge), N. D. Cristescu (University ofFlorida), N. Davids (The Pennsylvania State University), H. F. Frost (Dartmouth College), A W. Hendry (University of Edinburgh), F. A Leckie (University of California, Santa Barbara), A K. Mukherjee (University of California, Davis), T. Nojima (Kyoto University), J. T. Pindera (University of Waterloo), J. W. Provan (University of Victoria), K. Tanaka (Kyoto University), Y Tomita (Kobe University) and G. A Webster (Imperial College), and to Dr. H. J. Sutherland (Sandia National Laboratories). Permission granted to the author for the reproduction of figures and/or data by the following scientific societies, publishers and journals is gratefully acknowledged: ASME International, ASTM, Academic Press, Inc. , Addison Wesley Longman (Pearson Education), American Chemical Society, American Institute of Physics, Archives of Mechanics I Engineering Transactions (archiwum mechaniki stosawanej I rozprawy inzynierskie, Warsaw, Poland), British Textile Technology Group, Butterworth-Heinemann Ltd. (USA), Chapman & Hall Ltd. (International Thomson Publishing Services Ltd. ), Elsevier Science-NL (The Netherlands), Elsevier Science Limited (U. K. ), Elsevier SequoiaS. A (Switzerland), John Wiley & Sons, Inc. , lOP Publishing Limited (UK), Kluwer Academic Publishers (The Netherlands), Les Editions de Physique Les Ulis (France), Pergamon Press Ltd. (U. S. A), Society for Experimental Mechanics, Inc.

The series Advances in Industrial Control aims to report and encourage technology transfer in control engineering. The rapid development of control technology impacts all areas of the control discipline. New theory, new controllers, actuators, sensors, new industrial processes, computer methods, new applications, new philosophies, . . . . , new challenges. Much of this deVelopment work resides in industrial reports, feasibility study papers and the reports of advanced collaborative projects. The series offers an opportunity for researchers to present an extended exposition of such new work in all aspects of industrial control for wider and rapid dissemination. The high performance control systems applications in aerospace and astronautics almost have a tradition of exploiting the most advanced control theoretical developments first. The optimal control and ffitering paradigm associated with the names of Kalman, Bucy, Anderson and Moore found application in the astronautics of the 1960'S and 1970'S. At the beginning of the 1980'S, control theory moved on to robustness, singular values and mu-analysis. This new work was associated with the names of Zames, Doyle, Glover, Balas among others. The Advances in Industrial Control monograph series have published several volumes over the years which have archived the applications experience garnered from applying robust control to the aerospace sector problems. Rick Lind and Marty Brenner add to this set with their volume on robust aeroservoelastic stability. This volume reports the application of the structured singular value to aeroelastic and aeroservoelastic aerospace problems.