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.

Shell structures and their components are applied in many engineering fields. Designers are attaching ever increasing importance to nonlinear responses such as large deformations, instabilities and nonlinear material properties in their design analysis. This volume presents a careful selection of papers from the ICES '88 Conference covering various aspects of nonlinear shell responses.

For the many different deterministic non-linear dynamic systems (physical, mechanical, technical, chemical, ecological, economic, and civil and structural engineering), the discovery of irregular vibrations in addition to periodic and almost periodic vibrations is one of the most significant achievements of modern science. An in-depth study of the theory and application of non-linear science will certainly change one's perception of numerous non-linear phenomena and laws considerably, together with its great effects on many areas of application. As the important subject matter of non-linear science, bifurcation theory, singularity theory and chaos theory have developed rapidly in the past two or three decades. They are now advancing vigorously in their applications to mathematics, physics, mechanics and many technical areas worldwide, and they will be the main subjects of our concern. This book is concerned with applications of the methods of dynamic systems and subharmonic bifurcation theory in the study of non-linear dynamics in engineering. It has grown out of the class notes for graduate courses on bifurcation theory, chaos and application theory of non-linear dynamic systems, supplemented with our latest results of scientific research and materials from literature in this field. The bifurcation and chaotic vibration of deterministic non-linear dynamic systems are studied from the viewpoint of non-linear vibration.

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.

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.

"

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.

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."

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.

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.

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."

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.

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.

This book has been a long time in the making. Since its beginning the concept has been refined many times. This is a first attempt at a technical book for me and fortunately the goals I have set have been achieved. I have been involved in water based ink evaluation since its unclear begin nings in the early 1970s. This book is fashioned much like a loose-leaf binder I had put together for early reference and guidance. The format has worked for me over the years; I trust it will work for you. I would like to thank the many people who made this book possible, particularly Blackie Academic & Professional for their saint-like patience. Thanks again to W.B. Thiele (Thiele-Engdahl), to Lucille, my wife, and to James and Frank, my two boys. A final and special thank you to Richard Bach who taught me there are no limits."

Includes MATLAB-based computational and design algorithms utilizing the "Linear Systems Toolkit." All results and case studies presented in both the continuous- and discrete-time settings.

The application of computational electromagnetics to practical EMI/EMC engineering is an emerging technology. Because of the increased complexity in EMI/EMC issues resulting from advancements in electronics and telecommunications, it is no longer possible to rely exclusively on traditional techniques and tools to solve the growing list of electronic engineering design problems. EMI/EMC Computational Modeling Handbook introduces modeling and simulation of electromagnetics to real-world EMI/EMC engineering. It combines the essentials of electromagnetics, computational techniques, and actual EMI/EMC applications. Included are such popular full-wave computational modeling techniques as the Method of Moments, Finite-Difference Time Domain Technique, Finite Element Method, and several others. The authors have included a myriad of applications for computers, telecommunications, consumer electronics, medical electronics, and military uses. EMI/EMC Computational Modeling Handbook is an invaluable reference work for practicing EMI/EMC engineers, electronic design engineers, and any engineer involved in computational electromagnetics.

Over half of the products of the chemical and process industries are sold in a particulate form. The range of such products is vast: from agrochemicals to pigments, from detergents to foods, from plastics to pharmaceuticals. However, surveys of the performance of processes designed to produce particulate products have consistently shown inadequate design and poor reliability. Particle technology' is a new subject facing new challenges. Chemical and process engineering is becoming less concerned with the design of plants to produce generic simple chemicals (which are often single phase fluids) and is now more concerned with speciality effect' chemicals which may often be in particulate form. Chemical and process engineers are also being recruited in increasing numbers into areas outside their tranditional fields, such as the food industry, pharmaceuticals and the manufacture of a wide variety of consumer products. This book has been written to meet their needs. It provides comprehensive coverage of the technology of particulate solids, in a form which is both accessible and concise enough to be useful to engineering and science students in the final year of an undergraduate degree, and at Master's level. Although it was written with students of chemical engineering in mind, it will also be of use and interest to students of other disciplines. It comprises an account of the fundamentals of teh subject, illustrated by worked examples, and followed by a wide range of selected applications.

Injection moulding is the most important moulding process used by the plastics industry and some idea of its importance can be obtained by considering the following figures. The value of the UK market for plastics processing equipment was GBP60 million in 1977. Of this sum, GBP23 million was spent on injection moulding machines, that is, 40 % of all the money spent on plastics processing equipment in the UK. It has been estimated that one-third of all plastics materials are processed by injection moulding. At the present time the process is of greater importance to the thermoplastics industry but its relevance to the thermoset industry should not be ignored. Most ofthe equipment now used is based on single-screw pre-plasticising units. Once these machines had become established, in the 1960s, it was felt that the ultimate had been reached in machine design and utilisation. However, since that time, machines, processes and materials have undergone extensive development to make injection moulding safer, more reliable, easier to use and more economical to operate. The purpose ofthis book is to review some of the developments that have taken place in this very important area. These developments are described by specialists in the field, who have extensive industrial experience and whose contribution will therefore be of immediate relevance to those concerned with the usage and application of this, the most important plastics moulding process.

"An adulating biography of Apple's left-brained wunderkind, whose work continues to revolutionize modern technology." --"Kirkus Reviews"
In 1997, Steve Jobs discovered a scruffy British designer toiling away at Apple's headquarters, surrounded by hundreds of sketches and prototypes. Jony Ive's collaboration with Jobs would produce some of the world's most iconic technology products, including the iMac, iPod, iPad, and iPhone. Ive's work helped reverse Apple's long decline, overturned entire industries, and created a huge global fan base. Yet little is known about the shy, soft-spoken whiz whom Jobs referred to as his "spiritual partner."
Leander Kahney offers a detailed portrait of the English art school student with dyslexia who became the most acclaimed tech designer of his generation. Drawing on interviews with Ive's former colleagues and Apple insiders, Kahney "takes us inside the creation of these memorable objects." ("The Wall Street Journal")

Composite Materials in Aerospace Design is one of six titles in a coherent and definitive series dedicated to advanced composite materials research, development and usage in the former Soviet Union. Much of the information presented has been classified until recently. Thus each volume provides a unique insight into hitherto unknown research and development data. This volume deals with the design philosophy and methodology used to produce primary and secondary load bearing composite structures with high life expectancies. The underlying theme is of extensive advanced composites research and development programs in aircraft and spacecraft applications, including the space orbital ship `BURAN'. The applicability of much of this work to other market sectors, such as automotive, shipbuilding and sporting goods is also examined in some detail. The text starts by describing typical structures for which composites may be used in this area and some of the basic requirements from the materials being used. Design of components with composite materials is then discussed, with specific reference to case studies. This is followed by discussion and results from evaluation of finished structures and components, methods of joining with conventional materials and finally, non-destructive testing methods and forecasting of the performance of the composite materials and the structures which they form. Composite Materials in Aerospace Design will be of interest to anyone researching or developing in composite materials science and technology, as well as design and aerospace engineers, both in industry and universities.

The integration of manufacturing constraints and their optImIzation within the design process of mechanical products and systems are now an industrial priority. Following the first two IDMME conferences in Nantes in 1996 and Compiegne in 1998, the purpose of the IDMME'2000 conference was to present recent developments in these areas and new areas within the product and process development theme. The original initiative of the conference is mainly due to the efforts of the French AIP-PRIMECA group (Pool of Computer Resources for Mechanics). The organizing committee and the local organizing institutions (Concordia University, Ecole Poly technique de Montreal, and McGill University) contributed to the success of the conference. The presentation of 190 papers and the presence of more than 225 researchers coming from more than 20 countries demonstrate the success of the initiative. This book contains 57 of these papers selected by an International Scientific Committee: Chairman: C. Fortin (Canada) Co-chairmen: P. Chedmail (France), G. Cognet (France), C. Mascle (Canada), J. Pegna (Canada) J. Angeles (Canada) P. Martin (France) J. L. Batoz (France) C. McMahon (U. K. ) J. C. Bocquet (France) M. Mantyla (Finland) A. - Bernard (France) J. L. Maxwell (USA) P. Bourdet (France) N. M. Patrikalakis (USA) A Clement (France) J. P. Pelle (France) D. Cochran (USA) B. Peseux (France) D. Coutellier (France) D. Play (France) A- Dalsky (Russia) M. Pratt (USA) D. A. Dornfeld (USA) B. Ravani (USA) D. Deneux (France) A. Riviere (France) G. Gogu (France) C.

REFEREN CES . 156 9 Transforma.tion of a Boundary Value Problem to an Initial Value Problem . 157 9.0 Introduction . 157 9.1 Blasius Equation in Boundary Layer Flow . 157 9.2 Longitudinal Impact of Nonlinear Viscoplastic Rods . 163 9.3 Summary . 168 REFERENCES . . . . . . . . . . . . . . . . . . 168 . 10 From Nonlinear to Linear Differential Equa.tions Using Transformation Groups. . . . . . . . . . . . . . 169 . 10.1 From Nonlinear to Linear Differential Equations . 170 10.2 Application to Ordinary Differential Equations -Bernoulli's Equation . . . . . . . . . . . 173 10.3 Application to Partial Differential Equations -A Nonlinear Chemical Exchange Process . 178 10.4 Limitations of the Inspectional Group Method . 187 10.5 Summary . 188 REFERENCES . . . . 188 11 Miscellaneous Topics . 190 11.1 Reduction of Differential Equations to Algebraic Equations 190 11.2 Reduction of Order of an Ordinary Differential Equation . 191 11.3 Transformat.ion From Ordinary to Partial Differential Equations-Search for First Integrals . . . . . . " 193 . 11.4 Reduction of Number of Variables by Multiparameter Groups of Transformations . . . . . . . . .. . . . 194 11.5 Self-Similar Solutions of the First and Second Kind . . 202 11.6 Normalized Representation and Dimensional Consideration 204 REFERENCES .206 Problems . 208 .220 Index .. Chapter 1 INTRODUCTION AND GENERAL OUTLINE Physical problems in engineering science are often described by dif ferential models either linear or nonlinear. There is also an abundance of transformations of various types that appear in the literature of engineer ing and mathematics that are generally aimed at obtaining some sort of simplification of a differential model."

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.