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.

The material in this book is based on the assumption that new manufacturing techniques offer potential benefits to electromechanical designers, but that appropriate design systems are necessary. The book describes a design paradigm, 'design by composition', that facilitates design of integrated electromechanical devices for fabrication with novel rapid prototyping processes. New manufacturing techniques called layered manufacturing, rapid prototyping, or Solid Freeform Fabrication (SFF) build parts by a sequence of deposition and shaping operations. These techniques allow a greater degree of manufacturing automation, and offer new design possibilities. For example, during SFF fabrication, the interior of parts is accessible. Traditional manufacturing techniques, on the other hand, generally of parts with complex internal geometry and embedded components. The design by composition technique is particularly well suited to design and fabrication of mechanical parts with embedded electronic, sensor, and actuator components.The highly integrated mechanisms that can be fabricated with the Shape Deposition Manufacturing (SDM) process and the design by composition approach can result in small robotic systems with increased performance and reliability. The book describes some of the new possibilities offered by SFF techniques, in particular the SDM process, and how design by composition makes these capabilities accessible to designers. The book presents the concept of design by composition, as well as the theoretical development of algorithms for its implementation. A prototype implementation is described, as well as some example parts built at Stanford University with the system.

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.

The IUTAM Symposium on Boundary-Layer Separation, suggested by the UK National Committee of Theoretical and Applied Mechanics and supported by the International Union of Theoretical and Applied Mechanics, was held at University College London on August 26-28, 1986. The proposed theme and scope of the Symposium were designed to help to bring about the necessary interaction between experimentalists, computationalists and theoreticians for the furthering of understanding in this challenging subject. The talks and discussions were aimed at representing the very wide range and application of separating-flow phenomena, which often substantially affect the whole of fluid dynamics at medium to large Reynolds numbers, covering in particular both laminar and turbulent flow, steady or unsteady, two- or three-dimensional, small or large-scale, incompressible or compressible, external or internal, from the experimental, computational and theoretical standpoints. It was intended that about 80 scientists would participate in the Symposium, with about 25 talks being delivered, to which poster sessions with 8 contributions were added subsequently. All the speakers and poster presenters were selected by the scientific committee, although two late replacements of speakers were required. Fruitful discussions, well led by the session chairmen, took place formally after each talk and after the poster sessions and informally on other occasions including the social events. The present proceedings of the Symposium appear to reflect much of the current state of experimental, computational and theoretical work and progress in boundary-layer separation. We hope that they provide also ideas, questions and stimulation, in addition to major recent developments."

Many mechanical systems are actively controlled in order to improve their dynamic performance. Examples are elastic satellites, active vehicle suspension systems, robots, magnetic bearings, automatic machine tools. Problems that are typical for mechanical systems arise in the following areas: - Modeling the mechanical system in such a way that the model is suitable for control design - Designing multivariable controls to be robust with respect to parameter variations and uncertainties in system order of elastic structures - Fast real-time signal processing - Generating high dynamic control forces and providing the necessary control power - Reliability and safety concepts, taking into account the growing role of software within the system The objective of the Symposium has been to present methods that contribute to the solutions of such problems. Typical examples are demonstrating the state of the art It intends to evalua~ the limits of performance that can be achieved by controlling the dynamics, and it should point to gaps in present research and areas for future research. Mainly, it has brought together leading experts from quite different areas presenting their points of view. The International Union of Theoretical and Applied Mechanics (lUTAM) has initiated and sponsored, in cooperation with the International Federation of Automatic Control (IF AC), this Symposium on Dynamics of Controlled Mechanical Systems, held at the Swiss Federal Institute of Technology (ETH) in Zurich, Switzerland, May 3D-June 3, 1988.

Embedded computer systems are now everywhere: from alarm clocks to PDAs, from mobile phones to cars, almost all the devices we use are controlled by embedded computers. An important class of embedded computer systems is that of hard real-time systems, which have to fulfill strict timing requirements. As real-time systems become more complex, they are often implemented using distributed heterogeneous architectures.

Analysis and Synthesis of Distributed Real-Time Embedded Systems addresses the design of real-time applications implemented using distributed heterogeneous architectures. The systems are heterogeneous not only in terms of hardware components, but also in terms of communication protocols and scheduling policies. Regarding this last aspect, time-driven and event-driven systems, as well as a combination of the two, are considered. Such systems are used in many application areas like automotive electronics, real-time multimedia, avionics, medical equipment, and factory systems. The proposed analysis and synthesis techniques derive optimized implementations that fulfill the imposed design constraints. An important part of the implementation process is the synthesis of the communication infrastructure, which has a significant impact on the overall system performance and cost.

Analysis and Synthesis of Distributed Real-Time Embedded Systems considers the mapping and scheduling tasks within an incremental design process. To reduce the time-to-market of products, the design of real-time systems seldom starts from scratch. Typically, designers start from an already existing system, running certain applications, and the design problem is to implement new functionality on top of this system. Supporting such an incremental design process provides a high degree of flexibility, and can result in important reductions of design costs.

Analysis and Synthesis of Distributed Real-Time Embedded Systems will be of interest to advanced undergraduates, graduate students, researchers and designers involved in the field of embedded systems.

Modern product development means problem solving by teams in complex working environments. Thereby, the design process is influenced by factors from various fields, the task, the individual, the team, and the organisational context. This complex network of influences turns product development into a challenge with requirements for the designers aside from technical problems. This book contains the proceedings of the international symposium Designers - The Key to Successful Product Development held in Darmstadt, Germany, December 1997. During this meeting exponents from different leading research groups in engineering design came together to present and discuss their results. Within this volume different aims, issues and methods of design research are addressed in 23 contributions by different research groups. Structured in six sections according to the main fields of influence, it provides a survey of the state of scientifically-based knowledge and the trends of engineering design research on the influences leading to successful product development.

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."