Here for the first time in one book is a comprehensive and systematic approach to the dynamic modeling and control of biped locomotion robots. A survey is included of various approaches to the control of biped robots, and a new approach to the control of biped systems based on a complete dynamic model is presented in detail. The stability of complete biped system is presented for the first time as a highly nonlinear dynamic system. Also included is new software for the synthesis of a dynamically stable walk for arbitrary biped systems, presented here for the first time. A survey of various realizations of biped systems and numerous numerical examples are given. The reader is given a deep insight into the entire area of biped locomotion. The book covers all relevant approaches to the subject and gives the most complete account to date of dynamic modeling, control and realizations of biped systems.

What makes the Apple iPhone "cool"? Bang & Olufsen and Samsung's televisions "beautiful"? Any of a wide variety of products and services "special"? The answer is not simply functionality or technology, for competitors' products are often as good.
"The Soul of Design" explores the uncanny power of some products to grab and hold attention--to create desire. To understand what sets a product apart in this way, authors Lee Devin and Robert Austin push past personal taste and individual response to adopt a more conceptual approach. They carefully explore the hypothesis that there is something within a "special" product that makes it--well, special. They argue that this "je ne sais quoi" arises from "plot"--the shape that emerges as a product or service arouses and then fulfills expectations. Marketing a special product is, then, a matter of helping its audience perceive its plot and comprehend its qualities.
Devin and Austin provide keys to understanding why some products and services stand out in a crowd and how the companies that make them create these hits. Part One of the book introduces the authors' definition of plot in this context; Part Two breaks down the components needed to build a plot; Part Three describes what makes a plot coherent; Part Four takes on the challenges of making coherent products and services attractive to consumers. Part Four also presents detailed casework, which shows how innovators and makers have successfully brought special products to market.
Readers will come away with a sensible and clear approach to conceiving of artful products and services. This book will help managers and designers think about engaging with plot, taking aesthetic factors into account to provide consumers with more special things.

Multiple Criteria Decision Support in Engineering Design examines some of the underlying issues and related modelling strategies, with a view to exploring the rich potential of a generalised multiple-criteria approach to design decision-making. The arguments are supported by numerical examples. It can be argued that, within the classic monocriterion paradigm, the optimal solution is inarguably identified once the feasible alternatives are established and an objective function agreed on. It is only when conflict resolution is involved that decision-making truly becomes important, and many design situations exist where stated functional requirements may be in actual or potential conflict. The most preferred solution under such circumstances depends on the designer's or decision-maker's priorities, so that the chosen solution is based on a combination of technical possibilities and designer preferences. This book addresses the key concepts in multiple criteria decision-making and provides valuable insight into how such problems arise and can be solved, in the area of decision-making in general and in the domain of engineering design in particular.

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.

Model Order Reduction Techniqes focuses on model reduction problems with particular applications in electrical engineering. Starting with a clear outline of the technique and their wide methodological background, central topics are introduced including mathematical tools, physical processes, numerical computing experience, software developments and knowledge of system theory. Several model reduction algorithms are then discussed. The aim of this work is to give the reader an overview of reduced-order model design and an operative guide. Particular attention is given to providing basic concepts for building expert systems for model reducution.

nalog circuits are fascinating artifacts. They manipulate signals whose informa- Ationcontentisrichcomparedtodigitalsignalsthatcarryminimalamountofinf- mation;theyaredelicateinthatanyperturbationduetoparasiticelements,todelays,to interactionswithotherelementsandwiththeenvironmentmaycauseasigni?cantloss ofinformation. Thedif?cultyindealingwiththeseartifactsistoprotectthemfromall possibleattacks, evenminorones, fromthephysicalworld. Theironyisthattheyare oftenusedtofunnelinformationfromandtothephysicalworldtoandfromtheabstr- tionofthedigitalworldandforthisfunction, theyareirreplaceable. Nowonderthen that analog designers form a club of extraordinary gentlemen where art (or magic?) ratherthanscienceisthesharedtrade. Theyaredif?culttotrainsinceexperienceand intuitionarethetraitsthat characterize them. Andthey have dif?cultiesinexplaining what is the process they use to reach satisfactory results. Tools used for design (s- ulation) are mainly replacing the test benches of an experimental lab. However, the growing complexity of the integrated systems being designed today together with the increasing fragility of analog components brought about by shrinking geometries and reducedpowerconsumptionisposingseverechallengestotraditionalanalogdesigners to produce satisfactory results in a short time. At the same time, the need for expe- enced analog designers has increased constantly since almost all designs, because of integration,docontainanalogcomponents. Thissituationhascreatedastronginterest in developing design methodologies and supporting tools that are based on rigorous, mathematically literate, approaches. Doing so will make it possible to leverage the expertiseofseasonedanalogdesignersandtotrainnewgenerationsfasterandbetter. Inthepast, severalattemptshavebeenmadeinacademia andindustrytocreatethese methodologies and to extend the set of tools available. They have had questionable acceptance in the analog design community. However, recently, a ?urry of start-ups andincreasedinvestmentbyEDAcompaniesinnoveltoolssignalasigni?cantchange inmarketattentiontotheanalogdomain. Ipersonallybelievethattosubstantially- prove quality and design time, tools are simply insuf?cient. A design methodology based on a hierarchy of abstraction layers, successive re?nement between two ad- cent layers, and extensive veri?cation at every layer is necessary. To do so, we need to build theories and models that have strong mathematical foundations. The analog design technology community is as strong as it has ever been.

In Finite Element Analysis of Electrical Machines the author covers two-dimensional analysis, emphasizing the use of finite elements to perform the most common calculations required of machine designers and analysts. The book explains what is inside a finite element program, and how the finite element method can be used to determine the behavior of electrical machines. The material is tutorial and includes several completely worked out examples. The main illustrative examples are synchronous and induction machines. The methods described have been used successfully in the design and analysis of most types of rotating and linear machines. Audience: A valuable reference source for academic researchers, practitioners and designers of electrical machinery.

The Fourth International Conference on Advanced Robotics was held in Columbus, Ohio, U. S. A. on June 13th to 15th, 1989. The first two conferences in this series were held in Tokyo. The third was held in Versailles, France in October 1987. The International Conference on Advanced Robotics is affiliated with the International Federation of Robotics. This conference was sponsored by The Ohio State University. The American Society of Mechanical Engineers was a cooperating co-sponsor. The objective of the International Conference on Advanced Robotics is to provide an international exchange of information on the topic of advanced robotics. This was adopted as one of the themes for international research cooperation at a meeting of representatives of seven industrialized countries held in Williamsburg, U. S. A. in May 1983. The present conference is truly international in character with contributions from authors of twelve countries. (Bulgaria, Canada, France, Great Britain, India, Italy, Japan, Peoples Republic of China, Poland, Republic of China, Spain, United States of America.) The subject matter of the papers is equally diverse, covering most technical areas of robotics. The authors are distinguished. They are leaders in the field in their respective countries. The International Conference on Advanced Robotics has always particularly encouraged papers oriented to the design of robotic systems, or to research directed at advanced applications in service robotics, construction, nuclear power, agriculture, mining, underwater systems, and space systems.

This practical yet rigorous book provides a development of nonlinear, Lyapunov-based tools and their use in the solution of control-theoretic problems. Rich in motivating examples and new design techniques, the text balances theoretical foundations and real-world implementation.

System on Chip (SOC) having both digital and analog circuits has become increasingly prevalent in integrated circuit manufacturing industry. Electronic tests are classified as digital, analog and mixed signal. Current methodologies for the testing of digital circuits are well developed. In contrast, methodologies for the testing of analog circuits remain relatively underdeveloped due to the complex nature of analog signals. Compared to digital testing, analog testing lags far behind in methodologies and tools and therefore demands substantial research and development effort.

Fault Diagnosis of Analog Integrated Circuits is a textbook for advanced undergraduate and graduate level students as well as practicing engineers. The objective of this book is to study the testing and fault diagnosis of analog and analog part of mixed signal circuits. A background in analog integrated circuit, artificial neural network is desirable but not essential.

The text covers the testing and fault diagnosis of both bipolar and Metal Oxide Semiconductor (MOS) circuits. Fault model of the devices in analog domain has been introduced in the text. The test stimulus generations are also discussed in details. Experimental verification of some state of the art techniques has also been presented in the book. It also contains problems that can be used as quiz or homework. This book enables the reader to test an analog circuit that is implemented either in bipolar or MOS technology.

Multibody systems are the appropriate models for predicting and evaluating performance of a variety of dynamical systems such as spacecraft, vehicles, mechanisms, robots or biomechanical systems. This book adresses the general problem of analysing the behaviour of such multibody systems by digital simulation. This implies that pre-computer analytical methods for deriving the system equations must be replaced by systematic computer oriented formalisms, which can be translated conveniently into efficient computer codes for - "generatin"g the system equations based on simple user data describing the system model - "solving" those complex equations yielding results ready for design evaluation. Emphasis is on computer based derivation of the system equations thus freeing the user from the time consuming and error-prone task of developing equations of motion for various problems again and again.

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.

The intent of this book is threefold: (1) to summarize recent research concerned with residential crowding, (2) to present some new perspec tives on this important subject, and (3) to consider design implications and recommendations that can be derived from the existing body of research. We have sought to bring together the work of many of the researchers most involved in these areas, and have asked them to go beyond their data-to present new insights into response to residential crowding and to speculate about the meaning of their work for the present and future design of residential environments. We feel that this endeavor has been successful, and that the present volume will help to advance our understanding of these issues. The study of residential density is not new. Studies in this area were conducted by sociologists as early as the 1920s, yielding moderate corre lational relationships between census tract density and various social and physical pathologies. This work, however, has been heavily criticized because it did not adequately consider confounding social structural factors, such as social class and ethnicity. The research that will be presented in the present volume represents a new generation of crowding investigation. All of the work has been conducted during the 1970s, and a range of methodological strategies have been employed in these studies.

It has been hard for me to escape the imprint of my early, strong, but scattered trains of thought. There was, at the beginning, little to go by; and I saw no clear way to go. This book is accordingly filled with internal tensions that are not, as yet, fully annealed. Subsequent writers may re-present the work, explaining it in a simpler way. Others may simply invert it. I mean by this that, by writing it backwards, from its found ends {practical machinable teeth) to its tentative beginnings (dimly perceived geometrical notions), one might conceivably write a manual, not on how to understand these kinds of gears, but on how to make them. Indeed a manual will need to be written. If this gearing is to be further investigated, evaluated and checked for applicability, prototypes will need to be made. I wish to say again however that my somewhat convoluted way of presenting these early ideas has been inevitable. It has simply not been possible to present a tidy set of explanations and rules without exploring first (and in a somewhat backwards-going direction) the complexities of the kinematic geometry. There remains, now in this book, a putting together of primitive geometric intuition, computer aided exploration of certain areas, geometric explanations of the discovered phenomena, and a loose sprinkling of a relevant algebra cementing the parts together.

As Directors of this NATO Workshop we welcome this opportunity to record formally our thanks to the NATO Scientific Affairs Division for making our meeting possible through generous financial support and encouragement. This meeting had two purposes: the first obvious one because we have collected key scientists from East and West together to discuss the latest developments in the design against fatigue for structures and components. The second is less obvious but perhaps in the longer term more important; that is the building of bridges between East and West Europe, bridges cemented in the first place by personal friendship between scientists. Fatigue is the process by which structures subjected to cyclical loads deteriorate. The advent of the industrial revolution and in particular the spread of railways caused this phenomena to be recognised and studied some 150 years ago. Despite intensive efforts over the years and despite a huge increase in our theoretical and practical understanding offatigue, failures still occur causing economic disruption and even loss of life. Some of the reasons lying behind this apparent failure to apply advanced knowledge to everyday engineering were explored during this Workshop. Economic pressures to extend the lives of existing plant are becoming more intense. Therefore of vital importance is the generation of knowledge used to assess the performance of existing structures and machines and to produce guidance on their continued safe operation.

This book brings together some of the most influential pieces of research undertaken around the world in design synthesis. It is the first comprehensive work of this kind and covers all three aspects of research in design synthesis:

- understanding what constitutes and influences synthesis;

- the major approaches to synthesis;

- the diverse range of tools that are created to support this crucial design task.

With its range of tools and methods covered, it is an ideal introduction to design synthesis for those intending to research in this area as well as being a valuable source of ideas for educators and practitioners of engineering design.

Microfluidics and BioMEMS Applications central idea is on microfluidics, a relatively new research field which finds its niche in biomedical devices, especially on lab-on-a-chip and related products. Being the essential component in providing driving fluidic flows, an example of micropump is chosen to illustrate a complete cycle in development of microfluidic devices which include literature review, designing and modelling, fabrication and testing. A few articles are included to demonstrate the idea of tackling this research problem, and they cover the main development scope discussed earlier as well as other advanced modelling schemes for microfluidics and beyond.

Scientists and students working in the areas of MEMS and microfluidics will benefit from this book, which may serve both communities as both a reference monograph and a textbook for courses in numerical simulation, and design and development of microfluidic devices.

Structural Synthesis in Precision Elasticity reflects the summary of theoretical and experimental studies whose conclusions are effective for optimized structural synthesis in precision elasticity, as well as demonstrate a large experience and options in the synthesis, production, application of precision elastic guides, mechanisms, correctors, transducers, instruments and machines. The main focus of this book is in the possible simplification of the corresponding analytical apparatus by using kinematical equivalents, matrix methods, appropriate contours, and function expansion with enough accurate minimal polynomials. This approach allows for substitution of some known unwieldy formulae and methods that are not convenient for digestible and tractable synthesis.

The book consists of two main parts:

- The elastic systems functional analysis and structural synthesis methods, including effective approximations and references to the history of their development

- The application and development of precision functional elastic systems at reference and operating conditions, including the observation of archives with effective synthesized structures and elements of nanotechnology.

Each part provides theoretical basics and a large variety of examples and recommendations. This book gives theoretical and practical tools to researchers, precision machines, instruments and miniature systems designers, engineers, metrologists, and engineering students.

Despite that this book is dedicated to the general problems of the structural synthesis in precision elasticity, most of the practical examples and applications are concerned with the measuring systems as the precision is their main goal.

The author intends to show close connection between the elastic precision structures developed during the 20th century and even before and the new elastic systems for atomic force microscopy and other recently created advanced structures in precision elasticity.

Mathematical Programming has been of significant interest and relevance in engineering, an area that is very rich in challenging optimization problems. In particular, many design and operational problems give rise to nonlinear and mixed-integer nonlinear optimization problems whose modeling and solu tion is often nontrivial. Furthermore, with the increased computational power and development of advanced analysis (e. g. , process simulators, finite element packages) and modeling systems (e. g. , GAMS, AMPL, SPEEDUP, ASCEND, gPROMS), the size and complexity of engineering optimization models is rapidly increasing. While the application of efficient local solvers (nonlinear program ming algorithms) has become widespread, a major limitation is that there is often no guarantee that the solutions that are generated correspond to global optima. In some cases finding a local solution might be adequate, but in others it might mean incurring a significant cost penalty, or even worse, getting an incorrect solution to a physical problem. Thus, the need for finding global optima in engineering is a very real one. It is the purpose of this monograph to present recent developments of tech niques and applications of deterministic approaches to global optimization in engineering. The present monograph is heavily represented by chemical engi neers; and to a large extent this is no accident. The reason is that mathematical programming is an active and vibrant area of research in chemical engineering. This trend has existed for about 15 years.

Optical Microscanners and Microspectrometers using Thermal Bimorph Actuators shows how to design and fabricate optical microsystems using innovative technologies and and original architectures. A barcode scanner, laser projection mirror and a microspectrometer are explained in detail, starting from the system conception, discussing simulations, choice of cleanroom technologies, design, fabrication, device test, packaging all the way to the system assembly.

An advanced microscanning device capable of one- and two-dimensional scanning can be integrated in a compact barcode scanning system composed of a laser diode and adapted optics. The original design of the microscanner combines efficiently the miniaturized thermal mechanical actuator and the reflecting mirror, providing a one-dimensional scanning or an unique combination of two movements, depending on the geometry. The simplicity of the device makes it a competitive component.

The authors rethink the design of a miniaturized optical device and find a compact solution for a microspectrometer, based on a tunable filter and a single pixel detector. A porous silicon technology combines efficiently the optical filter function with a thermal mechanical actuator on chip. The methodology for design and process calibration are discussed in detail. The device is the core component of an infrared gas spectrometer.

Interest in the fascinating field of multicriteria optimization and its application to design processes has grown very quickly in recent years. Researchers and practising engineers will find this book an comprehensive presentation of this subject. After an introduction to multicriteria optimization and the advantages of using multicriteria techniques, the first part of the book presents methods and computer procedures for solving multicriteria optimum design problems including interactive methods and knowledge-based systems. The second part presents an extensive range of applications of these methods to design processes in the fol- lowing fields: mechanisms and dynamic systems, aircraft and space technology, machine tool design, metal forming and cast metal technology, civil and architectural engineering, and structures made of advanced materials.

Cross-layer design seeks to enhance the capacity of wireless networks significantly through the joint optimization of multiple layers in the network, primarily the physical (PHY) and medium access control (MAC) layers. Although there are advantages of such design in wireline networks as well, this approach is particularly advantageous for wireless networks due to the properties (such as mobility and interference) that strongly affect performance and design of higher layer protocols. This unique monograph is concerned with the issue of cross-layer design in wireless networks, and more particularly with the impact of node-level multiuser detection on such design. It provides an introduction to this vibrant and active research area insufficiently covered in existing literature, presenting some of the principal methods developed and results obtained to date. Accompanied by numerous illustrations, the text is an excellent reference for engineers, researchers and students working in communication networks.

This volume contains the proceedings of the CEASlDragNet European Drag Reduction Conference held on 19-21 June 2000 in Potsdam, Germany. This conference, succeeding the First and Second European Forum on Laminar Flow Technology 1992 and 1996 respectively, was initiated by the European Drag Reduction Network (DragNet) and organised by DGLR (Deutsche Gesellschaft fUr Luft- und Raumfahrt - Lilienthal Oberth e. V. ) under the auspices ofCEAS (Confederation of European Aerospace Societies). The development of aerodynamic drag reduction technologies is driven by predictions of remarkable fuel savings, promising substantial improvements not only of aircraft efficiency but also of environmental compatibility. However, considerable efforts on an European scale are needed in order to develop, qualifY and demonstrate the means for their practical realisation. The primary aim of this conference was to provide a comprehensive survey of the current status of research, development and application in all disciplines of aerodynamic drag re- duction including laminar flow technology, adaptive wing concepts, turbulence and se- paration control, induced drag reduction and supersonic flow aspects. Besides aerodynamic topics the Call for Papers addressed also interdisciplinary aspects of design & system inte- gration, structures, materials, manufacturing, operations and maintenance. The Programme Committee (PC), responsible for the scientific preparation of the conference, consisted of CEAS representatives and DragNet board members (see following page).

This book has evolved from a course on Mechanics of Robots that the author has thought for over a dozen years at the University of Cassino at Cassino, Italy. It is addressed mainly to graduate students in mechanical engineering although the course has also attracted students in electrical engineering. The purpose of the book consists of presenting robots and robotized systems in such a way that they can be used and designed for industrial and innovative non-industrial applications with no great efforts. The content of the book has been kept at a fairly practical level with the aim to teach how to model, simulate, and operate robotic mechanical systems. The chapters have been written and organized in a way that they can be red even separately, so that they can be used separately for different courses and readers. However, many advanced concepts are briefly explained and their use is empathized with illustrative examples. Therefore, the book is directed not only to students but also to robot users both from practical and theoretical viewpoints. In fact, topics that are treated in the book have been selected as of current interest in the field of Robotics. Some of the material presented is based upon the author's own research in the field since the late 1980's.

Experts in rheology and polymer processing present up-to-date, fundamental and applied information on the rheological properties of polymers, in particular those relevant to processing, contributing to the physical understanding and the mathematical modelling of polymer processing sequences. Basic concepts of non-Newtonian fluid mechanics, micro-rheological modelling and constitutive modelling are reviewed, and rheological measurements are described. Topics with practical relevance are debated, such as linear viscoelasticity, converging and diverging flows, and the rheology of multiphase systems. Approximation methods are discussed for the computer modelling of polymer melt flow. Subsequently, polymer processing technologies are studied from both simulation and engineering perspectives. Mixing, crystallization and reactive processing aspects are also included. Audience: An integrated and complete view of polymer processing and rheology, important to institutions and individuals engaged in the characterisation, testing, compounding, modification and processing of polymeric materials. Can also support academic polymer processing engineering programs.