The first book of the new, textbook series, entitled Applied Dynamics of Manipulation Robots: Modelling, Analysis and Examples, by M. Vukobratovic, published by Springer-Verlag (1989) was devoted to the problems of dynamic models and dynamic analysis of robots. The present book, the second in the series, is concerned with the problems of the robot control. In conceiving this textbook, several dillemas arouse. The main issue was the question on what should be incorporated in a textbook on such a complex subject. Namely, the robot control comprises a wide range of topics related to various aspects of robotics, starting from the syn thesis of the lowest, executive, control level, through the synthesis of trajectories (which is mainly related to kinematic models of robots) and various algorithms for solving the problem of task and robot moti on planning (including the solving of the problems by the methods of artificial intelligence) to the aspects of processing the data obtai ned from sensors. The robot control is closely related to the robot pro gramming (i. e. the development of highly-specialized programming lan guages for robot programming). Besides, numerous aspects of the con trol realization should be included here. It is obvious that all these aspects of control cannot be treated in detail in the frame of a text book."

This book provides a basis by which instruments and transducers can be selected, assembled and integrated with a computer to measure and control physical processes in an accurate and predictable manner. It consists of two parts, the first of which lays the theoretical foundation for the second. First the Fourier analysis of signals are summarized. Then, from a systems point of view, the following chapters introduce the important aspects of filters, amplifiers and analog-to-digital converters. The second half of the book first discusses in depth the importance of the timing of the computer with its instruments, transducers and actuators. It then summarizes the physical and functional aspects of transducers and actuators and gives numerous detailed examples of how they can be integrated into computer controlled experiments and processes.

Computers have been employed for some time in engineering design mainly as numerical or graphical tools to assist analysis and draughting. The advent of the technology of artificial intelligence and expert systems has enabled computers to be applied to less deterministic design tasks which require symbolic manipulation and reasoning, instead of only routine number processing. This book presents recent examples of such applications, focusing on mechanical and manufacturing design. The term 'design' is interpreted here in its wider sense to include creative activities such as planning. The book covers a wide spectrum of design operations ranging from component and product design through to process, tooling and systems design. Its aim is to expose researchers, engineers and engineering designers to several developments in the emerging field of intelligent CAD and to alert them of the possibilites and opportunities in this exciting field.

The IUTAM Symposium on Advanced Boundary Element Methods brought together both established and current researchers in the broad context of applications of BEM technology. The goal of the Symposium was to provide both a formal and an informal forum for the interchange of ideas and the stimulation of new research directions.

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.

The International Union of Theoretical and Applied Mechanics (IUTAM) initiated and sponsored an International Symposium on Nonlinear Dynamics in Engineering Systems held in 1989 in Stuttgart, FRG. The Symposium was intended to bring together scientists working in different fields of dynamics to exchange ideas and to discuss new trends with special emphasis on nonlinear dynamics in engineering systems. A Scientific Committee was appointed by the Bureau of IUTAM with the following members: S. Arimoto (Japan), F.L. Chernousko (USSR), P.J. Holmes (USA), C.S. Hsu (USA), G. looss (France), F.C. Moon (USA), W. Schiehlen (FRG), Chairman, G. Schmidt (GDR), W. Szemplinska-Stupnicka (Poland), J.M.T. Thompson (UK), H. Troger (Austria). This committee selected the participants to be invited and the papers to be presented at the Symposium. As a result of this procedure 78 active scientific participants from 22 countries followed the invitation, and 44 papers were presented in lecture and poster sessions. They are collected in this volume. At the Symposium an exhibition with experiments took place and the movie "An Introduction to the Analysis of Chaotic Dynamics" by E.J. Kreuzer et.al. was presented. The scientific lectures were devoted to the following topics: o Dynamic Structural Engineering Problems, o Analysis of Nonlinear Dynamic Systems, o Bifurcation Problems, o Chaotic Dynamics and Control Problems, o Miscellaneous Problems, o Experimental and Theoretical Investigations, o Chaotic Oscillations of Engineering Systems, o Characterization of Nonlinear Dynamic Systems, o Nonlinear Stochastic Systems.

Conceptual Design is one of the few areas of Engineering Design where computers have yet to make an impact. With the development of Knowledge Based Systems it is now possible to rectify this situation. This publication deals with the use of Knowledge Based Systems (KBS) as tools for conceptual design. Included are neglected aspects such as evaluation and user needs. Practical Knowledge Based Systems in Conceptual Design is based on the authors' experience of developing KBS for use in civil engineering, an area of industrial application which is recognised as being one of great potential. The methodology has been tried and tested by designers. Examples of systems which have been developed to solve specific design problems are included.

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.

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.

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

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 symposium, held at Innsbruck/lgls on June 21-26, 1987, is the fifth in a series of IUTAM-Symposia on the application of stochastic methods in mechanics. The flrst two meetings in Warwick (1972) and Southhampton (1976) concentrated on the stability of stochastic dynamical systems and stochastic methods in dynamics, respectively. The third meeting in Frankfurt/Oder (1982) added aspects of reliability, while the fourth symposium in Stockholm (1984) dealt mainly with fatigue and fracture problems. The general theme of the present symposium is devoted to nonlinear stochastic dynamics of engineering systems which is believed of great importance for providing the tools for basic development and progress in various fields of mechanical-, structural- and aeronautical engineering, particularly in the areas of vehicle dynamics, multi-storey structural dynamics, systems identiflcation, offshore structural dynamics, nuclear structures under various stochastic loading conditions (i. e. wind-, earthquake-, parametric excitations, etc. ). The contributions collected in this volume cover a wide spectrum of topics ranging from more theoretical, analytical and numerical treatment to practical application in various flelds. The truly international character of the meeting is accomplished by 42 contributions and 86 participants from as many as 19 countries and hence, contributed to the original idea of IUTAM, which is to foster international cooperation. It should be recalled, that, for getting this cooperation started again after the First World War, Theodore von Kanmm and Tullio Levi-Civita called the world's flrst international (IUTAM) conference on hydro- and aerornechanics in 1922 in Innsbruck, Austria.

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

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

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.

Welcome to Bavaria - Germany - to the THIRD EUROPEAN CARS/TRUCKS SIMULATION SYMPOSIUM. That Schliersee traditional workshop-type meeting is a follow-up to the first and the second symposia which took place in May 1984 and May 1989 respectively. The objective of gathering together is to cover most of the aspects of Automotive Mathematical Modelling and Simulation in theory and practice to promote the exchange of knowledge and experience between different national and international research groups in that field, taking into consideration that every seventh German employee is related to the automotive industry. This effect is also in power at least with the traditional Detroit (U.S.A.) Automotive Industries and the growing up Japanease as well. Futhermore, there is to strenghten the international contact between developers and users of modelling and simulation techniques considering the "new world order" started in 1991 with no borders between West and East affected by the Golf-War and followed up by the "open" European Community borders of 1992. VI The traditional International Conference jointly promoted by ASIMUTH - Applied Simulation Technology and some other members of the Society of Computer Simulaton created an interest to publish new projects including their results. A large number of contributed papers has been strictly examined and selected by the editorial commitee to guarantee a high international technical standard.

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.

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

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.

This book is the second edition of Design to Test. The first edition, written by myself and H. Frank Binnendyk and first published in 1982, has undergone several printings and become a standard in many companies, even in some countries. Both Frank and I are very proud of the success that our customers have had in utilizing the information, all of it still applicable to today's electronic designs. But six years is a long time in any technology field. I therefore felt it was time to write a new edition. This new edition, while retaining the basic testability prin ciples first documented six years ago, contains the latest material on state-of-the-art testability techniques for electronic devices, boards, and systems and has been completely rewritten and up dated. Chapter 15 from the first edition has been converted to an appendix. Chapter 6 has been expanded to cover the latest tech nology devices. Chapter 1 has been revised, and several examples throughout the book have been revised and updated. But some times the more things change, the more they stay the same. All of the guidelines and information presented in this book deal with the three basic testability principles-partitioning, control, and visibility. They have not changed in years. But many people have gotten smarter about how to implement those three basic test ability principles, and it is the aim of this text to enlighten the reader regarding those new (and old) testability implementation techniques."

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.

Businesses and the HCI and Interaction Design communities have embraced design and design research. Design research as a field blends methodologies from several disciplines - sociology, engineering, software, philosophy, industrial design, HCI/interaction design -- so designers can learn from past successes and failure and don t have to reinvent the wheel for each new design (whether it s a digital product, a building, an airplane or furniture). They take into account form, function, and, ultimately, users.

Many books exist in the research and academic realm for this field, but none create a usable bridge to design practice. Although business people are embracing design, they are not going to become designers. Design researchers need tools to apply their research in the real world.

"Design Research through Practice" takes advanced design practice as its starting point, but enriches it to build a design process than can respond to both academic and practical problems. The aims of the book are to study three design research traditions that cover methodological directions in current leading research community. Taking you from the Lab, Field and to the Showroom, Ilpo Koskinen and his group of researchers show you successful traditions in design research that have been integrated into processes and products. Bridging the gap from design research to design practice, this is a must have for any designer.

Gathers design research experts from traditional lab science, social science, art, industrial design, UX and HCI to lend tested practices and how they can be used in a variety of design projects

Provides a multidisciplinary story of the whole design process, with proven and teachable techniques that can solve both academic and practical problems

Presents key examples illustrating how research is applied and vignettes summarizing the key how-to details of specific projects"

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.