Humanoid Robots: Modeling and Control provides systematic presentation of the models used in the analysis, design and control of humanoid robots. The book starts with a historical overview of the field, a summary of the current state of the art achievements and an outline of the related fields of research. It moves on to explain the theoretical foundations in terms of kinematic, kineto-static and dynamic relations. Further on, a detailed overview of biped balance control approaches is presented. Models and control algorithms for cooperative object manipulation with a multi-finger hand, a dual-arm and a multi-robot system are also discussed. One of the chapters is devoted to selected topics from the area of motion generation and control and their applications. The final chapter focuses on simulation environments, specifically on the step-by-step design of a simulator using the Matlab (R) environment and tools. This book will benefit readers with an advanced level of understanding of robotics, mechanics and control such as graduate students, academic and industrial researchers and professional engineers. Researchers in the related fields of multi-legged robots, biomechanics, physical therapy and physics-based computer animation of articulated figures can also benefit from the models and computational algorithms presented in the book.

This book is devoted to researchers and teachers, as well as graduate students, undergraduates and bachelors in engineering mechanics, nano-mechanics, nanomaterials, nanostructures and applied mathematics. It presents a collection of the latest developments in the field of nonlinear (chaotic) dynamics of mass distributed-parameter nanomechanical structures, providing a rigorous and comprehensive study of modeling nonlinear phenomena. It is written in a unique pedagogical style particularly suitable for independent study and self-education. In addition, the book achieves a good balance between Western and Eastern extensive studies of the mathematical problems of nonlinear vibrations of structural members.

This book provides a systematic and standardized approach based on the authors' over 30 years of research experience with weight function methods, as well as the relevant literature. Fracture mechanics has become an indispensable tool for the design and safe operation of damage-tolerant structures in many important technical areas. The stress intensity factor-the characterizing parameter of the crack tip field-is the foundation of fracture mechanics analysis. The weight function method is a powerful technique for determining stress intensity factors and crack opening displacements for complex load conditions, with remarkable computational efficiency and high accuracy. The book presents the theoretical background of the weight function methods, together with a wealth of analytical weight functions and stress intensity factors for two- and three-dimensional crack geometries; many of these have been incorporated into national, international standards and industrial codes of practice. The accuracy of the results is rigorously verified, and various sample applications are provided. Accordingly, the book offers an ideal reference source for graduate students, researchers, and engineers whose work involves fracture and fatigue of materials and structures, who need not only stress intensity factors themselves but also efficient and reliable tools for obtaining them.

The planning and control of the production process represents a fundamental part of modern manufacturing technology. This book provides an essential introduction to the basic principles involved and is specially written for BTEC HNC/D programmes in mechanical and production engineering. The aim is to give the reader a practical and comprehensive appreciation and understanding of the ways in which manufacturing companies are organised; the nature and diversity of engineering products; the organisation of production and the planning and control of production. Production Planning and Control covers the BTEC units Control of Manu639-5 Manufacture U38/188 and Production Planning and Control U38/189.

This volume discusses the role of MOFs in removal of pharmaceutical pollutants. Metal-organic frameworks (MOFs) are advanced porous materials and are promising adsorbents with facile modifications, high specific surface area, controllable porosity, and tailored surface properties. Pharmaceutical pollution is an issue of concern due to its effects on environment. Recently, researchers have designed MOFs for use in remediation.

A fast guide to solving common design problems in building foundations, now in a new edition. Includes new material on settlements, soil modification, pole foundations, braced excavations, waterfront foundations, and slope stabilization. Written for those without full training as structural or design engineers, covering all the basics, including soil mechanics, design of common foundation elements, and the relations between building and foundation design, all supported by extensive illustrations. Mathematics is kept to a minimum, being generally restricted to simple algebra, plane geometry, and plane trigonometry.

Diamond has a unique combination of properties, such as the highest hardness and thermal conductivity among any known material, high electrical resistivity, a large optical band gap and a high transmission, good resistance to chemical erosion, low adhesion and friction, and extremely low thermal expansion coefficient. As such, diamond has been a desirable material in a wide range of applications in mechanical, chemical, optical, thermal and electrical engineering. In many of the cases, the surface of a diamond component or element must have a superior finish, often down to a surface roughness of nanometers. Nevertheless, due to its extreme hardness and chemical inertness, the polishing of diamond and its composites has been a sophisticated process.

"Polishing of Diamond Materials" will provide a state-of-the-art analysis, both theoretically and experimentally, of the most commonly used polishing techniques for mono/poly-crystalline diamond and chemical vapour deposition (CVD) diamond films, including mechanical, chemo-mechanical, thermo-chemical, high energy beam, dynamic friction and other polishing techniques. The in-depth discussions will be on the polishing mechanisms, possible modelling, material removal rate and the quality control of these techniques. A comparison of their advantages and drawbacks will be carried out to provide the reader with a useful guideline for the selection and implementation of these polishing techniques.

"Polishing of Diamond Materials" will be of interest to researchers and engineers in hard materials and precision manufacturing, industry diamond suppliers, diamond jewellery suppliers and postgraduate students in the area of precision manufacturing.

The Engineering Materials and Processes series focuses on all forms of materials and the processes used to synthesise and formulate them as they relate to the various engineering disciplines. The series deals with a diverse range of materials: ceramics; metals (ferrous and non-ferrous); semiconductors; composites, polymers, biomimetics "etc." Each monograph in the series is written by a specialist and demonstrates how enhancements in materials and the processes associated with them can improve performance in the field of engineering in which they are used.

This collection focuses on all aspects of science and technology related to friction stir welding and processing.

T Level Engineering is written to cover the core elements of the new T Level Engineering qualifications. It provides essential information for T Level Engineering students and teachers, and will be useful as the student moves into higher education or an apprenticeship. The new T Level qualifications offer a realistic option to A Level and other vocational options. After completing a T Level in Engineering the student has a number of options including university courses and higher level apprenticeships. This book is written in an accessible fashion, no previous knowledge of engineering or technology is required, as all the technical terms are readily explained and a detailed glossary and list of abbreviations are included. Whether you are a student, tutor, or work placement manager you will surely find this book an enjoyable read and a handy reference book on your shelf. Andrew Livesey, MA, CEng is an experienced lecturer in engineering at Ashford College, Kent. He was a member of the DfE committee responsible for developing the T Levels and is a T Level Ambassador. His Routledge publications include: Basic Motorsport Engineering (2011), Advanced Motorsport Engineering (2012), The Repair of Vehicle Bodies (2018), Practical Motorsport Engineering (2018), Bicycle Engineering and Technology (2021) and Motorcycle Engineering (2021).

Nonlinear problems are of interest to engineers, physicists and mathematicians and many other scientists because most systems are inherently nonlinear in nature. As nonlinear equations are difficult to solve, nonlinear systems are commonly approximated by linear equations. This works well up to some accuracy and some range for the input values, but some interesting phenomena such as chaos and singularities are hidden by linearization and perturbation analysis. It follows that some aspects of the behavior of a nonlinear system appear commonly to be chaotic, unpredictable or counterintuitive. Although such a chaotic behavior may resemble a random behavior, it is absolutely deterministic. Analytical Routes to Chaos in Nonlinear Engineering discusses analytical solutions of periodic motions to chaos or quasi-periodic motions in nonlinear dynamical systems in engineering and considers engineering applications, design, and control. It systematically discusses complex nonlinear phenomena in engineering nonlinear systems, including the periodically forced Duffing oscillator, nonlinear self-excited systems, nonlinear parametric systems and nonlinear rotor systems. Nonlinear models used in engineering are also presented and a brief history of the topic is provided. Key features: * Considers engineering applications, design and control * Presents analytical techniques to show how to find the periodic motions to chaos in nonlinear dynamical systems * Systematically discusses complex nonlinear phenomena in engineering nonlinear systems * Presents extensively used nonlinear models in engineering Analytical Routes to Chaos in Nonlinear Engineering is a practical reference for researchers and practitioners across engineering, mathematics and physics disciplines, and is also a useful source of information for graduate and senior undergraduate students in these areas.

Unraveling the mystery of the negative thermal expansion of liquid water has been a challenge for scientists for centuries. Various theories have been proposed so far, but none has been able to solve this mystery. Since the thermodynamic properties of matter are determined by the interaction between particles, the mystery can be solved fundamentally if the thermodynamic physical quantities using the laws of thermodynamics and statistical mechanics are determined, the experimental results are reproduced, and the phenomena in relation to the shape of the interaction between particles are elucidated. In this sense, this book has fundamentally unraveled this mystery. In addition, it discusses the mysteries of isothermal compressibility, structural diversity, as well as liquefaction and boiling points of water in relation to the shape of the interaction between particles. It carefully explains the analysis and calculation methods so that they can be easily understood by the readers.

This textbook presents the fundamental of transport phenomena and metallurgical process modeling in easy-to-understand format. It covers all the important and basic concepts, derivations and numerical problems for the undergraduate and graduate engineering students. It includes topics such as fluid dynamics, mass and momentum balances, mass transfer, basic concepts of models and applications. This textbook can also be used as a reference book by engineers, professionals and research scientists to gain better understanding on mass and heat balances. Given the contents, this textbook will be highly useful for the core course of transport phenomena in metallurgical processes for graduate and advanced graduate students in various engineering disciplines. This textbook will also serve as a refresher course for advanced graduate students who are engaged in research related to transport phenomena and metallurgical processes.

Focusses on solving problems in the Structural Dynamics using ABAQUS Software. Helps analyze and model different types of structures with various dynamic and cyclic loads. Discusses simulation of irregular-shaped objects composed of several different materials with multipart boundary conditions. Includes application of various load effects to the developed structural models in ABAQUS Software. Covers broad array of applications such as bridges, offshores, dam, seismic resistant systems, and so forth.

Mechanics of Carbon Nanotubes: Fundamentals, Modeling and Safety draws on the latest academic research and nanotechnology applications to provide a comprehensive guide on the most recent developments in the science of carbon nanotubes. The fundamentals of nanomechanics and mechanical behavior of carbon nanotubes are presented in initial chapters, followed by more advanced topics such as the classification of carbon nanotubes, carbon nanotubes in nanocomposites, multiwall carbon nanotubes, and recent trends. This book provides a system for the classification of carbon nanotubes into 20 classes, aiding correct selection for various applications, and includes the Atomic Registry Matrix Analysis for nanoscale interfaces, essential for design involving friction or sliding. Parametric maps are included to help readers pick the correct model for a particular CNT geometry, in addition to a thorough examination of the effective thickness paradox and safety issues related to CNTs, such as toxicity at high aspect ratio. Mechanics of Carbon Nanotubes is essential reading for anyone involved in research or engineering that includes carbon nanotubes, be they students or seasoned professionals in the field. It is particularly useful to those working with applications in the areas of microelectronics, robotics, aerospace, composites, or prosthetics.

To a large extent, our lives on this earth depend on systems that operate auto matically. Manysuchsystems can be found in nature and others are man made. These systems can be biological, electrical, mechanical, chemical, or ecological, to namejust a few categories. Our human body is full ofsystems whose conti nued automatic operation is vital for our existence. On a daily basis we come in contact with man made systems whose automatic operation ensures increa sed productivity, promotes economic development and improves the quality of life. A primary component that is responsible for the automatic operation of a system is a device or mechanism called the controller. In man made systems one must first design and then implement such a controller either as a piece of hardware or as software code in a computer. The safe and efficient automatic operation of such systems is testimony to the success of control theorists and practitioners over the years. This book presents new methods {or controller design. The process ofdeveloping a controller or control strategy can be dramatically improved if one can generate an appropriate dynamic model for the system under consideration. Robust control design deals with the question of how to develop such controllers for system models with uncertainty. In many cases dynamic models can be expressed in terms oflinear, time invariant differential equations or transfer functions."

This book is an outgrowth of the sixth international conference on integral methods in science and engineering. The chapters focus on the solution of mathematical models from various physical domains, using integral methods in conjunction with approximation schemes.

Integral Methods in Science and Engineering describes the construction and application of various analytic and numerical integration techniques. Problem solving in areas such as solid mechanics, fluid dynamics, thermoelasticity, plates and shells, liquid crystals, diffusion and diffraction theory, Hamiltonian systems, resonance, nonlinear waves, plasma, flight dynamics, and structural networks are presented in an accessible manner. The book offers a vehicle for the quick dissemination of new results in these domains, and will help create an ideal environment for investigative interdisciplinary study among a variety of research areas.

Topics:

* Offers an illustration by prominent researchers of efficient methods of solution with numerical results and rigorous analytic methods

* Presents applications of integral methods to a wide variety of mathematical and physical problems

* Provides new results in the study of various physical and mechanical models

* A clear, concise focus on a class of methodologies rather than a specific field of study

This book is a practical resource for a broad audience of professionals, researchers, and practitioners in applied mathematics, mechanical engineering, and theoretical physics, who are interested in current research in ordinary and partial differential equations, integral equations, numerical analysis, mechanics of solids, fluid mechanics, and mathematical physics.Graduate students will find this a helpful guide to the wide range of applications that integral methods have in science and engineering.

Human Inspired Dexterity in Robotic Manipulation provides up-to-date research and information on how to imitate humans and realize robotic manipulation. Approaches from both software and hardware viewpoints are shown, with sections discussing, and highlighting, case studies that demonstrate how human manipulation techniques or skills can be transferred to robotic manipulation. From the hardware viewpoint, the book discusses important human hand structures that are key for robotic hand design and how they should be embedded for dexterous manipulation. This book is ideal for the research communities in robotics, mechatronics and automation.

Hybrid Machining: Theory, Methods, and Case Studies covers the scientific fundamentals, techniques, applications and real-world descriptions of emerging hybrid machining technology. This field is advancing rapidly in industrial and academic contexts, creating a great need for the fundamental and technical guidance that this book provides. The book includes discussions of basic concepts, process design principles, standard hybrid machining processes, multi-scale modeling approaches, design, on-machine metrology and work handling systems. Readers interested in manufacturing systems, product design or machining technology will find this one-stop guide to hybrid machining the ideal reference.

Practical Design and Application of Model Predictive Control is a self-learning resource on how to design, tune and deploy an MPC using MATLAB (R) and Simulink (R). This reference is one of the most detailed publications on how to design and tune MPC controllers. Examples presented range from double-Mass spring system, ship heading and speed control, robustness analysis through Monte-Carlo simulations, photovoltaic optimal control, and energy management of power-split and air-handling control. Readers will also learn how to embed the designed MPC controller in a real-time platform such as Arduino (R). The selected problems are nonlinear and challenging, and thus serve as an excellent experimental, dynamic system to show the reader the capability of MPC. The step-by-step solutions of the problems are thoroughly documented to allow the reader to easily replicate the results. Furthermore, the MATLAB (R) and Simulink (R) codes for the solutions are available for free download. Readers can connect with the authors through the dedicated website which includes additional free resources at www.practicalmpc.com.

Understand the benefits of robust statistics for signal processing with this authoritative yet accessible text. The first ever book on the subject, it provides a comprehensive overview of the field, moving from fundamental theory through to important new results and recent advances. Topics covered include advanced robust methods for complex-valued data, robust covariance estimation, penalized regression models, dependent data, robust bootstrap, and tensors. Robustness issues are illustrated throughout using real-world examples and key algorithms are included in a MATLAB Robust Signal Processing Toolbox accompanying the book online, allowing the methods discussed to be easily applied and adapted to multiple practical situations. This unique resource provides a powerful tool for researchers and practitioners working in the field of signal processing.

VIBROACOUSTIC SIMULATION Learn to master the full range of vibroacoustic simulation using both SEA and hybrid FEM/SEA methods Vibroacoustic simulation is the discipline of modelling and predicting the acoustic waves and vibration of particular objects, systems, or structures. This is done through finite element methods (FEM) or statistical energy analysis (SEA) to cover the full frequency range. In the mid-frequency range, both methods must be combined into a hybrid FEM/SEA approach. By doing so, engineers can model full frequency vibroacoustic simulations in complex technical systems used in aircraft, trains, cars, ships, and satellites. Indeed, hybrid approaches are increasingly used in the automotive, aerospace, and rail industries. Previously covered primarily in scientific journals, Vibroacoustic Simulation provides a practical approach that helps readers master the full frequency range of vibroacoustic simulation. Through a systematic approach, the book illustrates why both FEM and SEA are necessary in acoustic engineering and how both can be used in combination through hybrid methodologies. Striking a crucial balance between complex theories and practical applications, the text provides real-world examples of vibroacoustic simulation, such as fuselage simulation, interior-noise prediction for electric and combustion vehicles, train profiles, and more, to help elucidate the concepts described within. Vibroacoustic Simulation also features: A balance of complex theories with the nuts and bolts of real-world applications Detailed worked examples of junction equations Case studies from companies like Audi and Airbus that illustrate how the methods discussed have been applied in real-world projects A companion website that provides corresponding Python codes for all examples, allowing readers to work through the examples on their own Vibroacoustic Simulation is a useful reference for acoustic and mechanical engineers working in the automotive, aerospace, defense, or rail industries, as well as researchers and graduate students studying acoustics.

This book integrates bioengineering for solving health issues. It shows how the use of applied mechanics and strength of materials using 3D printing models, digital correlation techniques and computed tomography images, provides solutions to biology, medicine and mechanical engineering. The book provides clear processes and illustrations, several worked examples, and many projects. It helps scientists to analyze different modes of applying mechanical and biomedical concepts, physical principles to develop devices, sensors, prosthesis, orthotic systems, new materials and techniques that may improve the health system. It can be used in courses such as biomechanics and orthopedics, rehabilitation and mechanical engineering, also in rehabilitation or sports medicine.

The authors have tried to strike a balance between a short book chapter and a very detailed book for subject experts. There are three prime reasons behind for doing so: first, the field is quite interdisciplinary and requires simplified presentation for a person from non-parent discipline. The second reason for this short-version of a full book is that both the authors have seen students and technically oriented people, who were searching for this type of book on hydro energy. The third reason and motivation was considering engineers who are starting their career in hydro energy sector. This book is targeted to present a good starting background and basic understanding for such professionals.

Micromachined scanning mirrors are interesting for a wide variety of applications because of their potential low cost, high speed, low power consumption, and reliability. These mirrors can offer significant advantages over macro-scale mirrors, but the fundamental limitations of scanning mirrors have not been widely discussed.
Miniaturization in electronic systems has led to radical improvements in computers and communications, and micromachining technologies promise to generate such improvements in miniaturized mechanical and optical systems, including specifically higher-speed, smaller, lower-cost scanning mirrors. Micromachined Mirrors provides an overview of the performance enhancements that will be realized by miniaturizing scanning mirrors like those used for laser printers and barcode scanners, and the newly enabled applications, including raster-scanning projection video displays and compact, high-speed fiber-optic components.
There are a wide variety of methods used to fabricate micromachined mirrors - each with its advantages and disadvantages. There are, however, performance criteria common to mirrors made from any of these fabrication processes. For example, optical resolution is related to the mirror aperture, the mirror flatness, and the scan angle. Micromachined Mirrors provides a framework for the design of micromirrors, and derives equations showing the fundamental limits for micromirror performance. These limits provide the micromirror designer tools with which to determine the acceptable mirror geometries, and to quickly and easily determine the range of possible mirror optical resolution and scan speed.
Micromachined Mirrors presents descriptions ofmirrors made from two fabrication processes - the surface-micromachining process and the staggered torsional electrostatic combdrive (STEC) high-aspect ratio micromachining process. The mirrors made using these two processes are evaluated for scan speed, optical resolution, ease of manufacture, and reliability.
Micromachined Mirrors also presents an example application of surface-micromachined mirrors: a raster-scanning projection video display. This demonstration shows the advantages of micromachined mirrors (small high-speed scanners) with special attention paid to the major drawback of surface-micromachined mirrors (lower resolution due to dynamic deformation). The successful demonstration of this simple prototype video display helps clarify the importance of the critical performance characteristics to consider when designing micromachined mirrors.