This book represents the fourth part of a larger work dedicated to the structural synthesis of parallel robots. Part 1 (Gogu 2008a) presented the methodology of structural synthesis and the systematisation of structural solutions of simple and complex limbs with two to six degrees of connectivity systematically generated by the structural synthesis approach. Part 2 (Gogu 2009a) presented structural solutions of translational parallel robotic manipulators with two and three degrees of mobility. Part 3 (Gogu 2010a) focussed on structural solutions of parallel robotic manipulators with planar motion of the moving platform. This book offers other topologies of parallel robotic manipulators with two and three degrees of freedom systematically generated by using the structural synthesis approach proposed in Part 1.

The originality of this work resides in the fact that it combines the new formulae for mobility connectivity, redundancy and overconstraints, and the evolutionary morphology in a unified approach of structural synthesis giving interesting innovative solutions for parallel robotic manipulators.

This is the first book of robotics presenting various solutions of coupled, decoupled, uncoupled, fully-isotropic and maximally regular parallel robotic manipulators with two and three degrees of freedom systematically generated by using the structural synthesis approach proposed in Part 1. Non-redundant/redundant, overconstrained/isostatic solutions with simple/complex limbs actuated by linear/rotary actuators with/without idle mobilities are proposed. Many solutions are presented here for the first time in the literature.

The author had to make a difficult and challenging choice between protecting these solutions through patents, and releasing them directly into the public domain. The second option was adopted by publishing them in various recent scientific publications and mainly in this book. In this way, the author hopes to contribute to a rapid and widespread implementation of these solutions in future industrial products.

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Due to the enormous impact of mechatronics systems, we encounter mechatronics and micromechatronic systems in our daily activities. Recent trends and novel technologies in engineering have increased the emphasis on integrated analysis, design, and control. This book examines motion devices (actuators, motors, transducers and sensors), power electronics, controllers, and electronic solutions with the main emphasis placed on high-performance mechatronic systems. Analysis, design, optimization, control, and implementation issues, as well as a variety of enabling mechatronic systems and devices, are also covered. The results extend from the scope of mechatronic systems to the modern hardware-software developments, utilizing enabling solutions and placing the integrated system perspectives in favor of consistent engineering solutions. Mechatronics and Control of Electromechanical Systems facilitates comprehensive studies and covers the design aspects of mechatronic systems with high-performance motion devices. By combining traditional engineering topics and subjects with the latest technologies and developments, new advances are stimulated in design of state-of-the-art mechatronic systems. This book provides a deep understanding of the engineering underpinnings of integrated technologies.

Soft computing methods such as neural networks and genetic algorithms draw on the problem solving strategies of the natural world which differ fundamentally from the mathematically-based computing methods normally used in engineering. Human brains are highly effective computers with capabilities far beyond those of the most sophisticated electronic computers. The 'soft computing' methods they use can solve very difficult inverse problems based on reduction in disorder. This book outlines these methods and applies them to a range of difficult engineering problems, including applications in computational mechanics, earthquake engineering, and engineering design. Most of these are difficult inverse problems - especially in engineering design - and are treated in depth.

This second edition includes eleven new sections based on the approximation of matrix functions, deflating the solution space and improving the accuracy of approximate solutions, iterative solution of initial value problems of systems of ordinary differential equations, and the method of trial functions for boundary value problems. The topics of the two new chapters are integral equations and mathematical optimization. The book provides alternative solutions to software tools amenable to hand computations to validate the results obtained by "black box" solvers. It also offers an insight into the mathematics behind many CAD, CAE tools of the industry. The book aims to provide a working knowledge of the various approximation techniques for engineering practice.

Additive manufacturing (AM) is a fast-growing sector with the ability to evoke a revolution in manufacturing due to its almost unlimited design freedom and its capability to produce personalised parts locally and with efficient material use. AM companies, however, still face technological challenges such as limited precision due to shrinkage, built-in stresses and limited process stability and robustness. Moreover, often post-processing is needed due to high roughness and remaining porosity. Qualified, trained personnel are also in short supply. In recent years, there have been dramatic improvements in AM design methods, process control, post-processing, material properties and material range. However, if AM is going to gain a significant market share, it must be developed into a true precision manufacturing method. The production of precision parts relies on three principles: Production is robust (i.e. all sensitive parameters can be controlled). Production is predictable (for example, the shrinkage that occurs is acceptable because it can be predicted and compensated in the design). Parts are measurable (as without metrology, accuracy, repeatability and quality assurance cannot be known). AM of metals is inherently a high-energy process with many sensitive and inter-related process parameters, making it susceptible to thermal distortions, defects and process drift. The complete modelling of these processes is beyond current computational power, and novel methods are needed to practicably predict performance and inform design. In addition, metal AM produces highly textured surfaces and complex surface features that stretch the limits of contemporary metrology. With so many factors to consider, there is a significant shortage of background material on how to inject precision into AM processes. Shortage in such material is an important barrier for a wider uptake of advanced manufacturing technologies, and a comprehensive book is thus needed. This book aims to inform the reader how to improve the precision of metal AM processes by tackling the three principles of robustness, predictability and metrology, and by developing computer-aided engineering methods that empower rather than limit AM design. Richard Leach is a professor in metrology at the University of Nottingham and heads up the Manufacturing Metrology Team. Prior to this position, he was at the National Physical Laboratory from 1990 to 2014. His primary love is instrument building, from concept to final installation, and his current interests are the dimensional measurement of precision and additive manufactured structures. His research themes include the measurement of surface topography, the development of methods for measuring 3D structures, the development of methods for controlling large surfaces to high resolution in industrial applications and the traceability of X-ray computed tomography. He is a leader of several professional societies and a visiting professor at Loughborough University and the Harbin Institute of Technology. Simone Carmignato is a professor in manufacturing engineering at the University of Padua. His main research activities are in the areas of precision manufacturing, dimensional metrology and industrial computed tomography. He is the author of books and hundreds of scientific papers, and he is an active member of leading technical and scientific societies. He has been chairman, organiser and keynote speaker for several international conferences, and received national and international awards, including the Taylor Medal from CIRP, the International Academy for Production Engineering.

Abrasive machining is one of the most important processes used in manufacturing engineering to remove unwanted material and to obtain the desired geometry and surface quality. Abrasive machining processes are processes where material is removed from a work piece using a multitude of hard angular abrasive particles or grains which may or may not be bonded to form a tool. Abrasive Machining discusses the fundamentals and advances in the abrasive machining processes, and provides a complete overview of the newly developing areas in the field including but not limited to, high efficiency deep grinding and micro and nanogrinding.

Refrigeration Equipment is a clear, practical guide to the installation, testing and servicing of industrial and domestic refrigeration equipment. Refrigeration technicians, who are poorly provided with good reference material, will welcome the author's hands-on approach. Other readers will include trainees on in-plant industry courses, building service engineers and maintenance staff in the frozen food industry, supermarkets, hotels and hospitals. It also provides a text from NVQs (C&G 6007) and other vocational courses).This revised edition has been updated throughout, and includes a new section on the topical subject of alternative refrigerants and, for the first time, a chapter on the principles of air conditioning.

As one of the pioneers of "Piezoelectric Actuators", I have contributed to the commercialization of various products for over 45 years, including million-selling devices, micro-ultrasonic motors for smart-phone camera modules by Samsung Electromechanics, piezoelectric transformers for backlight inverters by Apple laptops, multilayer PZT actuators for diesel injection valves by Denso Corporation, and piezoelectric energy harvesting modules for Programable Air-Burst Munition by the US Army. During the development period for "piezoelectric actuators and transformers," I found that the bottleneck for device miniaturization was heat generation under a high-power drive condition. Thus, in parallel to the piezo-actuator developments, I have been developing various high-power density piezo-ceramic materials with the loss mechanism clarification. Hence, I considered that it was time to organize a textbook based on the previous studies, including my materials development philosophy to stimulate younger generations to reach to the energy density of up to 100 W/cm3 in the future. Increasing efficiency and saving energy and space (compactness) are one of the important approaches in this 21st-century "sustainable society." High-Power Piezoelectrics and Loss Mechanisims introduces the theoretical background of piezoelectrics, electromechanical phenomenology, loss mechanisms, practical materials, device designs, drive and characterization techniques, and typical applications, and looks forward to the future perspectives in this field. This book is NOT an overall review of this area, but it focuses on important and basic ideas under my development philosophy to understand how to design and develop high-power piezoelectric materials and devices. This textbook is designed for self-learning by the reader aided by the availability of: * Chapter Essentials - Summary for quick memory recovery * Check Points - Answers are provided in the Appendix * Example Problems - To enhance the reader's understanding with full, detailed solutions * Chapter Problems - For the final exam or further consideration

The study of the kinematics and dynamics of machines lies at the very core of a mechanical engineering background. Although tremendous advances have been made in the computational and design tools now available, little has changed in the way the subject is presented, both in the classroom and in professional references. Fundamentals of Kinematics and Dynamics of Machines and Mechanisms brings the subject alive and current. The author's careful integration of Mathematica software gives readers a chance to perform symbolic analysis, to plot the results, and most importantly, to animate the motion. They get to "play" with the mechanism parameters and immediately see their effects. The downloadable resources contain Mathematica-based programs for suggested design projects. As useful as Mathematica is, however, a tool should not interfere with but enhance one's grasp of the concepts and the development of analytical skills. The author ensures this with his emphasis on the understanding and application of basic theoretical principles, unified approach to the analysis of planar mechanisms, and introduction to vibrations and rotordynamics.

This book focuses on hydraulic components and machines, and illustrates how a machine's noise-radiating surfaces affect noise. It reviews the basics and terminology of sound, vibration, vibration isolation, fluid pulsations, Fourier analysis, cavitation, hydraulic shock, and enclosure design.

This textbook covers fundamental and advanced concepts of computational fluid dynamics, a powerful and essential tool for fluid flow analysis. It discusses various governing equations used in the field, their derivations, and the physical and mathematical significance of partial differential equations and the boundary conditions. It covers fundamental concepts of finite difference and finite volume methods for diffusion, convection-diffusion problems both for cartesian and non-orthogonal grids. The solution of algebraic equations arising due to finite difference and finite volume discretization are highlighted using direct and iterative methods. Pedagogical features including solved problems and unsolved exercises are interspersed throughout the text for better understanding. The textbook is primarily written for senior undergraduate and graduate students in the field of mechanical engineering and aerospace engineering, for a course on computational fluid dynamics and heat transfer. The textbook will be accompanied by teaching resources including a solution manual for the instructors. Written clearly and with sufficient foundational background to strengthen fundamental knowledge of the topic. Offers a detailed discussion of both finite difference and finite volume methods. Discusses various higher-order bounded convective schemes, TVD discretisation schemes based on the flux limiter essential for a general purpose CFD computation. Discusses algorithms connected with pressure-linked equations for incompressible flow. Covers turbulence modelling like k- , k- , SST k- , Reynolds Stress Transport models. A separate chapter on best practice guidelines is included to help CFD practitioners.

Sensors are all around us. They are in phones, cars, planes, trains, robots, mils, lathes, packaging lines, chemical plants, power plants, etc. Modern technology could not exist without sensors. The sensors measure what we need to know and the control system then performs the desired actions. When an engineer builds any machine he or she needs to have basic understanding about sensors. Correct sensors need to be selected for the design right from the start. The designer needs to think about the ranges, required accuracy, sensor cost, wiring, correct installation and placement etc. Without the basic knowledge of sensors fundamental no machine can be built successfully today. The objective of this book is to provide the basic knowledge to electrical and mechanical engineers, engineering students and hobbyist from the field of sensors to help them with the selection of "proper" sensors for their designs. No background knowledge in electrical engineering is required, all the necessary basics are provided. The book explains how a sensor works, in what ranges it can be used, with what accuracy etc. It also provides examples of industrial application for selected sensors. The book covers all the major variables in mechanical engineering such as temperature, force, torque, pressure, humidity, position, speed, acceleration etc. The approach is always as follows: - Explain how the sensor works, what is the principle - Explain in what ranges and with what accuracy it can work - Describe its properties with charts, eventually equations - Give examples of such sensors including application examples

There has been widespread dissatisfaction with accepted models for predicting the conditions that people will find thermally comfortable in buildings. These models require knowledge about clothing and activity, but can give little guidance on how to quantify them in any future situation. This has forced designers to make assumptions about people's future behaviour based on very little information and, as a result, encouraged static design indoor temperatures. This book is the second in a three volume set covering all aspects of Adaptive Thermal Comfort. The first part narrates the development of the adaptive approach to thermal comfort from its early beginnings in the 1960s. It discusses recent work in the field and suggests ways in which it can be developed and modelled. Such models can be used to set dynamic, interactive standards for thermal comfort which will help overcome the problems inherited from the past. The second part of the volume engages with the practical and theoretical problems encountered in field studies and in their statistical analysis, providing guidance towards their resolution, so that valid conclusions may be drawn from such studies.

Advances in computational mechanics can only be achieved on the basis of fruitful discussion between researchers and practising engineers. This has been achieved in the present publication, which contains all the papers presented at the first International DIANA Conference on Computational Mechanics. Nearly all papers show the results of calculations achieved with the DIANATM Finite Element System. Broadly, the book follows the line of research from the material level, via the element level, to the structural level. But it should be emphasised that much current research passes from one level to the other, and such an interaction is also reflected here. The following domains are treated: (hyper)elasticity, (visco)plasticity and cracking; (enriched) damaging continua models; material experiments vs. computational models; stochastic approaches; fluid--structure interactions; element technology; geometrical nonlinearity and structural instability; nonlinear dynamics; solution procedures.

This volume contains a selection of papers presented at the 7th Nirma University International Conference on Engineering 'NUiCONE 2019'. This conference followed the successful organization of four national conferences and six international conferences in previous years. The main theme of the conference was "Technologies for Sustainable Development", which is in line with the "SUSTAINABLE DEVELOPMENT GOAL" established by the United Nations. The conference was organized with many inter-disciplinary technical themes encompassing a broad range of disciplines and enabling researchers, academicians and practitioners to choose between ideas and themes. Besides, NUiCONE-2019 has also presented an exciting new set of events to engage practicing engineers, technologists and technopreneurs from industry through special knowledge sharing sessions involving applied technical papers based on case-study applications, white-papers, panel discussions, innovations and technology products. This proceedings will definitely provide a platform to proliferate new findings among researchers. Advances in Transportation Engineering Emerging Trends in Water Resources and Environmental Engineering Construction Technology and Management Concrete and Structural Engineering Futuristic Power System Control of Power Electronics Converters, Drives and E-mobility Advanced Electrical Machines and Smart Apparatus Chemical Process Development and Design Technologies and Green Environment Sustainable Manufacturing Processes Design and Analysis of Machine and Mechanism Energy Conservation and Management Advances in Networking Technologies Machine Intelligence / Computational Intelligence Autonomic Computing Control and Automation Electronic Communications Electronics Circuits and System Design Signal Processing

The role of manufacturing in a country's economy and societal development has long been established through their wealth generating capabilities. To enhance and widen our knowledge of materials and to increase innovation and responsiveness to ever-increasing international needs, more in-depth studies of functionally graded materials/tailor-made materials, recent advancements in manufacturing processes and new design philosophies are needed at present. The objective of this volume is to bring together experts from academic institutions, industries and research organizations and professional engineers for sharing of knowledge, expertise and experience in the emerging trends related to design, advanced materials processing and characterization, and advanced manufacturing processes.

Finite Element Analysis of Weld Thermal Cycles Using ANSYS aims at educating a young researcher on the transient analysis of welding thermal cycles using ANSYS. It essentially deals with the methods of calculation of the arc heat in a welded component when the analysis is simplified into either a cross sectional analysis or an in-plane analysis. The book covers five different cases involving different welding processes, component geometry, size of the element and dissimilar material properties. A detailed step by step calculation is presented followed by APDL program listing and output charts from ANSYS. Features: Provides useful background information on welding processes, thermal cycles and finite element method Presents calculation procedure for determining the arc heat input in a cross sectional analysis and an in-plane analysis Enables visualization of the arc heat in a FEM model for various positions of the arc Discusses analysis of advanced cases like dissimilar welding and circumferential welding Includes step by step procedure for running the analysis with typical input APDL program listing and output charts from ANSYS.

Energy Management: Conservation and Audit discusses the energy scenario, including energy conservation, management, and audit, along with the methodology supported by industrial examples. Energy economics of systems has been elaborated with concepts of life cycle assessment and costing, and rate of return. Topics such as energy storage, co-generation, and waste heat recovery to energy efficiency have discussed. The challenges faced in conserving energy sources (steam and electricity) have elaborated along with the improvements in the lighting sector. Further, it covers optimization procedures for the development in the industry related to energy conservation. The researchers, senior undergraduate, and graduate students focused on Energy Management, Sustainable Energy, Renewable Energy, Energy Audits, and Energy Conservation. This book covers current information related to energy management and includes energy audit and review all the leading equipment (boilers, CHP, pumps, heat exchangers) as well as procedural frameworks (energy audits, action planning, monitoring). It includes energy production and management from an industrial perspective, along with highlighting the various processes involved in energy conservation and auditing in various sectors and associated methods. It also explores future energy options and directions for energy security and sustainability.

This guide to estimating uncertainties in the measurement, prediction and assessment of noise and vibration applies across environmental noise and vibration, occupational noise and vibration exposure, and building and architectural acoustics. The book collates information from the various Standards and from research, with explanation, examples and case studies. It enables estimation of uncertainty in the measurement and prediction of acoustic quantities, suitable for use in environmental impact and occupational exposure assessments. It is for acoustic consultants, mechanical and building service engineers, architect and building professionals and environmental health officers. Bob Peters worked for more than forty years in acoustics and noise control - teaching, research, consultancy. He was a principal acoustic consultant with Applied Acoustic Design, a senior research fellow at London South Bank University, and a tutor on Institute of Acoustics distance learning courses.

While aviation fatalities have thankfully fallen dramatically in recent years, the phenomena of complexity and cognitive bias have been shown to be factors in many accidents. An understanding of these phenomena promises to bring the fatality rate even lower, and a deeper understanding of commercial aircraft in the context of systems engineering will contribute to that trend. Systems Approach to the Design of Commercial Aircraft describes commercial aircraft from an advanced systems point of view, addressing complexity, cybersecurity, and systems architecting. In addition, it provides an explanation of systems engineering, describes how systems engineering forms a framework for commercial aircraft, covers how systems engineering and systems architecting relate to commercial aircraft, addresses complexity, and shows how humans fit into systems engineering and the importance for commercial aircraft. It goes onto present how cybersecurity plays an important role in the mix and how human interface fits in. The readership includes designers of aircraft, manufacturers, researchers, systems engineers, and students. Scott Jackson is a fellow of the International Council on Systems Engineering (INCOSE) and the author of Systems Engineering for Commercial Aircraft (1997 and 2015) in English and Chinese. Ricardo Moraes dos Santos is a senior systems engineer at EMBRAER S/A and an INCOSE Brazil chapter director. He works with Architecting process (Corporate) and is head of Cybersecurity and Safety (STPA Applications) at EMBRAER S/A.

Vibration Problems in Machines explains how to infer information about the internal operations of rotating machines from external measurements through methods used to resolve practical plant problems. Second edition includes summary of instrumentation, methods for establishing machine rundown data, relationship between the rundown curves and the ideal frequency response function. The section on balancing has been expanded and examples are given on the strategies for balancing a rotor with a bend, with new section on instabilities. It includes case studies with real plant data, MATLAB (R) scripts and functions for the modelling and analysis of rotating machines.

Autowave Plasticity: Localization and Collective Modes discusses the nature of plastic flow in solids associated with the development of a localized plastic flow. Written by an authority in the field, the author demonstrates how patterns of localized plastic flow are associated with autowave modes that are generated in a deformable sample and delivers a complete work on the subject. Key Features An original work on the nature of plastic flows in solids, particularly metals and crystals Focuses on plastic flow as an autowave process Contains elements of theories, experimental considerations, and numerical modeling This reference will help readers with creating experimental methods to observe or localize plastic flow and with the modeling of plastic flows. It is a valuable reference for graduate students and research specialists working in material science.

This book covers the application of algebraic inequalities for reliability improvement and for uncertainty and risk reduction. It equips readers with powerful domain-independent methods for reducing risk based on algebraic inequalities and demonstrates the significant benefits derived from the application for risk and uncertainty reduction. Algebraic inequalities: * Provide a powerful reliability improvement, risk and uncertainty reduction method that transcends engineering and can be applied in various domains of human activity * Present an effective tool for dealing with deep uncertainty related to key reliability-critical parameters of systems and processes * Permit meaningful interpretations which link abstract inequalities with the real world * Offer a tool for determining tight bounds for the variation of risk-critical parameters and complying the design with these bounds to avoid failure * Allow optimising designs and processes by minimising the deviation of critical output parameters from their specified values and maximising their performance This book is primarily for engineering professionals and academic researchers in virtually all existing engineering disciplines.

< p=""> This book focuses both on the basics and more complex topics in mechanical measurements such as measurement errors & statistical analysis of data, regression analysis, heat flux, measurement of pressure, and radiation properties of surfaces. End of chapter problems, solved illustrations, and exercise problems are presented throughout the book to augment learning. It is a useful reference for students in both undergraduate and postgraduate programs. ^

Robot calibration is the process of enhancing the accuracy of a robot by modifying its control software. This book provides a comprehensive treatment of the theory and implementation of robot calibration using computer vision technology. It is the only book to cover the entire process of vision-based robot calibration, including kinematic modeling, camera calibration, pose measurement, error parameter identification, and compensation. The book starts with an overview of available techniques for robot calibration, with an emphasis on vision-based techniques. It then describes various robot-camera systems. Since cameras are used as major measuring devices, camera calibration techniques are reviewed. Camera-Aided Robot Calibration studies the properties of kinematic modeling techniques that are suitable for robot calibration. It summarizes the well-known Denavit-Hartenberg (D-H) modeling convention and indicates the drawbacks of the D-H model for robot calibration. The book develops the Complete and Parametrically Continuous (CPC) model and the modified CPC model, that overcome the D-H model singularities. The error models based on these robot kinematic modeling conventions are presented. No other book available addresses the important, practical issue of hand/eye calibration. This book summarizes current research developments and demonstrates the pros and cons of various approaches in this area. The book discusses in detail the final stage of robot calibration - accuracy compensation - using the identified kinematic error parameters. It offers accuracy compensation algorithms, including the intuitive task-point redefinition and inverse-Jacobian algorithms and more advanced algorithms based on optimal control theory, which are particularly attractive for highly redundant manipulators. Camera-Aided Robot Calibration defines performance indices that are designed for off-line, optimal selection of measurement configurations. It then describes three approaches: closed-form, gradient-based, and statistical optimization. The included case study presents experimental results that were obtained by calibrating common industrial robots. Different stages of operation are detailed, illustrating the applicability of the suggested techniques for robot calibration. Appendices provide readers with preliminary materials for easier comprehension of the subject matter. Camera-Aided Robot Calibration is a must-have reference for researchers and practicing engineers-the only one with all the information!