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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This book highlights the applications of data mining technologies in structural dynamic analysis, including structural design, optimization, parameter identification, model updating, damage identification, in civil, mechanical, and aerospace engineering. These engineering applications require precise structural design, fabrication, inspection, and further monitoring to obtain a full life-cycle analysis, and by focusing on data processing, data mining technologies offer another aspect in structural dynamic analysis. Discussing techniques in time/frequency domain, such as Hilbert transforms, wavelet theory, and machine learning for structural dynamic analysis to help in structural monitoring and diagnosis, the book is an essential reference resource for beginners, graduates and industrial professionals in various fields.

This book presents advanced case studies that address a range of important issues arising in space engineering. An overview of challenging operational scenarios is presented, with an in-depth exposition of related mathematical modeling, algorithmic and numerical solution aspects. The model development and optimization approaches discussed in the book can be extended also towards other application areas. The topics discussed illustrate current research trends and challenges in space engineering as summarized by the following list: * Next Generation Gravity Missions * Continuous-Thrust Trajectories by Evolutionary Neurocontrol * Nonparametric Importance Sampling for Launcher Stage Fallout * Dynamic System Control Dispatch * Optimal Launch Date of Interplanetary Missions * Optimal Topological Design * Evidence-Based Robust Optimization * Interplanetary Trajectory Design by Machine Learning * Real-Time Optimal Control * Optimal Finite Thrust Orbital Transfers * Planning and Scheduling of Multiple Satellite Missions * Trajectory Performance Analysis * Ascent Trajectory and Guidance Optimization * Small Satellite Attitude Determination and Control * Optimized Packings in Space Engineering * Time-Optimal Transfers of All-Electric GEO Satellites Researchers working on space engineering applications will find this work a valuable, practical source of information. Academics, graduate and post-graduate students working in aerospace, engineering, applied mathematics, operations research, and optimal control will find useful information regarding model development and solution techniques, in conjunction with real-world applications.

Research into contact problems continues to produce a rapidly growing body of knowledge. Recognizing the need for a single, concise source of information on models and analysis of contact problems, accomplished experts Sofonea, Han, and Shillor carefully selected several models and thoroughly study them in Analysis and Approximation of Contact Problems with Adhesion or Damage. The book describes very recent models of contact processes with adhesion or damage along with their mathematical formulations, variational analysis, and numerical analysis.

Following an introduction to modeling and functional and numerical analysis, the book devotes individual chapters to models involving adhesion and material damage, respectively, with each chapter exploring a particular model. For each model, the authors provide a variational formulation and establish the existence and uniqueness of a weak solution. They study a fully discrete approximation scheme that uses the finite element method to discretize the spatial domain and finite differences for the time derivatives. The final chapter summarizes the results, presents bibliographic comments, and considers future directions in the field.

Employing recent results on elliptic and evolutionary variational inequalities, convex analysis, nonlinear equations with monotone operators, and fixed points of operators, Analysis and Approximation of Contact Problems with Adhesion or Damage places these important tools and results at your fingertips in a unified, accessible reference.

Common engineering materials reach in many demanding applications such as automotive or aerospace their limits and new developments are required to ful ll increasing demands on performance and characteristics. The properties of ma- rials can be increased for example by combining different materials to achieve better properties than a single constituent or by shaping the material or c- stituents in a speci c structure. Many of these new materials reveal a much more complex behavior than traditional engineering materials due to their advanced str- ture or composition. Furthermore, the classical applications of many engineering materials are extended to new ranges of applications and to more demanding en- ronmental conditions such as elevated temperatures. All these tendencies require in addition to the synthesis of new materials, proper methods for their m- ufacturing and extensive programs for their characterization. In many elds of application, the development of new methods and processes must be acc- plished by accurate and reliable modeling and simulation techniques. Only the interaction between these new developments with regards to manufacturing, m- eling, characterization, further processing and monitoring of materials will allow to meet all demands and to introduce these developments in safety-relevant applications. The 3rd International Conference on Advanced Computational Engineering and Experimenting, ACE-X 2009, was held in Rome, Italy, from 22 to 23 June 2009 with a strong focus on the above mentioned developments.

This is a modern presentation of the fundamentals of continuum mechanics as applied to the analysis of the plastic flow in metal forming. Metal forming plasticity is an advanced subject of intensive current research, relevant to both materials science and mechanical engineering. It is used for the analysis and modelling of fabrication processes such as forging, extrusion, rolling, and wire and tube drawing. The fundamentals of flow mechanics are explained here before they are applied in a variety of machine-tool design engineering situations. These fundamentals form the basis of all engineering analyses of the plastic flow in metal forming. Worked examples show the variety of metal forming situations, and approximately 200 end-of-chapter problems are also included.

This book is tailored to the needs of structural engineers who are seeking to become familiar with the design of steel structures based on Eurocode 3. It explains each step of the design process using comprehensive flow charts, tables and equations as well as numerous examples. The useful appendices, including general sections and properties as well as general formulas for shear force, maximum bending moment and deflection for several selected loading conditions, offer designers a valuable source of reference. The book also introduces a specially developed design-aid program, which provides immediate results without the need for modeling, and as such considerably reduces the time needed for the design stage.

Graphene is one of the most intensively studied materials, and has unusual electrical, mechanical and thermal properties, which provide almost unlimited potential applications. This book provides an introduction to the electrical and transport properties of graphene and other two-dimensional nanomaterials, covering ab-initio to multiscale methods. Updated from the first edition, the authors have added chapters on other two-dimensional materials, spin-related phenomena, and an improved overview of Berry phase effects. Other topics include powerful order N electronic structure, transport calculations, and ac transport and multiscale transport methodologies. Chapters are complemented with concrete examples and case studies, questions and exercises, detailed appendices and computational codes. It is a valuable resource for graduate students and researchers working in physics, materials science or engineering who are interested in the field of graphene-based nanomaterials.

This book presents the practical aspects of mass measurements. Concepts of gravitational, inertial and conventional mass and details of the variation of acceleration of gravity are described. The Metric Convention and International Prototype Kilogram and BIPM standards are described. The effect of change of gravity on the indication of electronic balances is derived with respect of latitude, altitude and earth topography. The classification of weights by OIML is discussed. Maximum permissible errors in different categories of weights prescribed by national and international organizations are presented. Starting with the necessity of redefining the unit kilogram in terms of physical constants, various methods of defining the kilogram in terms of physical constants are described. The kilogram can be defined by Avogadro's constant, ion collection of some heavy elements, levitation, voltage and Watt Balance. The detection of very small mass of the order of zeptogram through Nanotechnolgy is also discussed. Latest recommendations of CIPM are given.

This book gives a unified presentation of the field of stability. Buckling and post-buckling states are studied on the basis of total potential energy of structural systems. Emphasis is placed throughout the text on post-buckling analysis and behaviour. The sensitivity of buckling and post-buckling states to changes in design parameters is also discussed as well as changes due to imperfections and damage.

Building up from first principles and simple scenarios, this comprehensive introduction to rigid body dynamics gradually introduces readers to tools to address involved real-world problems, and cutting-edge research topics. Using a unique blend of conceptual, theoretical and practical approaches, concepts are developed and rigorously applied to practical examples in a consistent and understandable way. It includes discussion of real-world applications including robotics and vehicle dynamics, and over 40 thought-provoking fully worked examples to cement readers' understanding. Providing a wealth of resources allowing readers to confidently self-assess - including over 100 problems with solutions, over 400 high quality multiple choice questions, and end-of-chapter puzzles dealing with everyday situations - this is an ideal companion for undergraduate students in aerospace, civil and mechanical engineering.

Introduction to Mechanics of Solid Materials is concerned with the deformation, flow, and fracture of solid materials. This textbook offers a unified presentation of the major concepts in Solid Mechanics for junior/senior-level undergraduate students in the many branches of engineering - mechanical, materials, civil, and aeronautical engineering among others. The book begins by covering the basics of kinematics and strain, and stress and equilibrium, followed by a coverage of the small deformation theories for different types of material response: (i) Elasticity; (ii) Plasticity and Creep; (iii) Fracture and Fatigue; and (iv) Viscoelasticity. The book has additional chapters covering the important material classes of: (v) Rubber Elasticity, and (vi) Continuous-fiber laminated composites. The text includes numerous examples to aid the student. A substantial companion volume with example problems is available free of charge on the book's companion website.

Geometric Dimensioning and Tolerancing: Workbook and Answerbook offers a host of effective examples that utilize the concepts discussed in the reference/text--covering all facets of geometric dimensioning and tolerancing, measurement, inspection, and gauging applicable in any on-the-job situation. The Workbook and Answerbook is a companion to Geometric Dimensioning and Tolerancing: Applications for use in Design, Manufacturing, and Inspection (ISBN: 0-8247-9309-9) and follows the reference text chapter by chapter.

Separation of the elements of classical mechanics into kinematics and dynamics is an uncommon tutorial approach, but the author uses it to advantage in this two-volume set. Students gain a mastery of kinematics first a" a solid foundation for the later study of the free-body formulation of the dynamics problem.

A key objective of these volumes, which present a vector treatment of the principles of mechanics, is to help the student gain confidence in transforming problems into appropriate mathematical language that may be manipulated to give useful physical conclusions or specific numerical results. In the first volume, the elements of vector calculus and the matrix algebra are reviewed in appendices. Unusual mathematical topics, such as singularity functions and some elements of tensor analysis, are introduced within the text. A logical and systematic building of well-known kinematic concepts, theorems, and formulas, illustrated by examples and problems, is presented offering insights into both fundamentals and applications. Problems amplify the material and pave the way for advanced study of topics in mechanical design analysis, advanced kinematics of mechanisms and analytical dynamics, mechanical vibrations and controls, and continuum mechanics of solids and fluids.

Volume I of Principles of Engineering Mechanics provides the basis for a stimulating and rewarding one-term course for advanced undergraduate and first-year graduate students specializing in mechanics, engineering science, engineering physics, applied mathematics, materials science, and mechanical, aerospace, and civil engineering. Professionals working in related fields of applied mathematics will findit a practical review and a quick reference for questions involving basic kinematics.

This volume contains 60 papres dealing with research results in the field of tubular structures. The following areas are covered: applications; static and fatigue behaviour of hollow section joints; beam-to-column connections; concrete-filled steel tubes; and optimum design.

Solve problems in elementary structural mechanics thoughtfully and efficiently with this self-contained volume. Covers the basics of structural mechanics and focuses on simple structures, truss frameworks, beams and frames, design choices, and deformity. Carefully interrogates underlying assumptions for efficiencies in working out whilst expounding fundamental principles for a consistent understanding. Heavily connects the practical world of indeterminate structures to their analysis, to underline benefits they impart to the latter: that certain analytical methods provide a wealth of efficient solutions for problems of indeterminate structures compared to determinate ones. Celebrates the beauty of analytical indeterminacy and its relationship to practical structures. Perfect for students invested in structural mechanics, and aims to complement their learning and understanding.

Understand multiphase flows using multidisciplinary knowledge in physical principles, modelling theories, and engineering practices. This essential text methodically introduces the important concepts, governing mechanisms, and state-of-the-art theories, using numerous real-world applications, examples, and problems. Covers all major types of multiphase flows, including gas-solid, gas-liquid (sprays or bubbling), liquid-solid, and gas-solid-liquid flows. Introduces the volume-time-averaged transport theorems and associated Lagrangian-trajectory modelling and Eulerian-Eulerian multi-fluid modelling. Explains typical computational techniques, measurement methods and four representative subjects of multiphase flow systems. Suitable as a reference for engineering students, researchers, and practitioners, this text explores and applies fundamental theories to the analysis of system performance using a case-based approach.

Written by an international group of active researchers in the field, this volume presents innovative formulations and applied procedures for sensitivity analysis and structural design optimization. Eight chapters discuss subjects ranging from recent developments in the determination and application of topological gradients, to the use of evolutionary algorithms and meta-models to solve practical engineering problems. With such a comprehensive set of contributions, the book is a valuable source of information for graduate students and researchers entering or working in the matter.

This graduate text is indispensable for those wanting to see and understand the mechanics of extreme dynamic events. It describes in detail the mechanics and material models used in understanding impact and penetration events. Covers continuum mechanics, the Hugoniot jump conditions, plasticity theory, damage and failure theory, shock and wave propagation in both Eulerian and Lagrangian frameworks, and the high pressure and high-rate response of materials. Nonlinearity in response of materials and systems is a common theme, showing itself in interesting and surprising ways. Materials are studied through damage to failure, since in armor and protection applications materials are utilized all the way through failure. Continuum and constitutive modelling topics required for modern large-scale numerical simulation techniques are clearly described. Extensive exercises ensure comprehension and explore new topics. This text is appropriate for a variety of graduate courses, including Continuum Mechanics, Advanced Solid Mechanics, and Plasticity and Inelasticity Theory.

Designing engineering components that make optimal use of materials requires consideration of the nonlinear static and dynamic characteristics associated with both manufacturing and working environments. The modeling of these characteristics can only be done through numerical formulation and simulation, which requires an understanding of both the theoretical background and associated computer solution techniques. By presenting nonlinear solid mechanics, dynamic conservation laws and principles, and the associated finite element techniques together, the authors provide in this second book a unified treatment of the dynamic simulation of nonlinear solids. Alongside a number of worked examples and exercises are user instructions, program descriptions, and examples for two MATLAB computer implementations for which source codes are available online. While this book is designed to complement postgraduate courses, it is also relevant to those in industry requiring an appreciation of the way their computer simulation programs work.

This book offers a new calculation procedure of the structural behavior of grouped layout of silos, easy to use and with satisfactory responses. Groups of reinforced concrete silos are structures commonly used in the food industry, where it is usually necessary to separate the storage of different types and sources of grain. The grouped layout of silos has numerous benefits when compared with single-cell silos in which the emphasis is on creating further space for silage, normally referred to as interstice - a space formed between the edges of the group's cells. This economic benefit, on the other hand, raises a structural problem for the designer of this type of building, which is to assess the magnitude of bending moments and hoop forces due to the structural continuity of the walls in the interstice region of the cells. Bending moments assume extreme values exactly when the interstice is loaded and the other cells in the group are empty. To develop the formulation of the proposed analysis models, a parametric study was carried out that allowed the adequate consideration of the variables involved. The idea is to help professionals, engineers, industrials and academics involved in this advanced interdisciplinary field as a comprehensive guide for courses offered at different levels of learning (undergraduate and postgraduate).

This second edition extends the rigorous, self-contained exposition of the theory for viscoelastic wave propagation in layered media to include head waves and general ray theory. The theory, not published elsewhere, provides solutions for fundamental wave-propagation and ray-theory problems valid for any media with a linear response, elastic or anelastic. It explains measurable variations in wave speed, particle motion, and attenuation of body waves, surface waves, and head waves induced at anelastic material boundaries that do not occur for elastic waves. This book may be used as a textbook for advanced university courses and as a research reference in seismology, exploration geophysics, engineering, solid mechanics, and acoustics. It provides computation steps for ray-tracing computer algorithms to develop a variety of tomography inferred anelastic models, such as those for the Earth's deep interior and petroleum reserves. Numerical results and problem sets emphasize important aspects of the theory for each chapter.

Solid Mechanics: A Variational Approach, Augmented Edition presents a lucid and thoroughly developed approach to solid mechanics for students engaged in the study of elastic structures not seen in other texts currently on the market. This work offers a clear and carefully prepared exposition of variational techniques as they are applied to solid mechanics. Unlike other books in this field, Dym and Shames treat all the necessary theory needed for the study of solid mechanics and include extensive applications. Of particular note is the variational approach used in developing consistent structural theories and in obtaining exact and approximate solutions for many problems. Based on both semester and year-long courses taught to undergraduate seniors and graduate students, this text is geared for programs in aeronautical, civil, and mechanical engineering, and in engineering science. The authors' objective is two-fold: first, to introduce the student to the theory of structures (one- and two-dimensional) as developed from the three-dimensional theory of elasticity; and second, to introduce the student to the strength and utility of variational principles and methods, including briefly making the connection to finite element methods. A complete set of homework problems is included.

This book combines a model reduction technique with an efficient parametrization scheme for the purpose of solving a class of complex and computationally expensive simulation-based problems involving finite element models. These problems, which have a wide range of important applications in several engineering fields, include reliability analysis, structural dynamic simulation, sensitivity analysis, reliability-based design optimization, Bayesian model validation, uncertainty quantification and propagation, etc. The solution of this type of problems requires a large number of dynamic re-analyses. To cope with this difficulty, a model reduction technique known as substructure coupling for dynamic analysis is considered. While the use of reduced order models alleviates part of the computational effort, their repetitive generation during the simulation processes can be computational expensive due to the substantial computational overhead that arises at the substructure level. In this regard, an efficient finite element model parametrization scheme is considered. When the division of the structural model is guided by such a parametrization scheme, the generation of a small number of reduced order models is sufficient to run the large number of dynamic re-analyses. Thus, a drastic reduction in computational effort is achieved without compromising the accuracy of the results. The capabilities of the developed procedures are demonstrated in a number of simulation-based problems involving uncertainty.